CN107569182A - Sweeping robot and its operative scenario determination methods - Google Patents
Sweeping robot and its operative scenario determination methods Download PDFInfo
- Publication number
- CN107569182A CN107569182A CN201710709016.3A CN201710709016A CN107569182A CN 107569182 A CN107569182 A CN 107569182A CN 201710709016 A CN201710709016 A CN 201710709016A CN 107569182 A CN107569182 A CN 107569182A
- Authority
- CN
- China
- Prior art keywords
- time ratio
- operative scenario
- sweeping robot
- corresponding relation
- cycle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The present invention relates to a kind of operative scenario determination methods of sweeping robot, computer performs following steps under configuration：Motor is cleaned using pwm signal control sweeping robot to work under preset rotation speed；Calculate time ratio of the high/low level signal of the pwm signal within the cycle；Obtain the corresponding relation of time ratio and operative scenario of the high/low level signal of pwm signal under the preset rotation speed within the cycle；According to the time ratio and the corresponding relation being calculated, determine the operative scenario of sweeping robot, the accuracy that motor maintains time ratio of the high/low level signal of pwm signal during preset rotation speed within the cycle to match matching of the accuracy higher than accuracy, the electric current of movable motor and the operative scenario that reflecting rate in background technology matches with operative scenario with operative scenario is cleaned, so as to improve the accuracy of sweeping robot operative scenario judgement.
Description
Technical field
The present invention relates to robot, more particularly to sweeping robot and its operative scenario determination methods.
Background technology
In conventional art, sweeping robot mobile working in working region by the roller of itself setting.Sweep the floor machine
People can work in smooth earth, such as the ground of laying ceramic tile, the ground for laying plank, can also be worked in rough earth,
Such as the ground of laying carpet.Sweeping robot can carry mopping function.Mop floor and be divided into dry drag and dragged with wet.Sweeping robot moves
Carpet work is moved, when particularly carrying out wet drag, carpet can be caused to damage.
During conventional art is realized, inventor has found following technical problem be present：
Generally, sweeping robot can by the reflecting rate on ground, sweeping robot walking when operating current sentence
The operative scenario of disconnected sweeping robot, such as judge operative scenario of the sweeping robot positioned at laying wood floor, or judge
Operative scenario of the sweeping robot positioned at laying carpet.However, the reflecting rate of the smooth earth of matt and laying carpet
The reflecting rate difference on ground is smaller, easily causes the erroneous judgement of sweeping robot operative scenario.Smooth earth, which exists, is difficult to what is passed through
During barrier, operating current when can cause the sweeping robot to walk significantly increases, with sweeping robot positioned at laying carpet
Operating current difference during walking is little, easily causes the erroneous judgement of sweeping robot operative scenario.
The content of the invention
Based on this, it is necessary to the technical problem easily judged by accident for above-mentioned operative scenario, there is provided a kind of scheme.
A kind of operative scenario determination methods of sweeping robot, computer perform following steps under configuration：
Motor is cleaned using pwm signal control sweeping robot to work under preset rotation speed；
Calculate time ratio of the high/low level signal of the pwm signal within the cycle；
Obtain time ratio and operative scenario of the high/low level signal of pwm signal under the preset rotation speed within the cycle
Corresponding relation；
According to the time ratio and the corresponding relation being calculated, the operative scenario of sweeping robot is determined.
Time ratio and work of the high/low level signal of pwm signal within the cycle when cleaning motor maintenance preset rotation speed
Scene matching accuracy is higher than the accuracy that reflecting rate matches with operative scenario in background technology, the electric current of movable motor and work
The accuracy of the matching of scene, so as to improve the accuracy of sweeping robot operative scenario judgement.
In one of the embodiments, the high/low level signal for obtaining pwm signal under the preset rotation speed is in the cycle
The step of corresponding relation of interior time ratio and operative scenario, specifically include：
Statistics preset rotation speed under sweeping robot be operated in the high/low level signal on unlike material ground within the cycle when
Between ratio；
The different operating scene to form sweeping robot is divided according to unlike material；
Determine the corresponding relation of operative scenario and the time ratio.
Accurate corresponding relation between operative scenario and time ratio section can be obtained, to improve sweeping robot work
Make the accuracy of scene judgement.
In one of the embodiments, the high/low level signal for obtaining pwm signal under the preset rotation speed is in the cycle
The step of corresponding relation of interior time ratio and operative scenario, specifically include：
The corresponding relation of the time ratio of importing operative scenario and the high/low level signal of pwm signal within the cycle.
Operative scenario and the historical data of the corresponding relation in time ratio section can be introduced directly into.It is thus possible to utilize
The operative scenario and the corresponding relation in time ratio section of history accumulation, without collection work scene again and time ratio area
Between data, improve and perform the efficiency that operative scenario determination methods perform.
In one of the embodiments, the step of operative scenario of the determination sweeping robot, is specifically included：
The time ratio is searched in the corresponding relation；
The time ratio in the corresponding relation determines operative scenario.
Time ratio and work of the high/low level signal of pwm signal within the cycle when cleaning motor maintenance preset rotation speed
Scene matching accuracy is higher than the accuracy that reflecting rate matches with operative scenario in background technology, the electric current of movable motor and work
The accuracy of the matching of scene, so as to improve the accuracy of sweeping robot operative scenario judgement.
The application also provides a kind of sweeping robot, including：
Drive module, worked for cleaning motor using pwm signal control sweeping robot under preset rotation speed；
Computing module, for calculating time ratio of the high/low level signal of the pwm signal within the cycle；
Acquisition module, for obtaining time ratio of the high/low level signal of pwm signal under the preset rotation speed within the cycle
The corresponding relation of rate and operative scenario；
Matching module, for according to the time ratio and the corresponding relation being calculated, determining sweeping robot
Operative scenario.
Time ratio and work of the high/low level signal of pwm signal within the cycle when cleaning motor maintenance preset rotation speed
Scene matching accuracy is higher than the accuracy that reflecting rate matches with operative scenario in background technology, the electric current of movable motor and work
The accuracy of the matching of scene, so as to improve the accuracy of sweeping robot operative scenario judgement.
In one of the embodiments, the acquisition module is specifically used for：
Statistics preset rotation speed under sweeping robot be operated in the high/low level signal on unlike material ground within the cycle when
Between ratio；
The different operating scene to form sweeping robot is divided according to unlike material；
Determine the corresponding relation of operative scenario and the time ratio.
Accurate corresponding relation between operative scenario and time ratio section can be obtained, to improve sweeping robot work
Make the accuracy of scene judgement.
In one of the embodiments, the acquisition module is specifically used for：
The corresponding relation of the time ratio of importing operative scenario and the high/low level signal of pwm signal within the cycle.
The operative scenario and the corresponding relation in time ratio section of history accumulation can be utilized, without collection work again
Scene and the data in time ratio section, improve and perform the efficiency that operative scenario determination methods perform.
In one of the embodiments, the matching module is specifically used for：
The time ratio is searched in the corresponding relation；
The time ratio in the corresponding relation determines operative scenario.
Time ratio and work of the high/low level signal of pwm signal within the cycle when cleaning motor maintenance preset rotation speed
Scene matching accuracy is higher than the accuracy that reflecting rate matches with operative scenario in background technology, the electric current of movable motor and work
The accuracy of the matching of scene, so as to improve the accuracy of sweeping robot operative scenario judgement.
Brief description of the drawings
Fig. 1 is the flow chart of the operative scenario determination methods for the sweeping robot that the embodiment of the present application provides.
Fig. 2 is the structural representation for the sweeping robot that the embodiment of the present application provides.
Embodiment
To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with the application specific embodiment and
Technical scheme is clearly and completely described corresponding accompanying drawing.Obviously, described embodiment is only the application one
Section Example, rather than whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Go out under the premise of creative work the every other embodiment obtained, belong to the scope of the application protection.
Fig. 1 is the flow chart of the operative scenario determination methods for the sweeping robot that the embodiment of the present application provides, and is specifically included
Following steps：
S100：Motor is cleaned using pwm signal control sweeping robot to work under preset rotation speed.
PWM (Pulse Width Modulation, pulse width modulation) to a series of width of pulses by adjusting
System, equally to obtain required waveform.The necks such as PWM control technologies can apply to measure, communicate, Power Control and conversion
Domain.In the embodiment that the application provides, the rotating speed of motor is cleaned using pwm signal control sweeping robot.It can set pre-
If rotating speed, a step modulating pulse width is gone forward side by side to realize that clean motor works under preset rotation speed.Preset rotation speed can be according to sweeping
The practical working situation of floor-washing robot is rationally set.
S200：Calculate time ratio of the high/low level signal of the pwm signal within the cycle.
It is understood that the pulse width of pwm signal and power output, output voltage or preset rotation speed phase here
Close.Pulse width is presented as the duration of high level signal in specific oscillogram, and in other words, high level signal is in the cycle
The time ratio of interior time ratio or low level signal within the cycle.
S300：Obtain time ratio and work of the high/low level signal of pwm signal under the preset rotation speed within the cycle
The corresponding relation of scene.
In this application, the material for the earth's surface that the operative scenario of definition is walked or worked with sweeping robot is relevant.For example,
It is that the operative scenario of carpet, ground laying plank or earth's surface are the operative scenario of plank, ground paving that carpet or earth's surface are laid in ground
If ceramic tile or earth's surface are operative scenario of ceramic tile etc..
Sweeping robot is in the earth's surface work of unlike material, on the basis of maintaining cleaning motor to be in preset rotation speed,
Time ratio of the high/low level signal of pwm signal within the cycle is different.It is it is envisioned that big for coefficient of friction
Material, maintaining to clean on the basis of motor is in preset rotation speed, time ratio of the high level signal within the cycle is larger；Instead
It, for the small material of coefficient of friction, on the basis of maintaining cleaning motor to be in preset rotation speed, high level signal is within the cycle
Time ratio it is smaller.Opposite, for the big material of coefficient of friction, on the basis for maintaining cleaning motor to be in preset rotation speed
On, time ratio of the low level signal within the cycle is smaller；Conversely, for the small material of coefficient of friction, maintaining to clean motor
On the basis of preset rotation speed, time ratio of the low level signal within the cycle is larger.
Further, in the another embodiment that the application provides, the acquisition operative scenario is corresponding with motor speed
The step of relation, specifically include：
Statistics preset rotation speed under sweeping robot be operated in the high/low level signal on unlike material ground within the cycle when
Between ratio；
The different operating scene to form sweeping robot is divided according to unlike material；
Determine the corresponding relation of operative scenario and the time ratio.
It can count sweeping robot under preset rotation speed in an experiment or during actual use and be operated in unlike material
Time ratio of the high/low level signal on ground within the cycle, and be distinguish between forming different yards according to unlike material
Scape.So as to it determine the corresponding relation of operative scenario and the time ratio.The material on ground or the material of earth's surface can be subdivided into
Cement earth's surface, ceramic tile earth's surface, solid wood earth's surface, compacting plank earth's surface, the earth's surface for laying carpet.Unlike material earth's surface can be counted
The section of the time ratio.Such as can be formed using time ratio as file, using material as row, with the section of time ratio
For the two-dimensional table of content.It is thus possible to accurate corresponding relation between operative scenario and time ratio section is obtained, to carry
The accuracy that high sweeping robot operative scenario judges.
Further, it is described to obtain pwm signal under the preset rotation speed in the another embodiment that the application provides
The step of corresponding relation of time ratio and operative scenario of the high/low level signal within the cycle, specifically include：
The corresponding relation of the time ratio of importing operative scenario and the high/low level signal of pwm signal within the cycle.
In addition, in practice process, the corresponding relation in operative scenario and time ratio section can be with history of forming data.Cause
This, can also be introduced directly into operative scenario and the historical data of the corresponding relation in time ratio section.It is thus possible to utilize history
The operative scenario of accumulation and the corresponding relation in time ratio section, without collection work scene again and time ratio section
Data, improve and perform the efficiency that operative scenario determination methods perform.
S400：According to the time ratio and the corresponding relation being calculated, the yard of sweeping robot is determined
Scape.
Further, in the another embodiment that the application provides, the step of the operative scenario for determining sweeping robot
Suddenly, specifically include：
The time ratio is searched in the corresponding relation；
The time ratio in the corresponding relation determines operative scenario.
Search the higher limit and lower limit in time ratio section.Compare the time ratio being calculated, i.e. in S200 when
Between ratio and time ratio section higher limit and lower limit, determine the time ratio section that time ratio is fallen into.Then, according to
Time ratio section and the corresponding relation of operative scenario, so that it is determined that operative scenario corresponding to time ratio, it is determined that machine of sweeping the floor
The operative scenario of people.
Time ratio and work of the high/low level signal of pwm signal within the cycle when cleaning motor maintenance preset rotation speed
Scene matching accuracy is higher than the accuracy that reflecting rate matches with operative scenario in background technology, the electric current of movable motor and work
The accuracy of the matching of scene, so as to improve the accuracy of sweeping robot operative scenario judgement.
Above is the method that the embodiment of the present application provides, based on same thinking, refer to Fig. 2, is the embodiment of the present application
The sweeping robot of offer.
The application also provides a kind of sweeping robot, including：
Drive module 11, worked for cleaning motor using pwm signal control sweeping robot under preset rotation speed；
Computing module 12, for calculating time ratio of the high/low level signal of the pwm signal within the cycle；
Acquisition module 13, for obtaining time of the high/low level signal of pwm signal under the preset rotation speed within the cycle
The corresponding relation of ratio and operative scenario；
Matching module 14, the time ratio being calculated for basis and the corresponding relation, it is determined that machine of sweeping the floor
The operative scenario of people.
Time ratio and work of the high/low level signal of pwm signal within the cycle when cleaning motor maintenance preset rotation speed
Scene matching accuracy is higher than the accuracy that reflecting rate matches with operative scenario in background technology, the electric current of movable motor and work
The accuracy of the matching of scene, so as to improve the accuracy of sweeping robot operative scenario judgement.
Further, in the another embodiment that the application provides, the acquisition module 13 is specifically used for：
Statistics preset rotation speed under sweeping robot be operated in the high/low level signal on unlike material ground within the cycle when
Between ratio；
The different operating scene to form sweeping robot is divided according to unlike material；
Determine the corresponding relation of operative scenario and the time ratio.
It can count sweeping robot under preset rotation speed in an experiment or during actual use and be operated in unlike material
Time ratio of the high/low level signal on ground within the cycle, and be distinguish between forming different yards according to unlike material
Scape.So as to it determine the corresponding relation of operative scenario and the time ratio.The material on ground or the material of earth's surface can be subdivided into
Cement earth's surface, ceramic tile earth's surface, solid wood earth's surface, compacting plank earth's surface, the earth's surface for laying carpet.Unlike material earth's surface can be counted
The section of the time ratio.Such as can be formed using time ratio as file, using material as row, with the section of time ratio
For the two-dimensional table of content.It is thus possible to accurate corresponding relation between operative scenario and time ratio section is obtained, to carry
The accuracy that high sweeping robot operative scenario judges.
Further, in the another embodiment that the application provides, the acquisition module 13 is specifically used for：
The corresponding relation of the time ratio of importing operative scenario and the high/low level signal of pwm signal within the cycle.
In addition, in practice process, the corresponding relation in operative scenario and time ratio section can be with history of forming data.Cause
This, can also be introduced directly into operative scenario and the historical data of the corresponding relation in time ratio section.It is thus possible to utilize history
The operative scenario of accumulation and the corresponding relation in time ratio section, without collection work scene again and time ratio section
Data, improve and perform the efficiency that operative scenario determination methods perform.
Further, in the another embodiment that the application provides, the matching module 14 is specifically used for：
The time ratio is searched in the corresponding relation；
The time ratio in the corresponding relation determines operative scenario.
Search the higher limit and lower limit in time ratio section.Compare the time ratio being calculated, with time ratio area
Between higher limit and lower limit, determine the time ratio section that time ratio is fallen into.Then, according to time ratio section and work
The corresponding relation of scene, so that it is determined that operative scenario corresponding to time ratio, determine the operative scenario of sweeping robot.
Time ratio and work of the high/low level signal of pwm signal within the cycle when cleaning motor maintenance preset rotation speed
Scene matching accuracy is higher than the accuracy that reflecting rate matches with operative scenario in background technology, the electric current of movable motor and work
The accuracy of the matching of scene, so as to improve the accuracy of sweeping robot operative scenario judgement.
The concrete application scene of the application implementation is described below：
The processor of sweeping robot or the server for managing sweeping robot, obtain the cleaning motor of sweeping robot
The corresponding relation of time ratio and operative scenario of the high/low level signal of pwm signal within the cycle under the preset rotation speed.
Specifically, the high/low level of pwm signal under preset rotation speed by way of statistical experiment data or operational data, can be accumulated
The corresponding relation of time ratio and operative scenario of the signal within the cycle.PWM believes under the preset rotation speed that history can also be accumulated
Number the corresponding relation of time ratio and operative scenario of the high/low level signal within the cycle be introduced directly into the place of sweeping robot
Manage device or manage the server of sweeping robot.Sweeping robot controls machine of sweeping the floor in specific works, using pwm signal
People cleans motor and worked under preset rotation speed.Then, time of the high/low level signal of the pwm signal within the cycle is calculated
Ratio.According to the time ratio being calculated, and under preset rotation speed pwm signal high/low level signal within the cycle
Time ratio and operative scenario corresponding relation, determine the operative scenario of sweeping robot.For example, when searching in corresponding relation
Between rate terms higher limit and lower limit.Compare the higher limit and lower limit in the time ratio and time ratio section being calculated
Value, it is determined that the time ratio section that the time ratio being calculated is fallen into.Then, according to time ratio section and operative scenario
Corresponding relation, so that it is determined that operative scenario corresponding to time ratio, determine the operative scenario of sweeping robot.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. the operative scenario determination methods of a kind of sweeping robot, it is characterised in that computer performs following steps under configuration：
Motor is cleaned using pwm signal control sweeping robot to work under preset rotation speed；
Calculate time ratio of the high/low level signal of the pwm signal within the cycle；
Obtain pair of time ratio and operative scenario of the high/low level signal of pwm signal under the preset rotation speed within the cycle
It should be related to；
According to the time ratio and the corresponding relation being calculated, the operative scenario of sweeping robot is determined.
2. according to the method for claim 1, it is characterised in that pwm signal is high/low under the acquisition preset rotation speed
The step of corresponding relation of time ratio and operative scenario of the level signal within the cycle, specifically include：
Sweeping robot is operated in time ratio of the high/low level signal on unlike material ground within the cycle under statistics preset rotation speed
Rate；
The different operating scene to form sweeping robot is divided according to unlike material；
Determine the corresponding relation of operative scenario and the time ratio.
3. according to the method for claim 1, it is characterised in that pwm signal is high/low under the acquisition preset rotation speed
The step of corresponding relation of time ratio and operative scenario of the level signal within the cycle, specifically include：
The corresponding relation of the time ratio of importing operative scenario and the high/low level signal of pwm signal within the cycle.
4. according to the method for claim 1, it is characterised in that it is described determine sweeping robot operative scenario the step of,
Specifically include：
The time ratio is searched in the corresponding relation；
The time ratio in the corresponding relation determines operative scenario.
A kind of 5. sweeping robot, it is characterised in that including：
Drive module, worked for cleaning motor using pwm signal control sweeping robot under preset rotation speed；
Computing module, for calculating time ratio of the high/low level signal of the pwm signal within the cycle；
Acquisition module, for obtain time ratio of the high/low level signal of pwm signal under the preset rotation speed within the cycle with
The corresponding relation of operative scenario；
Matching module, the time ratio being calculated for basis and the corresponding relation, determine the work of sweeping robot
Make scene.
6. sweeping robot according to claim 5, it is characterised in that the acquisition module is specifically used for：
Sweeping robot is operated in time ratio of the high/low level signal on unlike material ground within the cycle under statistics preset rotation speed
Rate；
The different operating scene to form sweeping robot is divided according to unlike material；
Determine the corresponding relation of operative scenario and the time ratio.
7. sweeping robot according to claim 5, it is characterised in that the acquisition module is specifically used for：
The corresponding relation of the time ratio of importing operative scenario and the high/low level signal of pwm signal within the cycle.
8. sweeping robot according to claim 5, it is characterised in that the matching module is specifically used for：
The time ratio is searched in the corresponding relation；
The time ratio in the corresponding relation determines operative scenario.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710709016.3A CN107569182B (en) | 2017-08-17 | 2017-08-17 | Sweeping robot and working scene judgment method thereof |
| CN202110362217.7A CN113080792B (en) | 2017-08-17 | 2017-08-17 | Sweeping robot and working scene judgment method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710709016.3A CN107569182B (en) | 2017-08-17 | 2017-08-17 | Sweeping robot and working scene judgment method thereof |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110362217.7A Division CN113080792B (en) | 2017-08-17 | 2017-08-17 | Sweeping robot and working scene judgment method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107569182A true CN107569182A (en) | 2018-01-12 |
| CN107569182B CN107569182B (en) | 2021-04-23 |
Family
ID=61034306
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110362217.7A Active CN113080792B (en) | 2017-08-17 | 2017-08-17 | Sweeping robot and working scene judgment method thereof |
| CN201710709016.3A Active CN107569182B (en) | 2017-08-17 | 2017-08-17 | Sweeping robot and working scene judgment method thereof |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110362217.7A Active CN113080792B (en) | 2017-08-17 | 2017-08-17 | Sweeping robot and working scene judgment method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN113080792B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814441A (en) * | 2018-06-28 | 2018-11-16 | 芜湖泰领信息科技有限公司 | Cleaning brush self cleaning method and intelligent sweeping machine |
| CN110522353A (en) * | 2018-05-24 | 2019-12-03 | 科沃斯机器人股份有限公司 | Robot cleaning method, sweeping robot and storage medium |
| CN111839331A (en) * | 2020-06-20 | 2020-10-30 | 珠海市一微半导体有限公司 | Method for predicting best working fan suction of robot |
| CN111839332A (en) * | 2020-06-20 | 2020-10-30 | 珠海市一微半导体有限公司 | Control method of intelligent window cleaning machine and intelligent window cleaning machine |
| CN112438659A (en) * | 2019-09-04 | 2021-03-05 | 尚科宁家(中国)科技有限公司 | Floor sweeping robot and method for recognizing ground environment by same |
| WO2021174851A1 (en) * | 2020-03-05 | 2021-09-10 | 美智纵横科技有限责任公司 | State control method, robot vacuum cleaner, and computer storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5940927A (en) * | 1996-04-30 | 1999-08-24 | Aktiebolaget Electrolux | Autonomous surface cleaning apparatus |
| CN102802488A (en) * | 2009-04-30 | 2012-11-28 | 伊莱克斯公司 | Vacuum cleaner and method for controlling an electric motor |
| US20130333153A1 (en) * | 2012-06-13 | 2013-12-19 | Chulmo Sung | Robot cleaner and method for controlling a robot cleaner |
| CN205091616U (en) * | 2015-02-13 | 2016-03-16 | 美国iRobot公司 | Move ground and clean machine people with floor type detects |
| CN106802675A (en) * | 2016-12-21 | 2017-06-06 | 歌尔科技有限公司 | A kind of speed method for self-calibrating and device and a kind of smart machine |
| CN107007211A (en) * | 2017-03-21 | 2017-08-04 | 中北大学 | A kind of sweeping robot with smart home function |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6810305B2 (en) * | 2001-02-16 | 2004-10-26 | The Procter & Gamble Company | Obstruction management system for robots |
| CN105841295A (en) * | 2016-03-28 | 2016-08-10 | 海信（山东）空调有限公司 | Filter screen service life detecting method and device |
-
2017
- 2017-08-17 CN CN202110362217.7A patent/CN113080792B/en active Active
- 2017-08-17 CN CN201710709016.3A patent/CN107569182B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5940927A (en) * | 1996-04-30 | 1999-08-24 | Aktiebolaget Electrolux | Autonomous surface cleaning apparatus |
| CN102802488A (en) * | 2009-04-30 | 2012-11-28 | 伊莱克斯公司 | Vacuum cleaner and method for controlling an electric motor |
| US20130333153A1 (en) * | 2012-06-13 | 2013-12-19 | Chulmo Sung | Robot cleaner and method for controlling a robot cleaner |
| CN205091616U (en) * | 2015-02-13 | 2016-03-16 | 美国iRobot公司 | Move ground and clean machine people with floor type detects |
| CN106802675A (en) * | 2016-12-21 | 2017-06-06 | 歌尔科技有限公司 | A kind of speed method for self-calibrating and device and a kind of smart machine |
| CN107007211A (en) * | 2017-03-21 | 2017-08-04 | 中北大学 | A kind of sweeping robot with smart home function |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110522353A (en) * | 2018-05-24 | 2019-12-03 | 科沃斯机器人股份有限公司 | Robot cleaning method, sweeping robot and storage medium |
| CN108814441A (en) * | 2018-06-28 | 2018-11-16 | 芜湖泰领信息科技有限公司 | Cleaning brush self cleaning method and intelligent sweeping machine |
| CN112438659A (en) * | 2019-09-04 | 2021-03-05 | 尚科宁家(中国)科技有限公司 | Floor sweeping robot and method for recognizing ground environment by same |
| WO2021174851A1 (en) * | 2020-03-05 | 2021-09-10 | 美智纵横科技有限责任公司 | State control method, robot vacuum cleaner, and computer storage medium |
| CN111839331A (en) * | 2020-06-20 | 2020-10-30 | 珠海市一微半导体有限公司 | Method for predicting best working fan suction of robot |
| CN111839332A (en) * | 2020-06-20 | 2020-10-30 | 珠海市一微半导体有限公司 | Control method of intelligent window cleaning machine and intelligent window cleaning machine |
| CN111839332B (en) * | 2020-06-20 | 2022-07-08 | 珠海一微半导体股份有限公司 | Control method of intelligent window cleaning machine and intelligent window cleaning machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107569182B (en) | 2021-04-23 |
| CN113080792A (en) | 2021-07-09 |
| CN113080792B (en) | 2023-02-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107569182A (en) | Sweeping robot and its operative scenario determination methods | |
| CN109953700B (en) | Cleaning method and cleaning robot | |
| US9347185B2 (en) | Method and apparatus for scanning and repairing road damage | |
| CN104757907B (en) | Intelligent robot for sweeping floor cleans the method and Intelligent robot for sweeping floor of rubbish | |
| TW202011885A (en) | Control method, device, equipment and storage medium for mopping robot | |
| CN104300890B (en) | A kind of photovoltaic panel cleans device | |
| CN107348910A (en) | The detection method and build drawing method and chip that robot skids | |
| CN106264357A (en) | The carpet decision method of sweeping robot and system | |
| CN111733743B (en) | Automatic cleaning method and cleaning system | |
| CN112515578B (en) | Work control method and device of cleaning equipment and cleaning equipment | |
| CN105700531A (en) | Customized map-based household sweeping robot used for two-storey house and sweeping method thereof | |
| CN108436921A (en) | A kind of sweeping robot intelligent control method | |
| CN112515536B (en) | Control method and device of dust collection robot and dust collection robot | |
| CN110786790A (en) | Cleaning apparatus and cleaning method | |
| CN113143123A (en) | Cleaning robot system and cleaning control method | |
| CN107664748B (en) | Method and chip for detecting carpet by robot | |
| CN205721357U (en) | A kind of domestic two-layer based on self-defined map work sweeping robot | |
| CN114557633A (en) | Cleaning parameter configuration method, device, equipment and medium for automatic cleaning equipment | |
| WO2021245796A1 (en) | Cleaning system and program | |
| CN114431785A (en) | Mopping humidity control method and device, robot and computer readable storage medium | |
| CN112515537A (en) | Walking ground recognition method and cleaning robot | |
| CN108797472A (en) | A kind of road construction cement road anti-slip tank cleaning device | |
| CN112330122A (en) | Floor sweeping robot intelligent degree quantitative evaluation method and system | |
| CN114587210B (en) | Cleaning robot control method and control device | |
| CN108762275B (en) | Collaborative sweeping method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190220 Address after: 300 000 Tianjin Binhai New Area Free Trade Test Area (East Xinjiang Bonded Port Area) 1-1-804-8, North District, Financial and Trade Center, 6865 Asia Road, Tianjin Binhai New Area Applicant after: Chasing Technology (Tianjin) Co., Ltd. Address before: 201800 J1202 room 4, zone B, 925 Yecheng Road, Jiading District industrial area, Shanghai. Applicant before: Shanghai Mei Yi Technology Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190827 Address after: 215000 E3, No. 2288 Wuzhong Avenue, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Applicant after: Chuangchuang Science and Technology (Suzhou) Co., Ltd. Address before: 300 000 Tianjin Binhai New Area Free Trade Test Area (East Xinjiang Bonded Port Area) 1-1-804-8, North District, Financial and Trade Center, 6865 Asian Road, Tianjin Binhai New Area Applicant before: Chasing Technology (Tianjin) Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215104 E3, building 16, No. 2288, Wuzhong Avenue, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Pursuit innovation technology (Suzhou) Co.,Ltd. Address before: 215000 E3, building 16, No. 2288, Wuzhong Avenue, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: ZHUICHUANG TECHNOLOGY (SUZHOU) Co.,Ltd. |
|
| CP03 | Change of name, title or address |