CN107913035A - Clean the method and its cleaning device at wall edge - Google Patents
Clean the method and its cleaning device at wall edge Download PDFInfo
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- CN107913035A CN107913035A CN201711386988.XA CN201711386988A CN107913035A CN 107913035 A CN107913035 A CN 107913035A CN 201711386988 A CN201711386988 A CN 201711386988A CN 107913035 A CN107913035 A CN 107913035A
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- Prior art keywords
- wall
- distance
- side brush
- cleaning device
- cleaning
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Classifications
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- 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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning In General (AREA)
Abstract
Present invention is disclosed a kind of method for cleaning wall edge, applied to the cleaning device including side brush, the method at the cleaning wall edge includes the following steps：Analysis and the distance L2 of wall；The distance L of the side brush and wall is calculated according to the pre-determined distance L1 of distance L2 and the side brush；By side brush compared with the distance L of wall is with predetermined value；Moved according to comparative result by predetermined manner control side brush along wall；Not only identification function is strong for such wall edge clean method, relatively low to environmental requirement, applied widely and also not high to material requirements, while also reduces material wastage rate.
Description
Technical field
The present invention relates to clean technical field, the method and its sanitizer cartridge at cleaning wall edge are especially related to
Put.
Background technology
Current cleaning of the sweeper for wall edge is generally all carried out by direct contact type or distance measuring type, wherein directly
Connecing contact is carried out by external trigger mode, is directly to contact wall by mechanical touching lever so as to be cleaned, is surveyed
It is then to be combined using infrared emission and receiving module away from formula, then fuzzy distance of measuring is cleaned again.
But lying directly against the clean mode of wall progress needs machine for a long time or frequently touch wall, to machine
Foreboard brings the cost of consumption and material in itself on material；And existing distance measuring type, i.e. infrared emission and receiving module combine
Mode it is of a relatively high to environmental requirement, and to machine software identification also result in certain difficulty, it is difficult to meet be actually needed.
The content of the invention
The main object of the present invention is a kind of method and its cleaning device for cleaning wall edge of offer, it is intended to is solved existing
The relatively excessive technical problem of cleaning device consuming cost.
The present invention proposes a kind of method at cleaning device cleaning wall edge, applied to the sanitizer cartridge including side brush
Put, the method at the cleaning wall edge includes the following steps：
Analysis and the distance L2 of wall；
According to the distance L2 and pre-determined distance L1 of the side brush, the distance L of the side brush and wall is calculated；
By the side brush compared with the distance L of wall is with predetermined value；
The side brush is controlled to be moved along wall by predetermined manner according to comparative result.
Further, the analysis is as follows with the method for the distance L2 of wall：
Detection signal is launched with pre-set velocity, and starts timer；
Receive the detection signal and arrive at the feedback signal fed back during wall；
Monitoring receives the duration of the timer during feedback signal；
According to the pre-set velocity and the duration calculation and the distance L2 of wall.
Further, the detection signal is ultrasonic wave or laser.
Further, according to the distance L2 and pre-determined distance L1 of the side brush, the side brush and wall are calculated
Distance L method it is as follows：The distance L of the side brush and wall is drawn according to formula L=L2-L1.
Further, the predetermined value is 0 or less than 1 millimeter.
Further, the comparative result includes L≤preset value, described to control side brush by predetermined manner according to comparative result
The step moved along wall includes：
When L is equal to preset value, the side brush is controlled directly to be moved along cleaning wall.
Present invention also offers a kind of cleaning device, the cleaning device include side brush and：
Distance detection sensor, analysis and the distance L2 of wall；
Computing module, according to the distance L2 and pre-determined distance L1 of the side brush, calculates the side brush and wall
Distance L；
Contrast module, for by the side brush compared with the distance L of wall is with predetermined value；
Control module, for controlling the side brush to be moved along wall by predetermined manner according to comparative result.
Further, the distance detection sensor includes：
Launch submodule, for launching detection signal with pre-set velocity, and start timer；
Receiving submodule, for receiving the feedback signal fed back when the detection signal arrives at wall；
Submodule is monitored, the duration of timer when receiving the feedback signal for monitoring；
Calculating sub module, for the distance L2 according to the pre-set velocity and the duration calculation and wall.
Further, the detection signal is ultrasonic wave or laser.
Further, the computing module includes：
Computing submodule：For drawing the distance L of the side brush and wall according to formula L=L2-L1.
The method at cleaning device cleaning wall edge provided by the invention, launches detection signal by distance detection sensor
And then measure the mode of cleaning device and wall distance, then adjust cleaning device and wall apart from and cleaned, it is such
Not only identification function is strong for wall edge clean method, relatively low to environmental requirement, applied widely, and to material requirements also not
Height, while also reduce material wastage rate.
Brief description of the drawings
Fig. 1 is the method and step figure for the method that the embodiment of the present invention one cleans wall edge；
Fig. 2 is the method and step figure of step S1 in the embodiment of the present invention one；
Fig. 3 is the schematic diagram of cleaning device and wall in the embodiment of the present invention one and embodiment two；
Fig. 4 is the structure diagram of cleaning device in the embodiment of the present invention two；
Fig. 5 is the structure diagram of distance detection sensor in the embodiment of the present invention two；
Fig. 6 is the structure diagram of computing module in the embodiment of the present invention two.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes.Obviously, described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, belongs to the scope of protection of the invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining the relative position relation under a certain particular pose (as shown in drawings) between each component, motion conditions etc., if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is only used for description purpose, and it is not intended that referring to
Show or imply its relative importance or imply the quantity of the technical characteristic indicated by indicating.Thus, " first ", " are defined
At least one this feature can be expressed or be implicitly included to two " feature.In addition, the technical solution between each embodiment can
To be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical solution occurs
Conflicting or can not realize when, will be understood that the combination of this technical solution is not present, also not in the protection model of application claims
Within enclosing.
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Embodiment one：
With reference to Fig. 1-3, a kind of cleaning device 1 provided by the invention, cleaning device 1 can be sweeping robot, including side
Brush 11, in sweep, dust catcher, traveling wheel and distance detection sensor 10.Side brush 11 is with hair, cloth, plastic strip or steel wire
Brush, it is used to clean, such as can be cleaned the dust debris on wall side so that into air inlet, specifically side brush 11 is set
Put in the lower end of cleaning device 1, and a certain distance can be flexed outward out, to carry out cleaning wall edge.Traveling wheel is set
Put in the lower end of cleaning device 1, for being movably walking.Distance detection sensor 10 be used to measuring cleaning device 1 to wall 2 away from
From, it is arranged on cleaning device 1 and can measure the optional position of distance between distance detection sensor 10 and wall 2,
It is preferred that the vertical range with wall 2.
The method at above-mentioned cleaning wall edge, specific steps include：
Step S1：Analysis and the distance L2 of wall 2；
Step S2：According to the distance L2 and pre-determined distance L1 of side brush 11, the distance L of side brush 11 and wall 2 is calculated；
Step S3：By side brush 11 compared with the distance L of wall 2 is with predetermined value；
Step S4：Moved according to comparative result by predetermined manner control side brush 11 along wall 2.
In step sl, cleaning device 1 by analysis draw the distance detection sensor 10 being arranged in cleaning device 1 with
The distance L2 of wall 2.With reference to Fig. 3, in the present embodiment, measure for convenience, distance detection sensor 10 is arranged on cleaning device 1
Side, be arranged on the same side with side brush 11, side brush 11 has handle, and handle controls telescopic moving by cleaning device 1, works as cleaning
When device 1 carries out wall 2 and cleans, cleaning device 1 is swept during the rubbish at wall edge is collapsed to by stretching out side brush 11, and in
Cleaning device 1 is moved by traveling wheel along wall 2 when sweeping the air inlet for being sent into dust catcher, and cleaning, so as to complete on a large scale
Wall edge clean.
Specifically, side brush 11 can be provided with multiple, and as side brush 11 is provided with two, two side brushes 11 are respectively arranged on cleaning
The left and right sides of device 1 so that cleaning is more convenient.
In step s 2, cleaning device 1 calculates side brush 11 and wall according to the pre-determined distance L1 of distance L2 and side brush 11
The distance L of body 2, pre-determined distance L1 are the distance of the distance detection sensor 10 place face parallel with wall 2 and side brush 11, L1
It can be preset when manufacturing, in the present embodiment, side brush 11 stretches out the direction of cleaning device 1 with being sensed apart from detection
The direction of the vertical wall 2 of device 10 is consistent, calculates side brush 11 according to L1 and the specific method of the distance L of wall 2 is：According to formula L
=L2-L1 draws the distance L of side brush 11 and wall 2.
In step s3, cleaning device 1 by side brush 11 with the distance L of wall 2 compared with predetermined value, which can
To be pre-set when manufacturing, specifically, predetermined value could be provided as 0 or 1 millimeter.
In step s 4, moved according to comparative result by predetermined manner control side brush 11 along wall 2, which includes
Three kinds of L ＜ predetermined values, L=predetermined values, L ＞ predetermined values situations, i.e., then according to comparative result by 11 edge of predetermined manner control side brush
Wall 2 moves, and then clean concretely comprises the following steps：When L=predetermined values, cleaning device 1 controls side brush 11 directly to be moved along wall 2
Move and clean wall edge；Work as L>During predetermined value, cleaning device 1 controls side brush 11 to move L towards wall 2, side brush 11 and then can be with
Clean wall edge；During L ＜ predetermined values, cleaning device 1 controls side brush 11 towards the outer displacement distance L of wall 2, side brush 11 and then can be with
Accurate cleaning wall edge, prevents exertin brush bad wall 2, while be also prevented from side brush excessive compression wall 2 to cause to be easily damaged.
Certainly, predetermined value can be 0, can also be set as other specification, cleaning device 1 is further according to the parameter and the ratio of L
Relatively result is adjusted the distance with wall 2.
Further, above-mentioned steps S1 specifically comprises the following steps：
Step S11：Detection signal is launched with pre-set velocity, and starts timer；
Step S12：Receive detection signal and arrive at the feedback signal fed back during wall 2；
Step S13：Monitoring receives the duration of the timer during feedback signal；
Step S14：According to pre-set velocity and duration calculation and the distance L2 of wall 2.
In step s 11, launched when the distance detection sensor 10 in cleaning device 1 with pre-set velocity and detect signal, together
When cleaning device 1 start timer, which can be ultrasonic wave, and accordingly pre-set velocity is ultrasonic wave emission rate.
Feedback signal can be sent to cleaning device 1 by being detected in step S12 and step S13 when signal arrives at wall 2, clearly
Clean device 1 receives the duration that the feedback signal monitors this process timer at the same time.
In step S14, cleaning device 1 goes out the distance L2 with wall 2 according to default speed and duration calculation, specifically
Ground, can calculate the distance L2 of distance detection sensor 10 and wall 2 according to formula L2=Speed*Time/2, wherein
Speed is emission rate, and Time again senses feedback signal back to distance detection from contact wall 2 is issued to for detection signal
The time of device 10.
The dust rubbish at wall edge can be so handled in side brush 11 prevents side brush 11 from excessively touching wall of whitewashing a wall, damage side at the same time
Brush 11, reduces the material consumption of damage side brush 11, and the requirement to environmental requirement and cleaning device 1 is relatively low, is applicable in
Scope expands, and cost of manufacture also reduces.
In the present embodiment, after the side brush 11 of step S4 cleaning devices 1 is cleaned along wall edge, cleaning device 1
The spacing of side brush 11 and wall 2, i.e. timing repeat step S1-S4 can also be readjusted after preset time.When here presetting at
Between be the time set in advance, such as 1 repeat step S1-S4 of cleaning device after 2min is preset, so that side brush 11 is periodically fitted
Answer cleaning ambient, prevent it is clean when not being stalk body 2, can less clean position, kept for 11 moment of side brush along wall edge clean.
In addition, above-mentioned distance detection sensor 10 can be ultrasonic sensor, it can also be laser sensor, work as distance
When detection sensor 10 is laser sensor, above-mentioned detection signal is laser, and cleans the method and the above method at wall edge
Unanimously.
Embodiment two：
With reference to Fig. 3-5, present invention also offers a kind of cleaning device 1, above-mentioned clean method is applied to the cleaning device 1,
The cleaning device 1 have side brush 11, in sweep, dust catcher, traveling wheel, and distance detection sensor 10.Side brush 11 is used to clean
Wall edge, such as the dust debris on wall side can be cleaned so as to which sanitizer cartridge can be arranged on into air inlet, side brush 11
1 lower end is put, and a certain distance can be flexed outward out, to carry out cleaning wall edge.
Specifically, which includes distance detection sensor 10, computing module 200, contrast module 300 and control
Molding block 400.
Distance detection sensor 10, for analyzing the distance L2 with wall 2；
Computing module 200, for the pre-determined distance L1 according to distance L2 and side brush 11, calculates side brush 11 and wall 2
Distance L；
Contrast module 300, for by side brush 11 compared with the distance L of wall 2 is with predetermined value；
Control module 400, for being moved according to comparative result by predetermined manner control side brush 11 along wall 2.
In the present embodiment, the computing module 200 of above-mentioned cleaning device 1 includes：
Computing submodule 2001, for drawing the distance L of the side brush 11 and wall 2 according to formula L=L2-L1.
Above-mentioned pre-determined distance L1 is the distance of the distance detection sensor 10 place face parallel with wall 2 and side brush 11, L1
It can be preset when manufacturing, in the present embodiment, side brush 11 stretches out the direction of cleaning device 1 with being sensed apart from detection
The direction of the vertical wall 2 of device 10 is consistent.
Above-mentioned predetermined value is 0 or 1 millimeter, and wherein comparative result includes L ＜ predetermined values, L=predetermined values, L ＞ predetermined values three
Kind of situation, when L ＜ predetermined values, control module 400 controls side brush 11 towards mobile outside wall 2, side brush 11 and then can clean wall
Body edge, when L=predetermined values, control module 400 controls side brush directly to be moved along wall 2, makes side brush 11 clear along wall edge
It is clean；When L ＞ predetermined values, control module 400 controls side brush 11 to be directly toward 2 displacement distance L of wall, side brush 11 and then can be accurate
Really cleaning wall edge, prevents exertin brush bad wall 2, while be also prevented from 11 excessive compression wall 2 of side brush to cause to be easily damaged.
It is understood that distance detection sensor 10 is arranged on cleaning device 1, and it is provided in and can measures distance
The optional position of distance between detection sensor 10 and wall 2, in the present embodiment, measures, distance detection sensor for convenience
10 are arranged on the side of cleaning device 1, are arranged on the same side with side brush 11, side brush 11 has handle, and handle is controlled by cleaning device 1
Telescopic moving processed, when cleaning device 1, which carries out wall 2, to be cleaned, cleaning device 1 is by stretching out side brush 11 by the rubbish at wall edge
Cleaning device 1 is moved by traveling wheel along wall 2 when being swept in collapsing to, and the air inlet for being sent into dust catcher is swept in, and cleaned,
So as to complete large-scale wall edge clean.
Side brush 11 can be provided with multiple, and as side brush 11 is provided with two, two side brushes 11 are respectively arranged on cleaning device 1
The left and right sides so that cleaning is more convenient.
In the present embodiment, the distance detection sensor 10 of above-mentioned cleaning device 1 includes：
Launch submodule 101：For launching detection signal with pre-set velocity, and start timer；
Receiving submodule 102：For receiving the feedback signal fed back when the detection signal arrives at wall 2；
Monitor submodule 103：The duration of timer when receiving the feedback signal for monitoring；
Calculating sub module 104：For according to the pre-set velocity and the duration calculation and the distance L2 of wall 2.
When distance detection sensor 10 analyzes distance detection sensor 10 and the distance L2 of wall 2, launch submodule 101
Detection signal is launched with pre-set velocity, and starts timer, which can be ultrasonic wave emission rate, accordingly detect
Signal can be ultrasonic wave；Receiving submodule 102 receives detection signal and arrives at the feedback signal fed back during wall 2, monitors submodule
The duration of timer when the monitoring of block 103 receives feedback information；Calculating sub module 104 is according to pre-set velocity and duration calculation and wall
The distance L2 of body 2.
The distance L2 of distance detection sensor 10 and wall 2 is calculated according to formula L2=Speed*Time/2；Wherein Speed
For emission rate, feedback information is fed back to distance detection sensor 10 by Time again for ultrasonic wave from contact wall 2 is issued to
Time.
In addition, above-mentioned distance detection sensor 10 can be ultrasonic sensor, or laser sensor, works as distance
When detection sensor 10 is laser sensor, above-mentioned detection signal is laser.
Above-mentioned cleaning device 1 is measured using distance detection sensor 10, with the cleaning device 1 using infrared rays survey
Compare, more flexibly, the requirement to environment is relatively low, is more widely applied, and can prevent while wall edge is cleaned
Only side brush 11 excessively touches wall, exempts from its damage, particularly under the stalk environment of long side, can effectively be carried out along wall 2
Run-in index cleans, and plays the effect of maximum.
In the present embodiment, above-mentioned cleaning device 1 can be adjusted again after being cleaned along wall edge after preset time
The spacing of whole side brush 11 and wall 2；Here preset at the time be can be 2 minutes so that side brush 11 periodically adapts to cleaning ambient, prevent
It is only clean when not being stalk body 2, can less clean position.
In conclusion the method at cleaning device cleaning wall edge provided by the invention, passes through distance detection sensor 10
Transmitting detects signal and then measures the mode of cleaning device 1 and 2 distance of wall, then adjusts cleaning device 1 with wall 2 apart from simultaneously
Being cleaned, not only identification function is strong for such wall edge clean method, relatively low to environmental requirement, applied widely,
And it is also not high to material requirements, while material wastage rate is also reduced, above-mentioned clean method is corresponded to the present invention also provides a kind of
Cleaning device 1, including distance detection sensor 10, computing module 200, contrast module 300 and control module 400, pass through inspection
The distance L2 that module 100 measures distance detection sensor 10 and wall 2 is surveyed, by computing module 200 according to distance L2 and distance
The position relationship of detection sensor 10 and side brush 11 calculates the distance L of side brush 11 and wall 2, and by contrast module 300 and in advance
Definite value is contrasted, and control module 400 controls side brush 11 to be cleaned along wall edge according to comparing result, such sanitizer cartridge
1 not only low manufacture cost is put, loss is low, there is preferable market application foreground.
The foregoing is merely the preferred embodiment of the present invention, is not intended to limit the scope of the invention, every utilization
The equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made, it is related to be directly or indirectly used in other
Technical field, be included within the scope of the present invention.
Claims (10)
- A kind of 1. method for cleaning wall edge, it is characterised in that applied to the cleaning device including side brush, the cleaning wall The method at edge includes the following steps：Analysis and the distance L2 of wall；According to the distance L2 and pre-determined distance L1 of the side brush, the distance L of the side brush and wall is calculated；By the side brush compared with the distance L of wall is with predetermined value；The side brush is controlled to be moved along wall by predetermined manner according to comparative result.
- 2. the method at cleaning wall edge as claimed in claim 1, it is characterised in that the analysis and the step of the distance L2 of wall Suddenly include：Detection signal is launched with pre-set velocity, and starts timer；Receive the detection signal and arrive at the feedback signal fed back during wall；Monitoring receives the duration of the timer during feedback signal；According to the pre-set velocity and the duration calculation and the distance L2 of wall.
- 3. the method at cleaning wall edge as claimed in claim 2, it is characterised in that the detection signal is ultrasonic wave or swashs Light.
- 4. the method at cleaning wall edge as claimed in claim 1, it is characterised in that described according to the distance L2 and institute The pre-determined distance L1 of side brush is stated, the method for calculating the distance L of the side brush and wall is as follows：The distance L of the side brush and wall is drawn according to formula L=L2-L1.
- 5. the method at cleaning wall edge as claimed in claim 1, it is characterised in that the predetermined value is 0 or less than 1 milli Rice.
- 6. the method at cleaning wall edge as claimed in claim 1, it is characterised in that the comparative result includes L≤default Value, it is described to be included according to comparative result by the step that predetermined manner control side brush is moved along wall：When L is equal to preset value, the side brush is controlled directly to be moved along wall.
- A kind of 7. cleaning device, it is characterised in that the cleaning device include side brush and：Distance detection sensor, analysis and the distance L2 of wall；Computing module, according to the distance L2 and pre-determined distance L1 of the side brush, calculates the side brush and the distance of wall L；Contrast module, for by the side brush compared with the distance L of wall is with predetermined value；Control module, for controlling the side brush to be moved along wall by predetermined manner according to comparative result.
- 8. cleaning device as claimed in claim 7, it is characterised in that the distance detection sensor includes：Launch submodule, for launching detection signal with pre-set velocity, and start timer；Receiving submodule, for receiving the feedback signal fed back when the detection signal arrives at wall；Submodule is monitored, the duration of timer when receiving the feedback signal for monitoring；Calculating sub module, for the distance L2 according to the pre-set velocity and the duration calculation and wall.
- 9. cleaning device as claimed in claim 8, it is characterised in that the detection signal is ultrasonic wave or laser.
- 10. cleaning device as claimed in claim 6, it is characterised in that the computing module includes：Computing submodule：For drawing the distance L of the side brush and wall according to formula L=L2-L1.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711386988.XA CN107913035A (en) | 2017-12-20 | 2017-12-20 | Clean the method and its cleaning device at wall edge |
| PCT/CN2018/072010 WO2019119554A1 (en) | 2017-12-20 | 2018-01-09 | Method for cleaning wall edges and cleaning device therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711386988.XA CN107913035A (en) | 2017-12-20 | 2017-12-20 | Clean the method and its cleaning device at wall edge |
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| Publication Number | Publication Date |
|---|---|
| CN107913035A true CN107913035A (en) | 2018-04-17 |
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ID=61893818
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711386988.XA Pending CN107913035A (en) | 2017-12-20 | 2017-12-20 | Clean the method and its cleaning device at wall edge |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107913035A (en) |
| WO (1) | WO2019119554A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513630A (en) * | 2020-04-27 | 2020-08-11 | 小狗电器互联网科技（北京）股份有限公司 | Edgewise sweeping method of sweeping robot |
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| CN106415423A (en) * | 2014-07-10 | 2017-02-15 | 伊莱克斯公司 | Method for detecting a measurement error in a robotic cleaning device |
| CN106821150A (en) * | 2016-12-28 | 2017-06-13 | 圆融健康科技（深圳）有限公司 | Sweeping robot |
| CN107080498A (en) * | 2017-05-15 | 2017-08-22 | 意诺科技有限公司 | A kind of brush device and its control method and cleaning equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513630A (en) * | 2020-04-27 | 2020-08-11 | 小狗电器互联网科技（北京）股份有限公司 | Edgewise sweeping method of sweeping robot |
| CN111513630B (en) * | 2020-04-27 | 2021-10-08 | 小狗电器互联网科技（北京）股份有限公司 | Edgewise sweeping method of sweeping robot |
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| WO2019119554A1 (en) | 2019-06-27 |
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