CN108968812B - Sweeper capable of automatically switching cleaning heads and cleaning head automatic switching method - Google Patents
Sweeper capable of automatically switching cleaning heads and cleaning head automatic switching method Download PDFInfo
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- CN108968812B CN108968812B CN201810685122.7A CN201810685122A CN108968812B CN 108968812 B CN108968812 B CN 108968812B CN 201810685122 A CN201810685122 A CN 201810685122A CN 108968812 B CN108968812 B CN 108968812B
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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
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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
- A47L11/40—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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/40—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
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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
- A47L11/40—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
- A47L11/4036—Parts or details of the surface treating tools
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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
- A47L11/40—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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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- Cleaning In General (AREA)
Abstract
Discloses a sweeper capable of automatically switching cleaning heads and an automatic cleaning head switching method. This machine of sweeping floor includes: a body; the moving assembly is positioned at the lower part of the machine body and is provided with a plurality of bottom wheels for moving the sweeper; the cleaning assembly is positioned at the lower part of the moving assembly and comprises a converter and a plurality of cleaning heads, and the converter is connected with the moving assembly; the depth sensor is positioned at the lower part of the moving assembly, and the ground material is determined by judging the depth; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning component is connected with the map component, and displays the real-time position of the sweeper in a block map to generate a real-time block map; the control unit is connected with the moving assembly and the cleaning assembly, controls the movement of the sweeper and controls the conversion of the cleaning head according to the real-time block map. According to the invention, the plurality of cleaning brush heads are arranged, and the floor material of the floor is tested for automatic replacement, so that the sweeper is suitable for various floors, and the cleaning effect is better.
Description
Technical Field
The invention relates to the field of intelligent robots and intelligent equipment control methods, in particular to a sweeper capable of automatically switching a cleaning head and an automatic cleaning head switching method.
Background
The intelligent sweeper is a cleaning machine which is suitable for cleaning hard ground and simultaneously sucking up sewage and taking the sewage away from the site, and has the advantages of environmental protection, energy conservation, high efficiency and the like. The use of various fields is very common, and particularly, in stations, docks, airports, workshops, warehouses, schools, hospitals, restaurants, markets and other places with wide hard floors, the cleaning concept of replacing manpower with machines is in depth. However, the cleaning brush head of the existing sweeper is of a single type, and the cleaning brush head of the single type cannot adapt to various grounds, so that the cleaning effect of the sweeper is poor.
Therefore, there is a need to develop a sweeper with replaceable brush head and better cleaning effect and an automatic cleaning head switching method.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention provides a sweeper capable of automatically switching cleaning heads and an automatic cleaning head switching method.
According to an aspect of the present invention, there is provided a sweeper capable of automatically switching a cleaning head, which may include: a body; the moving assembly is positioned at the lower part of the machine body, is provided with a plurality of bottom wheels and is used for moving the sweeper; the cleaning assembly is positioned at the lower part of the moving assembly and comprises a converter and a plurality of cleaning heads, and the converter is connected with the moving assembly; the depth sensor is positioned at the lower part of the moving assembly and used for determining the ground material by judging the depth; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning assembly is connected with the map assembly, displays the real-time position of the sweeper in the block map, and generates a real-time block map; and the control unit is electrically connected with the moving assembly and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head according to the real-time block map.
Preferably, the converter comprises: the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring and a fixed radial strip, the outer ring is connected with the cleaning heads, the fixed radial strip is arranged along the radial direction of the conversion ring, and one end connected with a fixed shaft is provided with a fixed buckle; the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving assembly, and the other end of the fixed shaft is connected to the fixed radial strip; wherein, the cleaning head corresponds to the fixed diameter strip one to one.
Preferably, the included angle between the fixed shaft and the horizontal plane of the moving assembly is a first included angle.
Preferably, the angle between the fixed diameter bar and each cleaning head is a second angle.
Preferably, the first included angle is an acute angle, and the second included angle is an obtuse angle.
Preferably, the sum of the first included angle and the second included angle is 180 °.
Preferably, the device further comprises a power unit connected with the control unit, wherein the device comprises: the first power unit is connected with the bottom wheel and provides power for the bottom wheel; the second power unit is connected with the conversion ring and provides power for the rotation of the conversion ring; and the third power unit is connected with the cleaning head and provides power for the rotation of the cleaning head.
Preferably, the method further comprises the following steps: and the storage battery provides electric support for the sweeper.
According to another aspect of the present invention, there is provided an automatic cleaning head switching method, which may include: determining the depth in a unit area through a depth sensor so as to determine the ground material; dividing the use area into different application blocks according to different ground materials to generate a block map; displaying the real-time position of the sweeper in the block map to generate a real-time block map; and controlling the conversion of the cleaning head according to the real-time block map.
Preferably, the determining the depth per unit area by the depth sensor and thereby determining the ground material comprises: judging the depth of each pixel point in a unit area through a depth sensor; analyzing the depth rule and the distribution rule of the pixel points, judging the flatness of the ground and determining the ground material.
The present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
Figure 1 shows a schematic block diagram of a sweeper for an automatic conversion cleaning head according to one embodiment of the present invention.
Fig. 2 shows a top view of a converter according to an embodiment of the invention.
Figure 3 shows a flow chart of the steps of an automatic cleaning head changeover method according to the invention.
Description of reference numerals:
1. a body; 2. a moving assembly; 3. a converter; 4. a cleaning head; 6. an outer ring; 7. fixing the radial strips; 8. a water storage tank; 9. connecting a conduit; 10. a liquid level meter; 11. a bottom wheel.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The sweeper with the automatic conversion cleaning head can comprise: a body; the moving assembly is positioned at the lower part of the machine body, is provided with a plurality of bottom wheels and is used for moving the sweeper; the cleaning assembly is positioned at the lower part of the moving assembly and comprises a converter and a plurality of cleaning heads, and the converter is connected with the moving assembly; the depth sensor is positioned at the lower part of the moving assembly and used for determining the ground material by judging the depth; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning component is connected with the map component and is used for displaying the real-time position of the sweeper in a block map to generate a real-time block map; and the control unit is electrically connected with the moving assembly and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head according to the real-time block map.
In one example, a converter includes: the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring and a fixed radial strip; the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving assembly, and the other end of the fixed shaft is connected to the fixed radial strip; wherein, the cleaning head corresponds to the fixed diameter strip one by one.
In one example, the angle between the fixed axis and the horizontal plane of the moving assembly is a first angle.
In one example, the fixed diameter bars are angled at a second angle to each cleaning head.
In one example, the first included angle is an acute angle and the second included angle is an obtuse angle.
In one example, the sum of the first included angle and the second included angle is 180 °.
In one example, the power unit is further included and connected with the control unit, wherein the power unit comprises: the first power unit is connected with the bottom wheel and provides power for the bottom wheel; the second power unit is connected with the conversion ring and provides power for the rotation of the conversion ring; and the third power unit is connected with the cleaning head and provides power for the rotation of the cleaning head.
In one example, further comprising: the storage battery provides electric support for the sweeper.
Specifically, the sweeper with the automatic conversion cleaning head can comprise: a body; the moving assembly is positioned at the lower part of the machine body, is provided with a plurality of bottom wheels and is used for moving the sweeper; the sweeper can include one or more sets of cleaning assemblies, all lie in the lower part of removal subassembly, and every set of cleaning assembly includes converter and a plurality of cleaning head, and the converter is connected in the removal subassembly, and the converter includes: the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring and a fixed radial strip; the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving assembly, and the other end of the fixed shaft is connected to the fixed radial strip; the cleaning heads correspond to the fixed radial strips one to one, the included angle between the fixed shaft and the horizontal plane of the moving assembly is a first included angle, the included angle between the fixed radial strips and each cleaning head is a second included angle, the first included angle is an acute angle, the second included angle is an obtuse angle, and the sum of the first included angle and the second included angle is 180 degrees in the same plane perpendicular to the ground, so that the used cleaning heads are perpendicularly contacted with the ground, the standby cleaning heads are far away from the ground, the abrasion of the standby cleaning heads can be reduced, and the service life is prolonged; the depth sensor is positioned at the lower part of the moving assembly and used for determining the ground material by judging the depth; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning component is connected with the map component and is used for displaying the real-time position of the sweeper in a block map to generate a real-time block map; the control unit is electrically connected with the moving assembly and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head according to the real-time block map; the power unit is connected with the control unit and comprises: the first power unit is connected with the bottom wheel and provides power for the bottom wheel; the second power unit is connected with the conversion ring and provides power for the rotation of the conversion ring; the third power unit is connected with the cleaning head and provides power for the rotation of the cleaning head; the storage battery provides electric support for the sweeper.
As the preferred scheme, still include the cleanliness factor detecting element, the cleanliness factor detecting element includes catch basin, connecting tube, level appearance, driving motor rotational speed detection sensor and time-recorder, level appearance and time-recorder communication connection in the control unit, and the level appearance sets up in the catch basin, and the catch basin sets up in this internal robot, passes fixed footpath strip through connecting tube and communicates to the cleaning brush head, and driving motor rotational speed detection sensor is used for measuring driving motor's rotational speed.
Figure 3 shows a flow chart of the steps of an automatic cleaning head changeover method according to the invention.
The automatic cleaning head switching method according to the present invention may include: step 101, determining the depth in a unit area through a depth sensor so as to determine the ground material; 102, dividing a use area into different application blocks according to different ground materials to generate a block map; step 103, displaying the real-time position of the sweeper in a block map to generate a real-time block map; step 104, controlling the conversion of the cleaning head according to the real-time block map.
In one example, determining the depth per unit area and thus the ground material by the depth sensor comprises: judging the depth of each pixel point in a unit area through a depth sensor; analyzing depth rules and distribution rules of the pixel points, judging the flatness of the ground, determining the material of the ground, and if the depth of each pixel point in a unit area is the same, judging the ground to be a marble ground; if the depth of each pixel point in the unit area is different but irregular, determining that the carpet is the ground; and if the depth of each pixel point in the unit area is changed regularly and the depth difference is smaller than the difference threshold value, judging that the floor is the ground.
Specifically, the automatic cleaning head switching method according to the present invention may include: judging the depth of each pixel point in a unit area through a depth sensor; analyzing depth rules and distribution rules of the pixel points, judging the flatness of the ground, determining the material of the ground, and if the depth of each pixel point in a unit area is the same, judging the ground to be a marble ground; if the depth of each pixel point in the unit area is different but irregular, determining that the carpet is the ground; if the depth of each pixel point in the unit area is changed regularly and the depth difference is smaller than the difference threshold value, judging that the floor is the ground; dividing the use area into different application blocks according to different ground materials to generate a block map; displaying the real-time position of the sweeper in a block map to generate a real-time block map; controlling the switching of the cleaning head according to the real-time block map.
According to the invention, the plurality of cleaning brush heads are arranged, and the floor material of the floor is tested for automatic replacement, so that the sweeper is suitable for various floors, and the cleaning effect is better.
Application example
To facilitate understanding of the solution of the embodiments of the present invention and the effects thereof, a specific application example is given below. It will be understood by those skilled in the art that this example is merely for the purpose of facilitating an understanding of the present invention and that any specific details thereof are not intended to limit the invention in any way.
Figure 1 shows a schematic block diagram of a sweeper for an automatic conversion cleaning head according to one embodiment of the present invention.
Fig. 2 shows a top view of a converter according to an embodiment of the invention.
The sweeper with the automatic conversion cleaning head can comprise: a body 1; the moving assembly 2 is positioned at the lower part of the machine body 1, is provided with a plurality of bottom wheels 11 and is used for moving the sweeper; the sweeper can include one or more sets of cleaning assemblies, all located the lower part of the mobile assembly 2, and each set of cleaning assemblies includes a converter 3 and a plurality of cleaning heads 4, the converter 3 is connected to the mobile assembly 2, and the converter 3 includes: the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring 6 and a fixed radial strip 7, the outer ring 6 is connected with a plurality of cleaning heads 4, the fixed radial strip 7 is arranged along the radial direction of the conversion ring, and one end connected with a fixed shaft is provided with a fixed buckle; the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving component 2, and the other end of the fixed shaft is connected to the fixed radial strip 7; the cleaning heads 4 correspond to the fixed radial strips 7 one by one, the included angle between the fixed shaft and the horizontal plane of the moving assembly 2 is a first included angle, the included angle between the fixed radial strips 7 and each cleaning head 4 is a second included angle, the first included angle is an acute angle, the second included angle is an obtuse angle, and the sum of the first included angle and the second included angle is 180 degrees in the same plane perpendicular to the ground, so that the used cleaning heads are perpendicularly contacted with the ground, the standby cleaning heads are far away from the ground, the abrasion of the standby cleaning heads can be reduced, and the service life is prolonged; the depth sensor 5 is positioned at the lower part of the moving assembly 2 and is used for determining the ground material by judging the depth; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning component is connected with the map component and is used for displaying the real-time position of the sweeper in a block map to generate a real-time block map; the control unit is electrically connected with the moving assembly 2 and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head 4 according to the real-time block map; the power unit is connected with the control unit and comprises: the first power unit is connected with the bottom wheel 11 and provides power for the bottom wheel 11; the second power unit is connected with the conversion ring and provides power for the rotation of the conversion ring; the third power unit is connected with the cleaning head 4 and provides power for the rotation of the cleaning head 4; the storage battery provides electric support for the sweeper.
As preferred scheme, still include the cleanliness factor detecting element, the cleanliness factor detecting element includes catch basin 8, connecting tube 9, level gauge 10, driving motor rotational speed detection sensor and time-recorder, level gauge 10 and time-recorder communication connection are in the control unit, and level gauge 10 sets up in catch basin 8, and catch basin 8 sets up in the fuselage, passes fixed footpath strip 7 through connecting tube 9 and communicates to cleaning brush head 4, and driving motor rotational speed detection sensor is used for measuring driving motor's rotational speed.
The automatic cleaning head switching method according to the present invention comprises: judging the depth of each pixel point in a unit area through a depth sensor; analyzing depth rules and distribution rules of the pixel points, judging the flatness of the ground, determining the material of the ground, and if the depth of each pixel point in a unit area is the same, judging the ground to be a marble ground; if the depth of each pixel point in the unit area is different but irregular, determining that the carpet is the ground; if the depth of each pixel point in the unit area is changed regularly and the depth difference is smaller than the difference threshold value, judging that the floor is the ground; dividing the use area into different application blocks according to different ground materials to generate a block map; displaying the real-time position of the sweeper in a block map to generate a real-time block map; controlling the switching of the cleaning head according to the real-time block map.
In conclusion, the sweeper is provided with the plurality of cleaning brush heads, and the floor material of the floor is detected to be automatically changed, so that the sweeper is suitable for various floors, and the cleaning effect is better.
It will be appreciated by persons skilled in the art that the above description of embodiments of the invention is intended only to illustrate the benefits of embodiments of the invention and is not intended to limit embodiments of the invention to any examples given.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (9)
1. The utility model provides an automatic street sweeper of conversion cleaning head which characterized in that includes:
a body;
the moving assembly is positioned at the lower part of the machine body, is provided with a plurality of bottom wheels and is used for moving the sweeper;
the cleaning assembly is positioned at the lower part of the moving assembly and comprises a converter and a plurality of cleaning heads, and the converter is connected with the moving assembly;
the depth sensor is positioned at the lower part of the moving assembly and used for determining the ground material by judging the depth;
the ground component divides the use area into different application blocks according to different ground materials to generate a block map;
the positioning assembly is connected with the map assembly, displays the real-time position of the sweeper in the block map, and generates a real-time block map;
and the control unit is electrically connected with the moving assembly and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head according to the real-time block map.
2. The sweeper of claim 1, wherein the switch comprises:
the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring and a fixed radial strip, the outer ring is connected with the cleaning heads, the fixed radial strip is arranged along the radial direction of the conversion ring, and one end connected with a fixed shaft is provided with a fixed buckle;
the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving assembly, and the other end of the fixed shaft is connected to the fixed radial strip;
wherein, the cleaning head corresponds to the fixed diameter strip one to one.
3. The sweeper of claim 2, wherein the fixed axis is at a first angle to the horizontal of the moving assembly.
4. The sweeper of claim 3, wherein the fixed radius bar is at a second angle to each cleaning head.
5. The sweeper of claim 4, wherein the first included angle is an acute angle and the second included angle is an obtuse angle.
6. The sweeper of claim 4, wherein the sum of the first included angle and the second included angle is 180 °.
7. The sweeper of claim 2, further comprising a power unit coupled to the control unit, wherein the power unit comprises:
the first power unit is connected with the bottom wheel and provides power for the bottom wheel;
the second power unit is connected with the conversion ring and provides power for the rotation of the conversion ring;
and the third power unit is connected with the cleaning head and provides power for the rotation of the cleaning head.
8. The sweeper of claim 1, further comprising:
and the storage battery provides electric support for the sweeper.
9. A sweeper using the automatic cleaning head switching method according to any one of claims 1 to 8, comprising:
determining the depth in a unit area through a depth sensor so as to determine the ground material;
dividing the use area into different application blocks according to different ground materials to generate a block map;
displaying the real-time position of the sweeper in the block map to generate a real-time block map;
controlling the switching of the cleaning head according to the real-time block map;
wherein, judge the degree of depth in the unit area and then confirm the ground material through the degree of depth sensor and include:
judging the depth of each pixel point in a unit area through a depth sensor;
analyzing the depth rule and the distribution rule of the pixel points, judging the flatness of the ground and determining the ground material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810685122.7A CN108968812B (en) | 2018-06-28 | 2018-06-28 | Sweeper capable of automatically switching cleaning heads and cleaning head automatic switching method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810685122.7A CN108968812B (en) | 2018-06-28 | 2018-06-28 | Sweeper capable of automatically switching cleaning heads and cleaning head automatic switching method |
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| CN108968812A CN108968812A (en) | 2018-12-11 |
| CN108968812B true CN108968812B (en) | 2021-06-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110960150B (en) * | 2018-09-29 | 2022-11-15 | 天佑电器（苏州）有限公司 | Cleaning robot and control method and control device thereof |
| KR102611848B1 (en) * | 2018-12-21 | 2023-12-08 | 포시텍 파워 툴스(소주) 컴퍼니. 리미티드. | Robot vacuum cleaner and control method |
| JP7324847B2 (en) * | 2018-12-21 | 2023-08-10 | ポジテック パワー ツールズ（スーチョウ）カンパニー，リミティド | Cleaning robot and cleaning method |
| CN114587198A (en) * | 2018-12-21 | 2022-06-07 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method |
| CN111938510A (en) * | 2019-05-17 | 2020-11-17 | 广东宝乐机器人股份有限公司 | Cleaning robot, surface type detection method and control method |
| CN110326999A (en) * | 2019-07-01 | 2019-10-15 | 百度在线网络技术（北京）有限公司 | Control method for vehicle, device, equipment, automatic driving vehicle and storage medium |
| CN111345739B (en) * | 2020-02-21 | 2021-07-30 | 上海高仙自动化科技发展有限公司 | Control method, control device, intelligent robot and computer readable medium |
| CN112704437B (en) * | 2020-12-23 | 2021-11-12 | 炬星科技（深圳）有限公司 | Sweeping robot control method, equipment and storage medium |
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| CN104526699A (en) * | 2014-12-05 | 2015-04-22 | 网易（杭州）网络有限公司 | Indoor cleaning robot |
| CN205091616U (en) * | 2015-02-13 | 2016-03-16 | 美国iRobot公司 | Move ground and clean machine people with floor type detects |
| CN105013783A (en) * | 2015-05-21 | 2015-11-04 | 安徽凤阳玻璃有限公司 | Movable glass cleaning device |
| CN107788913A (en) * | 2016-08-31 | 2018-03-13 | 科沃斯机器人股份有限公司 | Clean robot and its control method |
| CN106618401A (en) * | 2016-10-18 | 2017-05-10 | 杭州元永贞智能科技有限公司 | Cleaning robot for bathroom |
| CN107165107A (en) * | 2017-07-14 | 2017-09-15 | 安徽南博机器人有限公司 | A kind of road sweeper |
| CN207424884U (en) * | 2017-09-30 | 2018-05-29 | 深圳拓邦股份有限公司 | A kind of ground identification device and cleaning equipment |
| CN108158510A (en) * | 2018-02-07 | 2018-06-15 | 广东嘉得力清洁科技股份有限公司 | A kind of side brush regulating mechanism of sweeper |
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