CN109363578B - Cleaning monitoring method and device, dust collector and mobile terminal - Google Patents
Cleaning monitoring method and device, dust collector and mobile terminal Download PDFInfo
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- CN109363578B CN109363578B CN201811069984.3A CN201811069984A CN109363578B CN 109363578 B CN109363578 B CN 109363578B CN 201811069984 A CN201811069984 A CN 201811069984A CN 109363578 B CN109363578 B CN 109363578B
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- dust collector
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
The invention discloses a cleaning monitoring method, a cleaning monitoring device, a dust collector and a mobile terminal, wherein the cleaning monitoring method comprises the following steps: when the dust collector is started, recording the passing position of the dust collector; when the dust collector is closed, whether cleaning is finished or not is judged according to the position where the dust collector passes and a preset cleaning area. According to the cleaning monitoring method and device, the dust collector and the mobile terminal, the running route of the dust collector can be obtained by collecting and recording the position of the dust collector passing through in the running stage, the running route of the dust collector is compared with the preset cleaning area, the area uncovered by the running route can be found, the cleaning work of the dust collector is monitored, the problem that the existing dust collector lacks a monitoring system is solved, the working condition of the dust collector and the completion progress of the cleaning work can be fed back to a user, the intelligent level of the dust collector is improved, and the requirements of future intelligent home furnishing are met.
Description
Technical Field
The invention relates to the technical field of dust collectors, in particular to a cleaning monitoring method and device, a dust collector and a mobile terminal.
Background
In many technical fields, designers desire that equipment be provided with a monitoring system so that users can better grasp the operation information and work completion status of the equipment. Vacuum cleaners can significantly reduce the user's labor intensity and, by virtue of their efficient cleaning capabilities, have become increasingly popular household appliances. However, the existing vacuum cleaner only has a cleaning function and does not have a monitoring system, and the working condition and the cleaning completion progress of the vacuum cleaner cannot be fed back to a user.
Disclosure of Invention
In view of this, embodiments of the present invention provide a cleaning monitoring method and apparatus, a vacuum cleaner, and a mobile terminal, so as to solve the problem that the existing vacuum cleaner lacks a monitoring system and cannot feed back the working status and the cleaning completion progress to a user.
According to a first aspect, an embodiment of the present invention provides a cleaning monitoring method, including: when the dust collector is started, recording the passing position of the dust collector; and when the dust collector is closed, judging whether cleaning is finished according to the position where the dust collector passes and a preset cleaning area.
According to the cleaning monitoring method provided by the embodiment of the invention, the running route of the dust collector can be obtained by collecting and recording the position of the dust collector passing through the running stage, and then the running route is compared with the preset cleaning area, so that the area uncovered by the running route can be found, the cleaning work of the dust collector is monitored, the problem that the existing dust collector lacks a monitoring system is solved, the working condition and the cleaning work completion progress of the dust collector can be fed back to a user, the intelligent level of the dust collector is improved, and the requirements of future intelligent home furnishing are met.
With reference to the first aspect, in a first embodiment of the first aspect, the step of recording the position where the vacuum cleaner passes includes: starting a preset indoor positioning system; collecting positioning information of the dust collector through the indoor positioning system; and generating an operation route of the dust collector according to the positioning information of the dust collector, wherein the operation route of the dust collector is used for recording the passing position of the dust collector.
According to the cleaning monitoring method provided by the embodiment of the invention, the indoor positioning system preset in a room is utilized to record the indoor positioning information of the dust collector, and then the running route of the dust collector is obtained according to the indoor positioning information of the dust collector. An existing indoor positioning system, such as an indoor positioning system based on multi-sensor fusion of ZigBee or UWB (ultra wideband, UWB for short), can achieve centimeter-level positioning accuracy and meet the requirement of monitoring the running route of a dust collector.
With reference to the first aspect, in a second implementation manner of the first aspect, the step of determining whether to finish cleaning according to a position where the vacuum cleaner passes and a preset cleaning area includes: and judging whether the dust collector passes through all preset cleaning areas or not according to the passing position of the dust collector.
According to the cleaning monitoring method provided by the embodiment of the invention, the conclusion whether the dust collector completes indoor cleaning is obtained by detecting whether the running route of the dust collector covers all the preset cleaning areas, and the area which is not cleaned by the dust collector can be found.
With reference to the second embodiment of the first aspect, in the third embodiment of the first aspect, the step of determining whether to finish cleaning according to a position where the vacuum cleaner passes and a preset cleaning area further includes: and judging whether the actual cleaning frequency of the dust collector to each preset cleaning area reaches the corresponding preset cleaning frequency or not.
According to the cleaning monitoring method provided by the embodiment of the invention, the areas which are not covered by the operation route of the dust collector are checked, the cleaning frequency of the dust collector to each operation area is also detected, whether the actual cleaning frequency reaches the preset cleaning frequency is detected, the cleaning degree is further monitored, and the areas which are not cleaned completely can be found.
With reference to the second embodiment of the first aspect, in a fourth embodiment of the first aspect, when the vacuum cleaner has not passed through all preset cleaning areas, the cleaning monitoring method further includes: judging whether the dust collector is started within a preset time range; and when the dust collector is started within a preset time range, returning to the step of recording the passing position of the dust collector.
The cleaning monitoring method provided by the embodiment of the invention can send a cleaning omission prompt to a user when finding that a leakage area exists in indoor cleaning of a user using the dust collector, and further monitor whether the user reopens the dust collector under the prompt to complete cleaning of the leakage area, is beneficial to helping the user to complete indoor cleaning work, and avoids omission or cleaning dead corners to cause health hidden troubles to the user and family members.
With reference to the fourth embodiment of the first aspect, in the fifth embodiment of the first aspect, when the vacuum cleaner is not activated within a preset time range, a cleaning area that the vacuum cleaner has not passed is recorded and fed back to a user when the vacuum cleaner is activated next time.
The cleaning monitoring method provided by the embodiment of the invention can record the cleaning of the leakage area under the condition that the leakage area exists in the current cleaning of the user, and can lift the area which is not cleaned last time to the user when the dust collector is started next time, so that the user can be helped to mainly clean the last leakage area when cleaning the room next time, the indoor cleaning is ensured, the formation of cleaning dead angles is avoided, and the potential health hazard is caused to the user and the family members.
With reference to the first aspect or any embodiment of the first aspect, when the vacuum cleaner is turned off, the cleaning monitoring method further includes: and calculating the corresponding amount of movement according to the position of the dust collector.
According to the cleaning monitoring method provided by the embodiment of the invention, after the dust collector is shut down, the operation amount of the user for completing the indoor cleaning can be calculated according to the operation route of the dust collector, the consumed calorie value is prompted to the user, the interest of the cleaning work is favorably improved, and the healthy living habits of the user are helped to be established.
According to a second aspect, embodiments of the present invention provide a cleaning monitoring device, comprising: the position acquisition unit is used for recording the passing position of the dust collector when the dust collector is started; and the judging unit is used for judging whether cleaning is finished according to the passing position of the dust collector and a preset cleaning area when the dust collector is closed.
According to a third aspect, embodiments of the present invention provide a vacuum cleaner, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, and the processor executing the computer instructions to perform a cleaning monitoring method as described in the first aspect or any one of the embodiments of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides a mobile terminal, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, and the processor executing the computer instructions to perform a cleaning monitoring method as described in the first aspect or any one of the embodiments of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a schematic diagram of an application scenario according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another application scenario of an embodiment of the present invention;
FIG. 3 shows a flow chart of a specific example of a cleaning monitoring method in an embodiment of the invention;
FIG. 4 is a schematic structural diagram showing a specific example of a cleaning monitoring device in the embodiment of the present invention;
FIG. 5 is a schematic view showing a specific example of a vacuum cleaner in the embodiment of the present invention;
fig. 6 is a schematic structural diagram of a specific example of a mobile terminal in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of an application scenario according to an embodiment of the present invention. The indoor positioning module 11 and the processor 12 are arranged in the dust collector 1, the indoor positioning module 11 collects positioning information of the dust collector in real time through the indoor positioning system 2 which is arranged indoors in advance and sends the positioning information to the processor 12, the processor 12 counts all the positioning information of the dust collector from the time of starting to the time of shutting down, the positioning information is arranged according to time sequence to generate a running route of the dust collector, and the running route can reflect the position where the dust collector passes.
Fig. 2 is a schematic diagram of another application scenario of the embodiment of the present invention. The indoor positioning module 11 and the communication module 13 are arranged in the dust collector 1, the indoor positioning module 11 collects positioning information of the dust collector in real time through the indoor positioning system 2 which is arranged indoors in advance, the positioning information is sent to the mobile terminal 3 through the communication module 13, the processor 12 counts all the positioning information of the dust collector from the time of starting to the time of shutting down, the positioning information is arranged according to the time sequence, an operation route of the dust collector can be generated, and the operation route can reflect the position where the dust collector passes through. The positioning information of the dust collector is sent to the mobile terminal 3 in real time, the mobile terminal 3 generates the running route, a processor with powerful functions can be prevented from being arranged in the dust collector to execute calculation of a large amount of data, the manufacturing cost of the dust collector is reduced, and the requirement of the miniaturization design of the dust collector is met. In addition, mobile terminals, such as smart phones and tablet computers, are increasingly widely applied in the field of smart homes, and the mobile terminals and the dust collectors can be used in a matched mode to meet the development requirements of smart homes.
It should be noted that the indoor positioning system 2 and the indoor positioning module 11 in the vacuum cleaner shown in fig. 1 and 2 may use any prior art to perform indoor positioning, and the embodiment of the present invention is not limited thereto.
An embodiment of the present invention provides a cleaning monitoring method, as shown in fig. 3, which is suitable for the processor 12 in fig. 1 or the mobile terminal 3 in fig. 2, and the cleaning monitoring method may include the following steps:
step S101: and judging whether the dust collector is started or not. When the dust collector is started, executing the step S102; when the cleaner is not started, no operation is performed.
Step S102: the position the cleaner passed is recorded. In one embodiment, the step S102 of recording the position where the vacuum cleaner passes can be implemented by the following substeps:
step S1021: and starting a preset indoor positioning system. Specifically, the indoor positioning system can be any existing indoor positioning system, for example, an indoor positioning system based on the fusion of multiple sensors of ZigBee or UWB, can reach centimeter-level positioning accuracy, and can meet the requirement of monitoring the running route of the dust collector.
Step S1022: the positioning information of the dust collector is collected through an indoor positioning system. Specifically, the positioning information of the dust collector can be collected in real time through the indoor positioning module 11 and the indoor positioning system 2 which are arranged in the dust collector.
Step S1023: and generating a running route of the dust collector according to the positioning information of the dust collector. In particular, the course of the cleaner may be used to record the location through which the cleaner passes. In practical application, the positioning information of the dust collector can be sent to the mobile terminal 3 in real time through the communication module 13 arranged in the dust collector, so that the running route of the dust collector is generated through the mobile terminal 3. When the processor 12 with stronger computing capability is arranged in the dust collector, the processor 12 carried by the dust collector can be used for generating the running route of the dust collector.
Step S103: and judging whether the dust collector is closed or not. When the dust collector is closed, executing the step S104; when the vacuum cleaner is not turned off, the process returns to step S102, and specifically, when the vacuum cleaner is not turned off, the process may return to step S1022:
step S104: and judging whether cleaning is finished according to the position where the dust collector passes and a preset cleaning area. In a specific embodiment, the process of step S104 can be implemented by the following several sub-steps:
step S1041: and judging whether the dust collector passes through all the preset cleaning areas or not according to the passing position of the dust collector. The user can store indoor information of the house, including information such as a plan view and furniture positions, into the processor 12 of the cleaner or the mobile terminal 3 in advance, divide the indoor area of the house into a plurality of cleaning areas according to the indoor information, and set corresponding cleaning frequency for each cleaning area. The missed cleaning area can be obtained by comparing whether the running route of the dust collector covers all the preset cleaning areas. When the cleaner has not passed through all the preset cleaning areas, step S1042 and step S1043 may be performed; when the cleaner passes through all the preset cleaning regions, step S1043 may be performed.
Step S1042: prompt information is generated to prompt for missing clean areas.
Step S1043: and judging whether the actual cleaning frequency of the dust collector to each preset cleaning area reaches the corresponding preset cleaning frequency or not. And when the actual cleaning frequency of the dust collector for each preset cleaning area reaches the corresponding preset cleaning frequency, executing the step S1044 to generate a cleaning completion prompt. And when the actual cleaning frequency of the vacuum cleaner for any preset cleaning area does not reach the corresponding preset cleaning frequency, executing step S1045.
Step S1044: and generating a prompt message of cleaning completion.
Step S1045: prompt information is generated to prompt cleaning areas with insufficient cleaning frequency.
Optionally, after step S1042 or step S1045, the cleaning monitoring method may further include the steps of:
step S105: and judging whether the dust collector is started within a preset time range. If the dust collector is started within the preset time range, executing the step S102; if the vacuum cleaner is not started within the preset time range, step S106 is executed.
Step S106: the cleaning area not passed by the cleaner is recorded and fed back to the user when the cleaner is next started.
Optionally, after the step of determining that the cleaner is turned off in step S103, the cleaning monitoring method may further include the steps of:
step S107: and calculating the corresponding amount of movement according to the position where the dust collector passes.
According to the cleaning monitoring method provided by the embodiment of the invention, the running route of the dust collector can be obtained by collecting and recording the position of the dust collector passing through the running stage, and then the running route is compared with the preset cleaning area, so that the area uncovered by the running route can be found, the cleaning work of the dust collector is monitored, the problem that the existing dust collector lacks a monitoring system is solved, the working condition and the cleaning work completion progress of the dust collector can be fed back to a user, the intelligent level of the dust collector is improved, and the requirements of future intelligent home furnishing are met.
An embodiment of the present invention further provides a cleaning monitoring apparatus, as shown in fig. 4, the cleaning monitoring apparatus includes: a position acquisition unit 401 and a judgment unit 402.
When the vacuum cleaner is started, the position acquiring unit 401 is used for recording the position where the vacuum cleaner passes; the specific working process of the method can be referred to as step S101 to step S102 in the above method embodiment.
When the vacuum cleaner is turned off, the determining unit 402 is used to determine whether cleaning is completed according to the position where the vacuum cleaner passes and the preset cleaning area, and the specific working process can be referred to the steps S103 to S107 in the above method embodiment.
An embodiment of the present invention further provides a vacuum cleaner and a mobile terminal, as shown in fig. 5 and 6, the vacuum cleaner may include a first processor 51 and a first memory 52, and the mobile terminal may include a second processor 61 and a second memory 62. The first processor 51 (or the second processor 61) and the first memory 52 (or the second memory 62) may be connected by a bus or other means, and the bus connection is taken as an example in fig. 5 and 6. Or
The first processor 51 (or the second processor 61) may be a Central Processing Unit (CPU). The first Processor 51 (or the second Processor 61) may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.
The first memory 52 (or the second memory 62) is a non-transitory computer readable storage medium, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the location acquisition unit 401 and the determination unit 402 shown in fig. 4) corresponding to the cleaning monitoring method in the embodiment of the present invention. The first processor 51 (or the second processor 61) executes various functional applications and data processing of the processor by executing the non-transitory software programs, instructions and modules stored in the first memory 52 (or the second memory 62), that is, implements the cleaning monitoring method in the above method embodiment.
The first memory 52 (or the second memory 62) may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created by the first processor 51 (or the second processor 61), and the like. In addition, the first memory 52 (or the second memory 62) may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the first memory 52 (or the second memory 62) may optionally include a memory remotely located from the first processor 51 (or the second processor 61), and these remote memories may be connected to the first processor 51 (or the second processor 61) through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the first memory 52 (or second memory 62) and, when executed by the first processor 51 (or second processor 61), perform the cleaning monitoring method in the embodiment shown in fig. 3.
The details of the vacuum cleaner or the mobile terminal can be understood with reference to the corresponding description and effects in the embodiment shown in fig. 3, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (7)
1. A cleaning monitoring method, comprising:
when the dust collector is started, starting a preset indoor positioning system; collecting positioning information of the dust collector through the indoor positioning system; arranging and generating an operation route of the dust collector according to the positioning information of the dust collector in a time sequence, wherein the operation route of the dust collector is used for recording the passing position of the dust collector;
when the dust collector is turned off, judging whether the dust collector passes through all preset cleaning areas or not according to the passing position of the dust collector;
when the dust collector does not pass through all preset cleaning areas, judging whether the dust collector is started within a preset time range;
and when the dust collector is started within a preset time range, returning to the step of recording the passing position of the dust collector.
2. The cleaning monitoring method according to claim 1, wherein the step of determining whether cleaning is completed according to a position where the cleaner passes and a preset cleaning area further comprises:
and judging whether the actual cleaning frequency of the dust collector to each preset cleaning area reaches the corresponding preset cleaning frequency or not.
3. The cleaning monitoring method as claimed in claim 1, wherein when the cleaner is not activated within a preset time range, a cleaning area that the cleaner has not passed is recorded and fed back to a user when the cleaner is activated next time.
4. The cleaning monitoring method according to any one of claims 1 to 3, further comprising, when the cleaner is turned off:
and calculating the corresponding amount of movement according to the position of the dust collector.
5. A cleaning monitoring device, comprising:
the position acquisition unit is used for starting a preset indoor positioning system when the dust collector is started; collecting positioning information of the dust collector through the indoor positioning system; generating an operation route of the dust collector according to the positioning information of the dust collector, wherein the operation route of the dust collector is used for recording the passing position of the dust collector;
the judging unit is used for judging whether the dust collector passes through all preset cleaning areas according to the passing position of the dust collector when the dust collector is turned off; when the dust collector does not pass through all preset cleaning areas, judging whether the dust collector is started within a preset time range; and when the dust collector is started within a preset time range, returning to the position where the dust collector passes through.
6. A vacuum cleaner, comprising:
a memory and a processor communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the cleaning monitoring method of any of claims 1-4.
7. A mobile terminal, comprising:
a memory and a processor communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the cleaning monitoring method of any of claims 1-4.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069984.3A CN109363578B (en) | 2018-09-13 | 2018-09-13 | Cleaning monitoring method and device, dust collector and mobile terminal |
| PCT/CN2018/122907 WO2020052154A1 (en) | 2018-09-13 | 2018-12-22 | Cleaning monitoring method and device, vacuum cleaner, and mobile terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069984.3A CN109363578B (en) | 2018-09-13 | 2018-09-13 | Cleaning monitoring method and device, dust collector and mobile terminal |
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| Publication Number | Publication Date |
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| CN109363578A CN109363578A (en) | 2019-02-22 |
| CN109363578B true CN109363578B (en) | 2020-12-04 |
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| CN201811069984.3A Active CN109363578B (en) | 2018-09-13 | 2018-09-13 | Cleaning monitoring method and device, dust collector and mobile terminal |
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| WO (1) | WO2020052154A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110622085A (en) | 2019-08-14 | 2019-12-27 | 珊口（深圳）智能科技有限公司 | Mobile robot and control method and control system thereof |
| CN112540601B (en) * | 2019-09-23 | 2022-04-01 | 美智纵横科技有限责任公司 | Control method, control device, electronic device and storage medium |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013230294A (en) * | 2012-05-01 | 2013-11-14 | Sharp Corp | Self-travelling vacuum cleaner |
| JP5735940B2 (en) * | 2012-09-11 | 2015-06-17 | シャープ株式会社 | Server, control system, self-propelled cleaner, program, and recording medium |
| DE102012109004A1 (en) * | 2012-09-24 | 2014-03-27 | RobArt GmbH | Robots and methods for autonomous inspection or processing of floor surfaces |
| JP6054136B2 (en) * | 2012-10-23 | 2016-12-27 | シャープ株式会社 | Device control device and self-propelled electronic device |
| JP2014191518A (en) * | 2013-03-27 | 2014-10-06 | Carecom Co Ltd | Residence monitoring system |
| TWI505801B (en) * | 2014-05-09 | 2015-11-01 | Kinpo Elect Inc | Indoor robot and method for indoor robot positioning |
| KR102306709B1 (en) * | 2014-08-19 | 2021-09-29 | 삼성전자주식회사 | Robot cleaner, control apparatus, control system, and control method of robot cleaner |
| JP5819498B1 (en) * | 2014-08-27 | 2015-11-24 | シャープ株式会社 | Autonomous mobile body and autonomous mobile body system |
| DE102015110140A1 (en) * | 2015-06-24 | 2016-12-29 | Vorwerk & Co. Interholding Gmbh | Support of a surface cleaning |
| CN107969995B (en) * | 2017-11-27 | 2020-09-25 | 深圳市无限动力发展有限公司 | Visual floor sweeping robot and repositioning method thereof |
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2018
- 2018-09-13 CN CN201811069984.3A patent/CN109363578B/en active Active
- 2018-12-22 WO PCT/CN2018/122907 patent/WO2020052154A1/en active Application Filing
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| CN109363578A (en) | 2019-02-22 |
| WO2020052154A1 (en) | 2020-03-19 |
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