CN110123209A - Accessory recognition methods, system and device - Google Patents
Accessory recognition methods, system and device Download PDFInfo
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- CN110123209A CN110123209A CN201910361656.9A CN201910361656A CN110123209A CN 110123209 A CN110123209 A CN 110123209A CN 201910361656 A CN201910361656 A CN 201910361656A CN 110123209 A CN110123209 A CN 110123209A
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- accessory
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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
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- Electric Vacuum Cleaner (AREA)
Abstract
The present invention is suitable for robotic technology field, a kind of accessory recognition methods, system and device is provided, this method comprises: obtaining the accessory information of the accessory of replacement when detecting member replacing；When the accessory information matches consistent with preset accessory information, obtain and the matched cleaning strategy of the accessory information；According to the cleaning strategy, corresponding cleaning operation is executed.The present invention can install the cleaning device of different function on the same position, it, can be using different cleaning strategies, to realize different cleaning function after being then based on the accessory information identification to cleaning device, it realizes a tractor serves several purposes, improves the diversity of sweeping robot function.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of accessory recognition methods, system and device.
Background technique
Sweeping robot also known as sweeps machine, intelligent dust suction, robot cleaner etc. automatically, is the one of controlling intelligent household appliances
Kind, certain artificial intelligence can be relied on, complete floor sweeping work in the room automatically.General use brush is swept and vacuum mode,
Ground sundries is first received into the rubbish storage box into itself, to complete the function of land clearing.With people's living standard
Raising, sweeping robot is gradually generalized in people's lives.
Existing sweeping robot, the cleaning attachment in some locations of structures are firmwares, i.e. the place of side brush position
Can only rim brush, play the role of periphery rubbish being brought to suction inlet；Round brush position can only install round brush, play and sweep rubbish
Enter the effect of suction inlet, i.e., the function of cleaning attachment is fixed, is single on each position, so that the function of sweeping robot
Can be single, scalability is weak on cleaning function.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of accessory recognition methods, it is intended to which solving existing sweeping robot makes
With in the process, one clean accessory installation place can only execute it is single mop floor, sweep the floor or hair cleaning function caused by function
Single problem.
The embodiments of the present invention are implemented as follows, a kind of accessory recognition methods, which comprises
When detecting member replacing, the accessory information of the accessory of replacement is obtained；
When the accessory information matches consistent with preset accessory information, obtain and the matched cleaning of the accessory information
Strategy；
According to the cleaning strategy, corresponding cleaning operation is executed.
The another object of the embodiment of the present invention is to provide a kind of accessory identifying system, the system comprises:
Accessory information obtains module, the accessory information of the accessory for when detecting member replacing, obtaining replacement；
Clean strategy matching module, for when the accessory information match consistent with preset accessory information, acquisition and
The matched cleaning strategy of accessory information；
Policy enforcement module is cleaned, for executing corresponding cleaning operation according to the cleaning strategy.
The another object of the embodiment of the present invention is to provide a kind of accessory identification device, including storage equipment and processing
Device, the storage equipment is for storing computer program, and the processor runs the computer program so that the accessory is known
Other device executes above-mentioned accessory recognition methods.
The another object of the embodiment of the present invention is to provide a kind of storage medium, which is characterized in that it is stored with above-mentioned
Computer program used in accessory identification device, the computer program realize above-mentioned accessory identification when being executed by processor
The step of method.
The embodiment of the present invention, by determine the accessory functions after replacement, and passing through and matching based on the acquisition to accessory information
Corresponding cleaning strategy is effectively inquired and obtained to matched design between part information and preset accessory information, so that according to
The cleaning strategy execution got cleans task, and the embodiment of the present invention can install the cleaning of different function on the same position
Device can be using different cleaning strategies, to realize different cleaning function after being then based on the accessory information identification to cleaning device
Can, it realizes a tractor serves several purposes, improves the diversity of sweeping robot function.
Detailed description of the invention
Fig. 1 is the flow chart for the accessory recognition methods that first embodiment of the invention provides；
Fig. 2 is the flow chart for the accessory recognition methods that second embodiment of the invention provides；
Fig. 3 is the flow chart for the accessory recognition methods that third embodiment of the invention provides；
Fig. 4 is the structural schematic diagram for the accessory identifying system that fourth embodiment of the invention provides；
Fig. 5 is the structural schematic diagram for the accessory identification device that fifth embodiment of the invention provides.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In existing sweeping robot, the function of its cleaning attachment of each cleaning attachment installation place is fixed, is single
, so that sweeping robot has a single function, scalability is weak on cleaning function, and therefore, the purpose of the embodiment of the present invention is to mention
For one kind by being identified in real time to cleaning accessory, strategy is cleaned with corresponding switch, enables sweeping robot automatic right
Cleaning function switches over, and improves the diversity of sweeping robot cleaning function.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
Referring to Fig. 1, be the flow chart for the accessory recognition methods that first embodiment of the invention provides, comprising steps of
Step S10 obtains the accessory information of the accessory of replacement when detecting member replacing；
Wherein, the sweeping robot in the present embodiment is equipped with the cleaning device of different function on the same position, should
Cleaning device is accessory described in the step, and the accessory is for facilitating subsequent sweeping robot to execute different cleaning strategies；
Specifically, the replacement identification method in the step for the accessory can use: encoded information identification, electromagnetism letter
Number identification, voice signal identification or the mode of picture signal are identified, it is preferred that encoded information identification is based on different fine motions
It is different to switch the electric signal issued, when so as to recognize electric signal in the step and change, then determines currently to detect and match
Part is replaced；Electromagnetic signal identification is based on the magnetic identification to different accessories inner magnet is set to, so as to identify in the step
When changing to the magnetic field strength of accessory, then determine currently to detect that accessory is replaced；Voice signal identification is based on
The identification of the vibration audio issued when to different accessories work, the life so that vebrato for recognizing accessory sending in the step takes place frequently
When variation, then determine currently to detect that accessory is replaced, it is possible to understand that, the picture signal is based on the bat to different accessories
It takes the photograph image to be identified, when so that the image for recognizing accessory in the step changing, determines currently to detect that accessory is sent out
Raw replacement；
Preferably, in the step, the accessory information is encoded information, electromagnetism (AD) information, voice messaging or image letter
Breath etc. is effectively raised subsequent for the inquiry for cleaning strategy by the acquisition to the accessory information；
Step S20 is obtained and the accessory information when the accessory information matches consistent with preset accessory information
The cleaning strategy matched；
Wherein, preset Policy Table has been locally stored, multiple and different accessory letters are stored in the preset Policy Table
Cease the corresponding corresponding relationship cleaned between strategy, each accessory information can correspond to independent cleanings it is tactful or
Multiple combinations for cleaning strategy, specifically, match looking into the preset Policy Table by the accessory information in the step
It askes, it is whether consistent with the preset accessory information to determine the accessory information, so that effectively described clear to what is be matched to
Strategy is swept to be obtained；
Step S30 executes corresponding cleaning operation according to the cleaning strategy；
Wherein, for example, when each accessory information only correspond to an independent cleaning it is tactful when, then when detecting that accessory has generation
When variation, control sweeping robot executes corresponding cleaning strategy, is only stored with a cleaning operation in the cleaning strategy, such as
Storage be mop floor, sweep the floor or hair cleaning operate；Preferably, when each accessory information corresponds to multiple compositions for cleaning strategy
When, then it controls sweeping robot and sequentially executes corresponding cleaning operation；
In the present embodiment, by determine the accessory functions after replacement, and passing through accessory based on the acquisition to accessory information
Matched design between information and preset accessory information is effectively inquired and obtains corresponding cleaning strategy, so that according to obtaining
The cleaning strategy execution got cleans task, and the embodiment of the present invention can install the sanitizer cartridge of different function on the same position
It sets, it, can be using different cleaning strategies, to realize different cleaning function after being then based on the accessory information identification to cleaning device
Can, it realizes a tractor serves several purposes, improves the diversity of sweeping robot function.
Embodiment two
Referring to Fig. 2, being the flow chart for the accessory recognition methods that second embodiment of the invention provides, when the accessory of replacement
When accessory information is encoded information, comprising steps of
Step S11 obtains the trigger signal of the accessory when detecting member replacing；
Wherein, the sweeping robot in the present embodiment is equipped with the cleaning device of different function on the same position, should
Cleaning device is accessory described in the step, and the accessory is for facilitating subsequent sweeping robot to execute different cleaning strategies；
Specifically, in the present embodiment, in the round brush installation site of sweeping robot, there are three card slot A, B, C, each portions
Point it is designed with a microswitch, different protrusions are had on different accessories, it, can be with after different accessories installs
The signals such as the trigger signal that can not set out respectively, such as A, B, C, AB, AC, BC or ABC；
Step S21 obtains the encoded information of the accessory according to the trigger signal of the accessory；
Wherein, which can be stored by the way of text information, image information or number information, preferably
, each trigger signal can correspond to the combination of one or more encoded informations, in the step, based on to the trigger signal
It obtains, effectively different accessories can be identified, improve subsequent for the search efficiency for cleaning strategy；
Step S31 is obtained and the encoded information when the encoded information matches consistent with preset accessory information
The cleaning strategy matched；
Wherein, preset Policy Table has been locally stored, multiple and different coding letters are stored in the preset Policy Table
Cease the corresponding corresponding relationship cleaned between strategy, each encoded information can correspond to independent cleanings it is tactful or
Multiple combinations for cleaning strategy, specifically, match looking into the preset Policy Table by the encoded information in the step
It askes, it is whether consistent with the preset accessory information to determine the encoded information, so that effectively described clear to what is be matched to
Strategy is swept to be obtained；
For example, when the encoded information that step S21 is recognized is round brush information, then to the corresponding cleaning strategy inquired
Are as follows: side brush, round brush, blower are opened, sweeper mode is executed；
When the encoded information that step S21 is recognized is adhesive hair roller information, then the corresponding cleaning strategy inquired is pass
Side brush, blower are closed, hair cleaning mode is only carried out；
When the encoded information that step S21 is recognized is vibration mop information, then the corresponding cleaning strategy inquired is to hold
Row vibrates the mode that mops floor；
Step S41 executes corresponding cleaning operation according to the cleaning strategy；
Wherein, for example, when each encoded information only correspond to an independent cleaning it is tactful when, then when detecting that accessory has generation
When variation, control sweeping robot executes corresponding cleaning strategy, is only stored with a cleaning operation in the cleaning strategy, such as
Storage be mop floor, sweep the floor or hair cleaning operate；Preferably, when each accessory information corresponds to multiple compositions for cleaning strategy
When, then it controls sweeping robot and sequentially executes corresponding cleaning operation；
Preferably, in the step, strategy is cleaned for covering when the cleaning is tactful, it is described tactful according to the cleaning, it holds
The step of row corresponding cleaning operation includes: to clean strategy according to the covering, executes covering cleaning operation；
In the present embodiment, by determine the accessory functions after replacement, and passing through accessory based on the acquisition to accessory information
Matched design between information and preset accessory information is effectively inquired and obtains corresponding cleaning strategy, so that according to obtaining
The cleaning strategy execution got cleans task, and the embodiment of the present invention can install the sanitizer cartridge of different function on the same position
It sets, it, can be using different cleaning strategies, to realize different cleaning function after being then based on the accessory information identification to cleaning device
Can, it realizes a tractor serves several purposes, improves the diversity of sweeping robot function.
Embodiment three
Referring to Fig. 3, being the flow chart for the accessory recognition methods that third embodiment of the invention provides, when the accessory of replacement
When accessory information is AD numerical value, comprising steps of
Step S12 obtains the magnetic field strength of the accessory when detecting member replacing；
Wherein, the sweeping robot in the present embodiment is equipped with the cleaning device of different function on the same position, should
Cleaning device is accessory described in the step, and the accessory is for facilitating subsequent sweeping robot to execute different cleaning strategies；
Specifically, being equipped with a Hall sensor in the present embodiment inside the round brush installation site of sweeping robot, matching
Installation site is corresponded on part equipped with magnet, the size that Hall can measure magnetic field is filled with not then for different accessories upper magnet
Same magnetic field, such as 100,200/300/400/500 etc., and then effectively facilitate the subsequent identification to different accessories and divide
Analysis；
Step S22 obtains the AD numerical information of the accessory according to the magnetic field strength of the accessory；
Wherein, which can be stored by the way of text information, image information or number information, preferably
, each trigger signal can correspond to the combination of one or more encoded informations, in the step, based on to the magnetic field strength
It obtains, effectively different accessories can be identified, improve subsequent for the search efficiency for cleaning strategy；
Step S32 is obtained and is believed with the AD numerical value when the AD numerical information matches consistent with preset accessory information
Cease matched cleaning strategy；
Wherein, preset Policy Table has been locally stored, multiple and different AD numerical value are stored in the preset Policy Table
Information and the corresponding corresponding relationship cleaned between strategy, each AD numerical information can correspond to independent cleaning plan
Slightly or multiple combinations for cleaning strategy, specifically, carrying out the AD numerical information and the preset Policy Table in the step
Matching inquiry, it is whether consistent with the preset accessory information to determine the AD numerical information, so that effectively to being matched to
The cleaning strategy obtained；
For example, when the AD numerical information that step S22 is recognized is round brush information, then to the corresponding cleaning strategy inquired
Are as follows: side brush, round brush, blower are opened, sweeper mode is executed；
When the AD numerical information that step S22 is recognized is adhesive hair roller information, then the corresponding cleaning strategy inquired is
Closed edge brush, blower only carry out hair cleaning mode；
When the AD numerical information that step S22 is recognized is vibration mop information, then the corresponding cleaning strategy inquired is
It executes and vibrates the mode that mops floor；
Step S42 executes corresponding cleaning operation according to the cleaning strategy；
Wherein, for example, when each AD numerical information only correspond to an independent cleaning it is tactful when, then when detecting that accessory has hair
When changing, control sweeping robot executes corresponding cleaning strategy, is only stored with a cleaning operation, example in the cleaning strategy
As storage be mop floor, sweep the floor or hair cleaning operation；Preferably, when each accessory information corresponds to multiple compositions for cleaning strategy
When, then it controls sweeping robot and sequentially executes corresponding cleaning operation；
Preferably, in the step, strategy is cleaned for covering when the cleaning is tactful, it is described tactful according to the cleaning, it holds
The step of row corresponding cleaning operation includes: to clean strategy according to the covering, executes covering cleaning operation；
In the present embodiment, by determine the accessory functions after replacement, and passing through accessory based on the acquisition to accessory information
Matched design between information and preset accessory information is effectively inquired and obtains corresponding cleaning strategy, so that according to obtaining
The cleaning strategy execution got cleans task, and the embodiment of the present invention can install the sanitizer cartridge of different function on the same position
It sets, it, can be using different cleaning strategies, to realize different cleaning function after being then based on the accessory information identification to cleaning device
Can, it realizes a tractor serves several purposes, improves the diversity of sweeping robot function.
Embodiment 4
Referring to Fig. 4, being the structural schematic diagram for the accessory identifying system 100 that fourth embodiment of the invention provides, the system
System includes:
Accessory information obtains module 10, the accessory information of the accessory for when detecting member replacing, obtaining replacement, institute
Stating accessory information includes encoded information or AD numerical information, wherein the sweeping robot in the present embodiment is in the same position
On the cleaning device of different function is installed, which is accessory described in the module, and the accessory is subsequent for facilitating
Sweeping robot executes different cleaning strategies；Specifically, the replacement identification method in the module for the accessory can adopt
With: encoded information identification, electromagnetic signal identification, voice signal identifies or the mode of picture signal is identified, it is preferred that the volume
The identification of code information is different based on the electric signal that different microswitches issue, and changes so as to recognize electric signal in the module
When, then determine currently to detect that accessory is replaced；Electromagnetic signal identification is based on to the magnetic for being set to different accessories inner magnet
Property identification, when so that the magnetic field strength for recognizing accessory in the module changing, then determine currently to detect accessory
Replacement；The voice signal identifies the identification based on the vibration audio issued when working different accessories, so as to identify in the module
When changing to the vebrato frequency that accessory issues, then determine currently to detect that accessory is replaced, it is possible to understand that, the figure
As signal is identified based on the shooting image to different accessories, so that the image for recognizing accessory in the module changes
When, judgement currently detects that accessory is replaced.
Preferably, when the accessory information is encoded information, the accessory information obtains module 10 and is also used to: when detecting
When member replacing, the trigger signal of the accessory is obtained；According to the trigger signal of the accessory, the coding letter of the accessory is obtained
Breath.
In addition, when the accessory information is AD numerical information, the accessory information obtains module 10 and also uses in the present embodiment
In: when detecting member replacing, obtain the magnetic field strength of the accessory；According to the magnetic field strength of the accessory, described in acquisition
The AD numerical information of accessory.
Strategy matching module 11 is cleaned, for obtaining when the accessory information matches consistent with preset accessory information
With the matched cleaning strategy of the accessory information, wherein preset Policy Table has been locally stored, has been stored in the preset Policy Table
There are multiple and different accessory informations and the corresponding corresponding relationship cleaned between strategy, each accessory information can be right
Answer it is independent one clean strategy or it is multiple clean strategy combinations, specifically, in the module by the accessory information with it is described pre-
If Policy Table carry out matching inquiry, to determine whether the accessory information consistent with the preset accessory information, so as to have
Effect obtains the cleaning strategy being matched to.
Policy enforcement module 12 is cleaned, for executing corresponding cleaning operation, wherein for example according to the cleaning strategy
When each accessory information only corresponds to independent cleaning strategy, then when detecting that accessory changes, scavenging machine is controlled
Device people executes corresponding cleaning strategy, is only stored with a cleaning operation in the cleaning strategy, such as storage is to mop floor, sweep the floor
Or hair cleaning operation；Preferably, when each accessory information corresponds to multiple compositions for cleaning strategy, then sweeping robot is controlled
Corresponding cleaning operation is sequentially executed, further, in the module, cleans strategy when the cleaning is tactful to cover, described
According to cleaning strategy, the step of executing corresponding cleaning operation includes: to clean strategy according to the covering, executes covering cleaning
Operation.
In the present embodiment, by determine the accessory functions after replacement, and passing through accessory based on the acquisition to accessory information
Matched design between information and preset accessory information is effectively inquired and obtains corresponding cleaning strategy, so that according to obtaining
The cleaning strategy execution got cleans task, and the embodiment of the present invention can install the sanitizer cartridge of different function on the same position
It sets, it, can be using different cleaning strategies, to realize different cleaning function after being then based on the accessory information identification to cleaning device
Can, it realizes a tractor serves several purposes, improves the diversity of sweeping robot function.
Embodiment five
Referring to Fig. 5, being the accessory identification device 101 that fifth embodiment of the invention provides, including storage equipment and place
Device is managed, the accessory identification device 101 is electrically connected with sweeping robot, and the storage equipment is used to store computer program,
The processor runs the computer program so that the accessory identification device 101 executes above-mentioned accessory recognition methods.
The present embodiment additionally provides a kind of storage medium, is stored thereon with calculating used in above-mentioned accessory identification device
Machine program, the program when being executed, include the following steps:
When detecting member replacing, the accessory information of the accessory of replacement is obtained；
When the accessory information matches consistent with preset accessory information, obtain and the matched cleaning of the accessory information
Strategy；
According to the cleaning strategy, corresponding cleaning operation is executed.The storage medium, such as: ROM/RAM, magnetic disk, light
Disk etc..
It is apparent to those skilled in the art that for convenience and simplicity of description, only with above-mentioned each function
The division progress of unit, module can according to need and for example, in practical application by above-mentioned function distribution by different function
Energy unit or module are completed, i.e., the internal structure of storage device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit,
It can be each unit to physically exist alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.
It will be understood by those skilled in the art that composed structure shown in Fig. 4 is not constituted to accessory identification of the invention
The restriction of system may include perhaps combining certain components or different component cloth than illustrating more or fewer components
It sets, and the accessory recognition methods in Fig. 1-3 also uses more or fewer components shown in Fig. 4, or the certain components of combination,
Or different component layout is realized.The so-called unit of the present invention, module etc. refer to that one kind can be identified by the accessory
The performed simultaneously function of processor (not shown) in system enough completes the series of computation machine program of specific function, can be stored in
In the storage equipment (not shown) of the accessory identifying system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of accessory recognition methods, which is characterized in that the described method includes:
When detecting member replacing, the accessory information of the accessory of replacement is obtained；
When the accessory information matches consistent with preset accessory information, obtain and the matched cleaning plan of the accessory information
Slightly；
According to the cleaning strategy, corresponding cleaning operation is executed.
2. accessory recognition methods as described in claim 1, which is characterized in that the accessory information includes encoded information or AD
Numerical information.
3. accessory recognition methods as described in claim 1, which is characterized in that the accessory information is encoded information, described to work as
When detecting member replacing, the accessory information of the accessory of replacement is obtained, comprising:
When detecting member replacing, the trigger signal of the accessory is obtained；
According to the trigger signal of the accessory, the encoded information of the accessory is obtained.
4. accessory recognition methods as described in claim 1, which is characterized in that the accessory information is AD numerical information, described
Obtain the accessory information of the accessory of replacement, comprising:
When detecting member replacing, the magnetic field strength of the accessory is obtained；
According to the magnetic field strength of the accessory, the AD numerical information of the accessory is obtained.
5. accessory recognition methods as described in claim 1, which is characterized in that the cleaning strategy cleans strategy, institute for covering
It states according to the cleaning strategy, executes corresponding cleaning operation, comprising:
Strategy is cleaned according to the covering, executes covering cleaning operation.
6. a kind of accessory identifying system, which is characterized in that the system comprises:
Accessory information obtains module, the accessory information of the accessory for when detecting member replacing, obtaining replacement；
Clean strategy matching module, for when the accessory information matches consistent with preset accessory information, acquisition with it is described
The matched cleaning strategy of accessory information；
Policy enforcement module is cleaned, for executing corresponding cleaning operation according to the cleaning strategy.
7. accessory identifying system as claimed in claim 6, which is characterized in that described when the accessory information is encoded information
Accessory information obtains module and is also used to:
When detecting member replacing, the trigger signal of the accessory is obtained；
According to the trigger signal of the accessory, the encoded information of the accessory is obtained.
8. accessory identifying system as claimed in claim 6, which is characterized in that when the accessory information is AD numerical information, institute
Accessory information acquisition module is stated to be also used to:
When detecting member replacing, the magnetic field strength of the accessory is obtained；
According to the magnetic field strength of the accessory, the AD numerical information of the accessory is obtained.
9. a kind of accessory identification device, which is characterized in that including storage equipment and processor, the storage equipment is for storing
Computer program, the processor runs the computer program so that the accessory identification device executes according to claim 1
To 5 described in any item accessory recognition methods.
10. a kind of storage medium, which is characterized in that it is stored with used in accessory identification device as claimed in claim 9
Computer program, the computer program realize accessory recognition methods described in any one of claim 1 to 5 when being executed by processor
The step of.
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| CN115089048B (en) * | 2020-12-31 | 2023-06-23 | 添可智能科技有限公司 | Operation method, power source and cleaning equipment |
| WO2023138365A1 (en) * | 2022-01-24 | 2023-07-27 | 追觅创新科技(苏州)有限公司 | Method for controlling cleaning device, and device and storage medium |
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Application publication date: 20190816 |