CN110236456A8 - 拖地机器人的控制方法、装置、设备及存储介质 - Google Patents

拖地机器人的控制方法、装置、设备及存储介质 Download PDF

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Publication number
CN110236456A8
CN110236456A8 CN201910017398.2A CN201910017398A CN110236456A8 CN 110236456 A8 CN110236456 A8 CN 110236456A8 CN 201910017398 A CN201910017398 A CN 201910017398A CN 110236456 A8 CN110236456 A8 CN 110236456A8
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China
Prior art keywords
mopping
floor
robot
mopping robot
area
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CN110236456B (zh
CN110236456A (zh
Inventor
吴一昊
吴卓锐
张宇鹏
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Yunjing Intelligent Innovation Shenzhen Co ltd
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Narwel Intelligent Technology Dongguan Co ltd
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Priority to CN201910017398.2A priority Critical patent/CN110236456B/zh
Publication of CN110236456A publication Critical patent/CN110236456A/zh
Priority to EP19908926.9A priority patent/EP3909493A4/en
Priority to CA3126877A priority patent/CA3126877C/en
Priority to KR1020217021867A priority patent/KR102649384B1/ko
Priority to PCT/CN2019/119771 priority patent/WO2020143337A1/zh
Priority to JP2021540049A priority patent/JP7430190B2/ja
Priority to AU2019420955A priority patent/AU2019420955B2/en
Priority to GB2111447.5A priority patent/GB2595133B/en
Publication of CN110236456A8 publication Critical patent/CN110236456A8/zh
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Publication of CN110236456B publication Critical patent/CN110236456B/zh
Priority to US17/369,017 priority patent/US20210338034A1/en
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A47L11/293—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools the tools being disc brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • 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
    • 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
    • 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
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • A47L11/4038—Disk shaped surface treating tools
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • 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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明公开了拖地机器人的控制方法、装置、设备及存储介质，属于智能家居技术领域。所述方法应用于拖地机器人，拖地机器人设有拖擦件，拖擦件用于对地面进行拖地清洁。方法包括：若拖地机器人通过处于目标清洁程度的拖擦件拖擦了处于第一状态的第一区域，执行与清洗拖擦件相关的拖擦件清洗操作；若拖地机器人通过处于目标清洁程度的拖擦件拖擦了处于第二状态的第二区域，执行与清洗拖擦件相关的拖擦件清洗操作。本发明在拖擦件重复拖擦地面的过程中，后一次控制拖地机器人执行拖擦件清洗操作时的拖地面积，大于前一次控制拖地机器人执行拖擦件清洗操作时的拖地面积，因而对拖地机器人的控制较为智能、灵活。
CN201910017398.2A 2019-01-08 2019-01-08 拖地机器人的控制方法、装置、设备及存储介质 Active CN110236456B (zh)

Priority Applications (9)

Application Number Priority Date Filing Date Title
CN201910017398.2A CN110236456B (zh) 2019-01-08 2019-01-08 拖地机器人的控制方法、装置、设备及存储介质
AU2019420955A AU2019420955B2 (en) 2019-01-08 2019-11-20 Control method and apparatus for mopping robot, device, and storage medium
CA3126877A CA3126877C (en) 2019-01-08 2019-11-20 Method and apparatus for controlling mopping robot, and computer-readable storage medium
KR1020217021867A KR102649384B1 (ko) 2019-01-08 2019-11-20 걸레질 로봇의 제어 방법, 장치, 장비 및 저장 매체
PCT/CN2019/119771 WO2020143337A1 (zh) 2019-01-08 2019-11-20 拖地机器人的控制方法、装置、设备及存储介质
JP2021540049A JP7430190B2 (ja) 2019-01-08 2019-11-20 床拭きロボットの制御方法、装置、機器及び記憶媒体
EP19908926.9A EP3909493A4 (en) 2019-01-08 2019-11-20 METHOD AND CONTROL APPARATUS FOR CLEANING ROBOT, DEVICE AND INFORMATION HOLDER
GB2111447.5A GB2595133B (en) 2019-01-08 2019-11-20 Method and apparatus for controlling mopping robot, and computer-readable storage medium
US17/369,017 US20210338034A1 (en) 2019-01-08 2021-07-07 Method and apparatus for controlling mopping robot, and non-transitory computer-readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910017398.2A CN110236456B (zh) 2019-01-08 2019-01-08 拖地机器人的控制方法、装置、设备及存储介质

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CN110236456A CN110236456A (zh) 2019-09-17
CN110236456A8 true CN110236456A8 (zh) 2019-12-03
CN110236456B CN110236456B (zh) 2021-06-18

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US (1) US20210338034A1 (zh)
EP (1) EP3909493A4 (zh)
JP (1) JP7430190B2 (zh)
KR (1) KR102649384B1 (zh)
CN (1) CN110236456B (zh)
AU (1) AU2019420955B2 (zh)
CA (1) CA3126877C (zh)
GB (1) GB2595133B (zh)
WO (1) WO2020143337A1 (zh)

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CN110236456B (zh) * 2019-01-08 2021-06-18 云鲸智能科技（东莞）有限公司 拖地机器人的控制方法、装置、设备及存储介质
CN110613405A (zh) * 2019-10-29 2019-12-27 珠海市一微半导体有限公司 清洁机器人清扫信息的展示方法、装置、系统及控制器
CN110974092B (zh) * 2019-12-19 2021-08-10 追觅创新科技(苏州)有限公司 一种用于擦地机的控制方法、控制器及擦地机
CN113017504B (zh) * 2019-12-24 2022-06-03 尚科宁家(中国)科技有限公司 一种地面拖洗机器人的控制方法及地面拖洗机器人
CN113951773B (zh) * 2020-07-21 2023-01-24 深圳乐动机器人股份有限公司 清洁机器人工作方法、装置及清洁机器人
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JP7430190B2 (ja) 2024-02-09
AU2019420955A1 (en) 2021-09-02
CN110236456B (zh) 2021-06-18
GB2595133B (en) 2023-01-11
CA3126877A1 (en) 2020-07-16
KR102649384B1 (ko) 2024-03-20
GB2595133A (en) 2021-11-17
JP2022516782A (ja) 2022-03-02
US20210338034A1 (en) 2021-11-04
CN110236456A (zh) 2019-09-17
WO2020143337A1 (zh) 2020-07-16
KR20210123298A (ko) 2021-10-13
EP3909493A4 (en) 2022-07-13
EP3909493A1 (en) 2021-11-17
CA3126877C (en) 2023-06-27
AU2019420955B2 (en) 2022-09-08

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CI02 Correction of invention patent application

Correction item: Address

Correct: Room 508, Unit 1, Building 17, No. 4, Xinzhu Road, Songshan Lake Park, Dongguan City, Guangdong Province

False: Room 508, Unit 1, Building 17, No. 4, Xinzhu Road, Songshan Lake Park, Shenzhen, Guangdong Province

Number: 38-01

Page: The title page

Volume: 35

CI02 Correction of invention patent application
GR01 Patent grant
GR01 Patent grant
CP03 Change of name, title or address

Address after: 518000, Building 1, Yunzhongcheng A2901, Wanke Yuncheng Phase 6, Dashi Er Road, Xili Community, Xishan District, Shenzhen City, Guangdong Province

Patentee after: Yunjing Intelligent Innovation (Shenzhen) Co.,Ltd.

Address before: 523808 room 508, unit 1, building 17, No.4, Xinzhu Road, Songshanhu Park, Dongguan City, Guangdong Province

Patentee before: YUNJING INTELLIGENCE TECHNOLOGY (DONGGUAN) Co.,Ltd.

CP03 Change of name, title or address