CN111202469B - Driving wheel running speed adjusting platform - Google Patents
Driving wheel running speed adjusting platform Download PDFInfo
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- CN111202469B CN111202469B CN201811394070.4A CN201811394070A CN111202469B CN 111202469 B CN111202469 B CN 111202469B CN 201811394070 A CN201811394070 A CN 201811394070A CN 111202469 B CN111202469 B CN 111202469B
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- 239000000428 dust Substances 0.000 claims abstract description 55
- 238000004140 cleaning Methods 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000001681 protective effect Effects 0.000 claims abstract description 13
- 230000001939 inductive effect Effects 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims description 53
- 238000012545 processing Methods 0.000 claims description 36
- 238000004891 communication Methods 0.000 claims description 24
- 238000012937 correction Methods 0.000 claims description 18
- 239000012634 fragment Substances 0.000 claims description 16
- 238000013507 mapping Methods 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L9/2805—Parameters or conditions being sensed
-
- 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
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/40—Image enhancement or restoration using histogram techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/90—Dynamic range modification of images or parts thereof
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Image Processing (AREA)
Abstract
The invention relates to a driving wheel running speed adjusting platform, which comprises: the automatic cleaning framework comprises a driving wheel, a universal wheel, a driving controller, a protective outer cover and ultrasonic ranging equipment, wherein the driving controller is connected with the driving wheel, the protective outer cover is an annular plastic component, and the ultrasonic ranging equipment comprises a plurality of ultrasonic ranging units which are uniformly embedded in the protective outer cover at equal intervals; the battery over-discharge inductor is used for inducing the discharge state of the battery in the battery mounting seat; the distribution detection equipment is used for acquiring the proportion from the number of all the dust pixel points in the reference area to the number of all the pixel points in the reference area so as to obtain the corresponding dust distribution proportion; the drive controller is also configured to determine a travel speed of the drive wheel inversely proportional thereto based on the dust distribution ratio. By the aid of the cleaning device, areas with more dust can be cleaned slowly and carefully.
Description
Technical Field
The invention relates to the field of automatic cleaning equipment, in particular to a driving wheel running speed adjusting platform.
Background
The dust collector mainly comprises three parts of dust generation, dust collection and dust filtration, and generally comprises a series excitation commutator motor, a centrifugal fan, a dust filter (bag) and a dust collection accessory. The power of a typical vacuum cleaner is 400-1000W or more, and the power of a portable vacuum cleaner is 250W or less. The dust collector can remove dust and is mainly characterized in that an electric exhaust fan is arranged at the head of the dust collector. The rotating shaft of the exhaust fan is provided with an air impeller, after the air impeller is electrified, the exhaust fan can generate higher suction force and pressure at the rotating speed of 500 circles per second, air is discharged at high speed under the action of the suction force and the pressure, air in the dust suction part at the front end of the air fan continuously supplements the air in the air fan, instantaneous vacuum is generated inside the dust collector, negative pressure difference is formed between the air and the external atmospheric pressure, and air containing dust is sucked under the action of the negative pressure difference. The dust and other sundries sequentially pass through the carpet or the floor brush, the long connecting pipe, the bent pipe, the hose and the hose joint to enter the dust filtering bag, the dust and other sundries are retained in the dust filtering bag, and the air is purified by the filter disc and then is discharged from the tail part of the machine body.
Disclosure of Invention
The invention provides a driving wheel running speed adjusting platform, which aims to solve the technical problem that the running speed of the current automatic cleaning equipment does not consider the specific pollution condition of a cleaning area.
Therefore, the invention at least needs to have the following two key points:
(1) obtaining three object areas in which three objects with the shortest distance are respectively positioned in the image, and taking the object area with the lowest repetition degree grade as a reference area;
(2) and an image recognition mechanism is adopted to improve the detection precision of nearby dust particles, and on the basis of the detection, the running speed of the cleaning equipment is reduced for a region with more dust so as to improve the dust cleaning effect.
According to an aspect of the present invention, there is provided a driving wheel running speed adjusting platform, the platform comprising:
automatic clean framework, including drive wheel, universal wheel, drive control ware, protection dustcoat and ultrasonic ranging equipment, drive control ware with the drive wheel is connected, the protection dustcoat is an annular plastic member, ultrasonic ranging equipment includes a plurality of ultrasonic ranging units, evenly imbeds equidistantly in the protection dustcoat.
More specifically, in the driving wheel travel speed adjustment platform, it further includes:
and the battery over-discharge inductor is connected with the battery mounting seat in the automatic cleaning framework and used for inducing the battery discharge state in the battery mounting seat.
More specifically, in the driving wheel travel speed adjustment platform, it further includes:
and the data conversion equipment is embedded in the protective housing and is used for carrying out photoelectric data conversion on the front environment of the protective housing so as to obtain a corresponding front environment image.
More specifically, in the driving wheel travel speed adjustment platform, it further includes:
the content filtering device is connected with the data conversion device and used for carrying out corresponding image content filtering processing on the front environment image based on the noise amplitude value in the front environment image so as to obtain and output a content filtering image; the real-time enhancement equipment is connected with the content filtering equipment and is used for receiving the content filtering image and executing image enhancement processing on the content filtering image so as to obtain and output a real-time enhancement image; the gamma correction device is connected with the real-time enhancement device and used for receiving the real-time enhancement image and executing gamma correction processing on the real-time enhancement image to obtain a corresponding gamma correction image; the signal processing device is connected with the gamma correction device and used for receiving the gamma correction image and executing histogram equalization processing on the gamma correction image so as to obtain and output a histogram equalization image; the distance detection device is connected with the signal processing device and used for receiving the histogram equalization image and detecting the distance from each object in the histogram equalization image to the lens so as to obtain three object areas in which three objects with the shortest distances are respectively positioned in the histogram equalization image; a repeatability analyzing device connected to the distance detecting device, for performing the following processing for each of the three object regions: acquiring each pixel value of each pixel point in the object region, deleting repeated pixel values in each pixel value to obtain the number of residual pixel values, and mapping the corresponding repetition degree grade based on the number of residual pixel values; in the duplication degree analysis device, the greater the number of remaining pixel values, the lower the duplication degree level corresponding to the mapping; the synchronous dynamic random access memory is connected with the repeatability analyzing equipment and is used for storing the mapping relation between the number of the pixel values and the corresponding repeatability grades; the object selection device is connected with the repeatability analysis device and used for receiving three repeatability grades corresponding to the three object areas respectively, taking the object area with the lowest repeatability grade as a reference area and outputting the reference area; the distribution detection device is connected with the object selection device and is used for executing the following actions on each pixel point of the reference region: when the gray value of the pixel point falls within the range of the gray value of the dust, judging the pixel point as a dust pixel point, otherwise, judging the pixel point as a non-dust pixel point; the distribution detection equipment is further used for obtaining the proportion from the number of all dust pixel points in the reference area to the number of all pixel points in the reference area so as to obtain the corresponding dust distribution proportion; wherein the driving controller is further connected to the distribution detecting device for determining a traveling speed of the driving wheel inversely proportional thereto based on the dust distribution ratio.
Detailed Description
The following will explain in detail an embodiment of the driving wheel running speed adjusting platform of the present invention.
The working principle of the dust collector is that a motor of the dust collector rotates at a high speed, air is sucked from a suction inlet, a dust box generates certain vacuum, dust enters a dust filtering bag in the dust box through a floor brush, a connecting pipe, a handle, a hose and a main suction pipe, the dust is left in the dust filtering bag, the filtered air enters the motor through a layer of filter plate, the layer of filter plate is a protective barrier for preventing the dust bag from breaking and sucking the dust into the motor, the air entering the motor flows out through the motor, and the carbon brush is continuously abraded during the operation of the motor, so that the air flows out of the dust collector and is filtered.
In order to overcome the defects, the invention builds a driving wheel running speed adjusting platform and can effectively solve the corresponding technical problem.
The driving wheel running speed adjusting platform according to the embodiment of the invention comprises:
automatic clean framework, including drive wheel, universal wheel, drive control ware, protection dustcoat and ultrasonic ranging equipment, drive control ware with the drive wheel is connected, the protection dustcoat is an annular plastic member, ultrasonic ranging equipment includes a plurality of ultrasonic ranging units, evenly imbeds equidistantly in the protection dustcoat.
Next, a detailed description of the driving wheel running speed adjusting platform according to the present invention will be further described.
In the driving wheel running speed adjusting platform, further comprising:
and the battery over-discharge inductor is connected with the battery mounting seat in the automatic cleaning framework and used for inducing the battery discharge state in the battery mounting seat.
In the driving wheel running speed adjusting platform, further comprising:
and the data conversion equipment is embedded in the protective housing and is used for carrying out photoelectric data conversion on the front environment of the protective housing so as to obtain a corresponding front environment image.
In the driving wheel running speed adjusting platform, further comprising:
the content filtering device is connected with the data conversion device and used for carrying out corresponding image content filtering processing on the front environment image based on the noise amplitude value in the front environment image so as to obtain and output a content filtering image;
the real-time enhancement equipment is connected with the content filtering equipment and is used for receiving the content filtering image and executing image enhancement processing on the content filtering image so as to obtain and output a real-time enhancement image;
the gamma correction device is connected with the real-time enhancement device and used for receiving the real-time enhancement image and executing gamma correction processing on the real-time enhancement image to obtain a corresponding gamma correction image;
the signal processing device is connected with the gamma correction device and used for receiving the gamma correction image and executing histogram equalization processing on the gamma correction image so as to obtain and output a histogram equalization image;
the distance detection device is connected with the signal processing device and used for receiving the histogram equalization image and detecting the distance from each object in the histogram equalization image to the lens so as to obtain three object areas in which three objects with the shortest distances are respectively positioned in the histogram equalization image;
a repeatability analyzing device connected to the distance detecting device, for performing the following processing for each of the three object regions: acquiring each pixel value of each pixel point in the object region, deleting repeated pixel values in each pixel value to obtain the number of residual pixel values, and mapping the corresponding repetition degree grade based on the number of residual pixel values; in the duplication degree analysis device, the greater the number of remaining pixel values, the lower the duplication degree level corresponding to the mapping;
the synchronous dynamic random access memory is connected with the repeatability analyzing equipment and is used for storing the mapping relation between the number of the pixel values and the corresponding repeatability grades;
the object selection device is connected with the repeatability analysis device and used for receiving three repeatability grades corresponding to the three object areas respectively, taking the object area with the lowest repeatability grade as a reference area and outputting the reference area;
the distribution detection device is connected with the object selection device and is used for executing the following actions on each pixel point of the reference region: when the gray value of the pixel point falls within the range of the gray value of the dust, judging the pixel point as a dust pixel point, otherwise, judging the pixel point as a non-dust pixel point;
the distribution detection equipment is further used for obtaining the proportion from the number of all dust pixel points in the reference area to the number of all pixel points in the reference area so as to obtain the corresponding dust distribution proportion;
wherein the driving controller is further connected to the distribution detecting device for determining a traveling speed of the driving wheel inversely proportional thereto based on the dust distribution ratio.
In the driving wheel running speed adjusting platform, further comprising:
the power line communication equipment is connected with the synchronous dynamic random access memory and is used for receiving the mapping relation between the number of the pixel values and the corresponding repetition degree grade through a power line and sending the mapping relation between the number of the pixel values and the corresponding repetition degree grade to the synchronous dynamic random access memory;
the power line communication equipment is also connected with the object selection equipment and used for receiving and transmitting the reference area.
In the driving wheel running speed adjusting platform: the content filtering device comprises a gray processing sub-device which is used for receiving a front environment image, obtaining the gray value of each pixel point in the front environment image, determining the gradient of each pixel point in each direction as the gray value gradient, and determining the scene complexity corresponding to the front environment image based on the gray value gradient of each pixel point.
In the driving wheel running speed adjusting platform: the content filtering device comprises an adaptive filtering sub-device connected with the gray processing sub-device and used for determining the number of image fragments for averagely segmenting the front environment image based on the scene complexity when the received scene complexity is more than or equal to a preset complexity threshold, wherein the higher the scene complexity, the more the number of the image fragments for averagely segmenting the front environment image, respectively executing filtering processing operation based on image fragment noise amplitude values on each image fragment to obtain each filtering fragment, the smaller the image fragment noise amplitude value, the smaller the filtering processing operation intensity executed on the image fragment, and executing splicing operation of smooth processing at a splicing part on each filtering fragment to obtain a content filtering image, and the adaptive filtering sub-device is also used for executing splicing operation of the smooth processing at the splicing part to obtain the content filtering image when the received scene complexity is less than the preset complexity threshold, and performing a filtering operation on the front environment image full-width image to obtain a content filtering image.
In the driving wheel running speed adjusting platform: the gray processing sub-equipment and the self-adaptive filtering sub-equipment are connected through a parallel communication interface;
the parallel communication interface is a CSI communication interface, and the number of communication bits of the CSI communication interface is 8 bits.
In the driving wheel running speed adjusting platform, further comprising:
and the FLASH FLASH memory is connected with the self-adaptive filtering sub-equipment and is used for temporarily storing the content filtering image.
In addition, Power Line Carrier-PLC communication is a special communication method for voice or data transmission using a Power Line as an information transmission medium. The power lines are generally classified into high, medium and low 3 types in the field of power carrier, generally, a high-voltage power line refers to a voltage class of 35kV or more, a medium-voltage power line refers to a voltage class of 10kV, and a low-voltage distribution line refers to 380/220V subscriber lines.
Power Line Carrier (PLC) is a communication method specific to a Power system, and Power Line Carrier communication is a technology for transmitting analog or digital signals at high speed by a Carrier method using an existing Power Line. The method has the greatest characteristic that data transmission can be carried out only by wires without erecting a network again.
The power line carrier technology breaks through the limitation of being limited to the application of a single chip microcomputer, has entered the digital era, and with the continuous development of the power line carrier technology and the social needs, the technical development and application of medium/low voltage power line carrier communication are still emerging. The power line carrier communication is a popular specialty in the field of power communication, which is seen by foreign media and is gradually becoming unearthed Jinshan.
By adopting the driving wheel running speed adjusting platform, aiming at the technical problem that the cleaning of automatic cleaning equipment in the prior art cannot be carried out according to local conditions, on one hand, in the specific image processing, three object areas in which three objects with shortest distances are respectively positioned in an image are obtained, and the object area with the lowest repeatability grade is used as a reference area; on the other hand, an image recognition mechanism is adopted to improve the detection precision of nearby dust particles, and on the basis of the detection, the running speed of the cleaning equipment is reduced for a region with more dust so as to improve the dust cleaning effect; thereby solving the technical problem.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (5)
1. A drive wheel travel speed adjustment platform, the platform comprising:
the automatic cleaning framework comprises a driving wheel, a universal wheel, a driving controller, a protective outer cover and ultrasonic ranging equipment, wherein the driving controller is connected with the driving wheel, the protective outer cover is an annular plastic component, and the ultrasonic ranging equipment comprises a plurality of ultrasonic ranging units which are uniformly embedded in the protective outer cover at equal intervals;
the battery over-discharge inductor is connected with a battery mounting seat in the automatic cleaning framework and used for inducing the battery discharge state in the battery mounting seat;
the data conversion equipment is embedded in the protective housing and used for carrying out photoelectric data conversion on the front environment of the protective housing so as to obtain a corresponding front environment image;
the content filtering device is connected with the data conversion device and used for carrying out corresponding image content filtering processing on the front environment image based on the noise amplitude value in the front environment image so as to obtain and output a content filtering image;
the real-time enhancement equipment is connected with the content filtering equipment and is used for receiving the content filtering image and executing image enhancement processing on the content filtering image so as to obtain and output a real-time enhancement image;
the gamma correction device is connected with the real-time enhancement device and used for receiving the real-time enhancement image and executing gamma correction processing on the real-time enhancement image to obtain a corresponding gamma correction image;
the signal processing device is connected with the gamma correction device and used for receiving the gamma correction image and executing histogram equalization processing on the gamma correction image so as to obtain and output a histogram equalization image;
the distance detection device is connected with the signal processing device and used for receiving the histogram equalization image and detecting the distance from each object in the histogram equalization image to the lens so as to obtain three object areas in which three objects with the shortest distances are respectively positioned in the histogram equalization image;
a repeatability analyzing device connected to the distance detecting device, for performing the following processing for each of the three object regions: acquiring each pixel value of each pixel point in the object region, deleting repeated pixel values in each pixel value to obtain the number of residual pixel values, and mapping the corresponding repetition degree grade based on the number of residual pixel values; in the duplication degree analysis device, the greater the number of remaining pixel values, the lower the duplication degree level corresponding to the mapping;
the synchronous dynamic random access memory is connected with the repeatability analyzing equipment and is used for storing the mapping relation between the number of the pixel values and the corresponding repeatability grades;
the object selection device is connected with the repeatability analysis device and used for receiving three repeatability grades corresponding to the three object areas respectively, taking the object area with the lowest repeatability grade as a reference area and outputting the reference area;
the distribution detection device is connected with the object selection device and is used for executing the following actions on each pixel point of the reference region: when the gray value of the pixel point falls within the range of the gray value of the dust, judging the pixel point as a dust pixel point, otherwise, judging the pixel point as a non-dust pixel point;
the distribution detection equipment is further used for obtaining the proportion from the number of all dust pixel points in the reference area to the number of all pixel points in the reference area so as to obtain the corresponding dust distribution proportion;
wherein the driving controller is further connected to the distribution detecting device for determining a traveling speed of the driving wheel inversely proportional thereto based on the dust distribution ratio;
the power line communication equipment is connected with the synchronous dynamic random access memory and is used for receiving the mapping relation between the number of the pixel values and the corresponding repetition degree grade through a power line and sending the mapping relation between the number of the pixel values and the corresponding repetition degree grade to the synchronous dynamic random access memory;
the power line communication equipment is also connected with the object selection equipment and used for receiving and transmitting the reference area;
in the power line communication device, the power line carrier communication used is a special communication mode for voice or data transmission using a power line as an information transmission medium, and the power line is classified into high, medium and low 3 types in the power line carrier field, that is, a high voltage power line indicates a voltage class of 35kV or more, a medium voltage power line indicates a voltage class of 10kV, and a low voltage distribution line indicates an 380/220V subscriber line.
2. The driving wheel running speed adjustment platform according to claim 1, wherein:
the content filtering device comprises a gray processing sub-device which is used for receiving a front environment image, obtaining the gray value of each pixel point in the front environment image, determining the gradient of each pixel point in each direction as the gray value gradient, and determining the scene complexity corresponding to the front environment image based on the gray value gradient of each pixel point.
3. The driving wheel running speed adjustment platform according to claim 2, wherein:
the content filtering device comprises an adaptive filtering sub-device connected with the gray processing sub-device and used for determining the number of image fragments for averagely segmenting the front environment image based on the scene complexity when the received scene complexity is more than or equal to a preset complexity threshold, wherein the higher the scene complexity, the more the number of the image fragments for averagely segmenting the front environment image, respectively executing filtering processing operation based on image fragment noise amplitude values on each image fragment to obtain each filtering fragment, the smaller the image fragment noise amplitude value, the smaller the filtering processing operation intensity executed on the image fragment, and executing splicing operation of smooth processing at a splicing part on each filtering fragment to obtain a content filtering image, and the adaptive filtering sub-device is also used for executing splicing operation of the smooth processing at the splicing part to obtain the content filtering image when the received scene complexity is less than the preset complexity threshold, and performing a filtering operation on the front environment image full-width image to obtain a content filtering image.
4. The driving wheel running speed adjustment platform according to claim 3, wherein:
the gray processing sub-equipment and the self-adaptive filtering sub-equipment are connected through a parallel communication interface;
the parallel communication interface is a CSI communication interface, and the number of communication bits of the CSI communication interface is 8 bits.
5. The drive wheel travel speed adjustment platform of claim 4, further comprising:
and the FLASH FLASH memory is connected with the self-adaptive filtering sub-equipment and is used for temporarily storing the content filtering image.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811394070.4A CN111202469B (en) | 2018-11-21 | 2018-11-21 | Driving wheel running speed adjusting platform |
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| CN201811394070.4A CN111202469B (en) | 2018-11-21 | 2018-11-21 | Driving wheel running speed adjusting platform |
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| CN111202469A CN111202469A (en) | 2020-05-29 |
| CN111202469B true CN111202469B (en) | 2021-07-30 |
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| KR20090104995A (en) * | 2008-04-01 | 2009-10-07 | 엘지전자 주식회사 | Controlling method of robot cleaner |
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| CN106166049A (en) * | 2016-06-27 | 2016-11-30 | 刘磊 | Family's fire-fighting early warning intelligent robot |
| CN206424042U (en) * | 2016-07-20 | 2017-08-22 | 成都广迈科技有限公司 | Full-automatic sweeping robot |
| CN108024010A (en) * | 2017-11-07 | 2018-05-11 | 秦广民 | Cellphone monitoring system based on electrical measurement |
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2018
- 2018-11-21 CN CN201811394070.4A patent/CN111202469B/en active Active
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| KR20090104995A (en) * | 2008-04-01 | 2009-10-07 | 엘지전자 주식회사 | Controlling method of robot cleaner |
| CN204600372U (en) * | 2015-05-08 | 2015-09-02 | 上海思岚科技有限公司 | A kind of Intelligent robot for sweeping floor with touch-control input function |
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| CN108024010A (en) * | 2017-11-07 | 2018-05-11 | 秦广民 | Cellphone monitoring system based on electrical measurement |
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| CN111202469A (en) | 2020-05-29 |
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