CN111407187A - Sweeping robot, and sweeping route adjusting method and device of sweeping robot - Google Patents
Sweeping robot, and sweeping route adjusting method and device of sweeping robot Download PDFInfo
- Publication number
- CN111407187A CN111407187A CN202010152549.8A CN202010152549A CN111407187A CN 111407187 A CN111407187 A CN 111407187A CN 202010152549 A CN202010152549 A CN 202010152549A CN 111407187 A CN111407187 A CN 111407187A
- Authority
- CN
- China
- Prior art keywords
- cleaned
- area
- detection object
- preset
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 110
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 230
- 238000004140 cleaning Methods 0.000 claims abstract description 174
- 230000002265 prevention Effects 0.000 claims description 13
- 230000036544 posture Effects 0.000 description 31
- 238000004891 communication Methods 0.000 description 13
- 238000004590 computer program Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/4011—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
- A47L11/40—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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- A47L2201/04—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
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar Systems Or Details Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to a sweeping robot, a sweeping route adjusting method and a sweeping route adjusting device of the sweeping robot, and relates to the technical field of data processing. The method comprises the following steps: emitting millimeter waves to an area to be cleaned; determining detection object information in the area to be cleaned based on the received millimeter wave echo signal; judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned; and if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to a cleaning route stored in advance. By adopting the technical scheme provided by the application, the intelligent obstacle avoidance can be realized.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a sweeping robot, and a sweeping route adjusting method and device of the sweeping robot.
Background
The sweeping robot can sequentially sweep a plurality of sweeping areas in a route according to a preset sweeping route in the working process. In the moving process of the sweeping robot, if the sweeping robot meets an obstacle, the moving direction of the sweeping robot can be changed, and the sweeping robot moves to the next sweeping area in the sweeping route so as to sweep the next sweeping area. However, the sweeping robot adjusts the sweeping route only after encountering an obstacle, and intelligent obstacle avoidance cannot be realized.
Disclosure of Invention
In order to solve the technical problem, the application provides a sweeping robot, and a sweeping route adjusting method and device of the sweeping robot.
In a first aspect, the present application provides a method for adjusting a cleaning route of a cleaning robot, where the method includes:
emitting millimeter waves to an area to be cleaned;
determining detection object information in the area to be cleaned based on the received millimeter wave echo signal;
judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned;
and if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to a cleaning route stored in advance.
Optionally, the detecting object information includes whether a detecting object exists in the area to be cleaned, and the determining, according to the detecting object information in the area to be cleaned, whether the area to be cleaned meets a preset cleaning condition includes:
if the detection object exists in the area to be cleaned, judging that the area to be cleaned does not meet a preset cleaning condition;
and if the detection object does not exist in the area to be cleaned, judging that the area to be cleaned meets a preset cleaning condition.
Optionally, if there is a detection object in the area to be cleaned, determining that the area to be cleaned does not satisfy a preset cleaning condition, including:
if a detection object exists in the area to be cleaned, acquiring state information of the detection object;
and if the state information of the detection object meets a preset state condition, judging that the area to be cleaned does not meet the preset cleaning condition.
Optionally, the status information includes a number, and if the status information of the detection object meets a preset status condition, it is determined that the area to be cleaned does not meet the preset cleaning condition, including:
and if the number of the detection objects reaches a preset threshold value, judging that the area to be cleaned does not meet a preset cleaning condition.
Optionally, the state information includes a posture, and if the state information of the detection object satisfies a preset state condition, it is determined that the area to be cleaned does not satisfy the preset cleaning condition, including:
and if the posture of the detection object is a preset disturbance prevention posture, judging that the area to be cleaned does not meet a preset cleaning condition.
Optionally, the determining, based on the received echo signal of the millimeter wave, detection object information in the area to be cleaned includes:
acquiring the wavelength range of the received echo signal of the millimeter wave;
if the wavelength range contains a preset wavelength, determining that a detection object exists in the area to be cleaned, and obtaining detection object information in the area to be cleaned;
and if the wavelength range does not contain the preset wavelength, determining that no detection object exists in the area to be cleaned, and obtaining the detection object information in the area to be cleaned.
In a second aspect, the present application provides a robot of sweeping floor, the robot of sweeping floor includes detection device, controlling means, telecontrol equipment and cleaning device:
the detection device is used for transmitting millimeter waves to an area to be cleaned and receiving echo signals of the millimeter waves;
the control device is used for determining the detection object information in the area to be cleaned based on the received millimeter wave echo signal; judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned; when the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to a pre-stored cleaning route;
the control device is also used for controlling the movement device to run according to the cleaning route and controlling the cleaning device to perform cleaning work.
Optionally, the detection device is a millimeter wave radar.
Optionally, the control device is specifically configured to, when the detection object information includes whether a detection object exists in the area to be cleaned, determine that the area to be cleaned does not satisfy a preset cleaning condition when the detection object exists in the area to be cleaned; and when no detection object exists in the area to be cleaned, judging that the area to be cleaned meets a preset cleaning condition.
Optionally, the control device is specifically configured to, when a detection object exists in the area to be cleaned, obtain state information of the detection object, and when the state information of the detection object satisfies a preset state condition, determine that the area to be cleaned does not satisfy the preset cleaning condition.
Optionally, the control device is specifically configured to, when the number of the detection objects reaches a preset threshold value under the condition that the state information includes the number, determine that the area to be cleaned does not satisfy a preset cleaning condition; and when the status information includes a posture, when the posture of the detection object is a preset disturbance prevention posture, determining that the area to be cleaned does not satisfy a preset cleaning condition.
Optionally, the control device is specifically configured to obtain a wavelength range of the received millimeter wave echo signal, and when the wavelength range includes a preset wavelength, determine that a detection object exists in the area to be cleaned, to obtain detection object information in the area to be cleaned; and when the wavelength range does not contain the preset wavelength, determining that no detection object exists in the area to be cleaned, and obtaining the detection object information in the area to be cleaned.
In a third aspect, the present application provides a cleaning route adjusting device for a cleaning robot, the device includes:
the sending module is used for sending millimeter waves to the area to be cleaned;
the first determining module is used for determining the information of the detection object in the area to be cleaned based on the received echo signal of the millimeter wave;
the judging module is used for judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned;
and the second determining module is used for determining the next area to be cleaned according to a cleaning route stored in advance when the area to be cleaned does not meet the preset cleaning condition.
Optionally, the determining module includes:
the judgment sub-module is used for judging that the area to be cleaned does not meet the preset cleaning condition when the detection object exists in the area to be cleaned under the condition that the detection object information comprises whether the detection object exists in the area to be cleaned or not;
the judgment submodule is further used for judging that the area to be cleaned meets a preset cleaning condition when no detection object exists in the area to be cleaned.
Optionally, the determining sub-module is specifically configured to, when a detection object exists in the area to be cleaned, obtain state information of the detection object; and when the state information of the detection object meets a preset state condition, judging that the area to be cleaned does not meet the preset cleaning condition.
Optionally, the determining sub-module is specifically configured to determine that the area to be cleaned does not satisfy a preset cleaning condition when the number of the detection objects reaches a preset threshold under the condition that the state information includes the number.
Optionally, the determining sub-module is specifically configured to determine that the area to be cleaned does not satisfy a preset cleaning condition when the posture of the detection object is a preset disturbance prevention posture under the condition that the state information includes a posture.
Optionally, the first determining module includes:
the acquisition submodule is used for acquiring the wavelength range of the received echo signal of the millimeter wave;
the determining submodule is used for determining that a detection object exists in the area to be cleaned when the wavelength range contains preset wavelength, and obtaining detection object information in the area to be cleaned;
the determining submodule is further configured to determine that no detection object exists in the area to be cleaned when the wavelength range does not include a preset wavelength, and obtain information of the detection object in the area to be cleaned.
In a fourth aspect, the present application provides an electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor is configured to, when executing the computer program, implement the method steps of the first aspect.
In a fifth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method steps of the first aspect described above.
In a sixth aspect, embodiments of the present application further provide a computer program product containing instructions, which when executed on a computer, cause the computer to perform the method steps of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
the embodiment of the application provides a sweeping robot, a sweeping route adjusting method and a sweeping route adjusting device of the sweeping robot, wherein the sweeping robot can transmit millimeter waves to an area to be swept, and detection object information in the area to be swept is determined based on received millimeter wave echo signals; and then, judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned. And if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to the cleaning route stored in advance.
Because when the detection object information in the area to be cleaned does not meet the preset cleaning condition, the area to be cleaned is not cleaned, active adjustment of a cleaning route can be realized, and intelligent obstacle avoidance can be realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart of a method for adjusting a cleaning route of a cleaning robot according to an embodiment of the present application;
fig. 2 is a flowchart of another method for adjusting a cleaning route of a cleaning robot according to the embodiment of the present application;
fig. 3 is a flowchart illustrating an example of a method for adjusting a cleaning route of a cleaning robot according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a cleaning route adjusting device of a cleaning robot according to an embodiment of the present application;
fig. 5 is a schematic structural view of a sweeping robot provided in the embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. 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 application.
The embodiment of the application provides a sweeping route adjusting method of a sweeping robot, which can be applied to the sweeping robot, in particular to a control system of the sweeping robot. The sweeping robot can be provided with a plurality of millimeter wave radars (namely millimeter wave radar groups), and each millimeter wave radar can be deployed in a plurality of directions of the sweeping robot so as to realize 360-degree all-around detection of the sweeping robot. In the implementation, the specific setting position of the millimeter wave radar can be determined according to the detection range of the millimeter wave radar and the actual shape of the sweeping robot, and the embodiment of the application does not limit the setting position.
The method for adjusting the cleaning route of the cleaning robot provided by the embodiment of the present application will be described in detail with reference to specific embodiments, as shown in fig. 1, the specific steps are as follows:
In implementation, the sweeping robot may store a sweeping route in advance, the sweeping route may be preset by a user using the sweeping robot, and the user may further divide the sweeping route to obtain a plurality of sweeping areas, where the sweeping areas may be a kitchen, a bedroom, a study room, and the like.
The sweeping robot can take the current sweeping area as the area to be swept in the sweeping process according to the sweeping route, and then millimeter wave radars deployed on the sweeping robot can emit millimeter waves to the area to be swept.
And 102, determining detection object information in the area to be cleaned based on the received millimeter wave echo signal.
In implementation, the sweeping robot may receive the echo signal of the millimeter wave, and then, the sweeping robot may analyze the echo signal to obtain the information of the detection object in the area to be swept.
In the embodiment of the present application, the detection object information may be various, and in a feasible implementation manner, the detection object information may include whether a detection object exists in the area to be cleaned. In another possible implementation manner, in the case that the detection object exists in the area to be cleaned, the detection object information may further include state information of the detection object, and the state information may include the number of the detection objects and/or the postures of the detection objects.
The embodiment of the application provides a sweeping robot, based on received millimeter wave echo signals, determines an implementation mode of detection object information in a to-be-swept area:
the millimeter wave radar can emit electromagnetic waves in a millimeter wave frequency range within a preset range, then the millimeter wave radar can collect echo signals, analog-to-digital conversion is carried out on the collected echo signals, and then DSP (digital signal Processing) is carried out on the converted signals to obtain point cloud data.
By analyzing and calculating the point cloud data, the sweeping robot can determine whether a detection object exists in the area to be swept or not. Further, when the detection object exists in the area to be cleaned, the sweeping robot can also determine the state information of the detection object by analyzing and calculating the point cloud data. The process of determining whether a detection object exists in the area to be cleaned and the state information of the detection object according to the point cloud data belongs to the prior art, and is not repeated in the application.
And 103, judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned.
In implementation, the user can set different preset cleaning conditions for different cleaning areas in the cleaning route, and the sweeping robot can judge whether the area to be cleaned meets the preset cleaning conditions corresponding to the area to be cleaned according to the detection object information in the area to be cleaned.
Or, for a plurality of cleaning areas in the cleaning route, the cleaning robot can judge whether each area to be cleaned meets the same preset cleaning condition.
In the embodiment of the application, according to different types of detection object information, the floor sweeping robot determines whether the specific processing procedure of the area to be cleaned, which meets the preset cleaning condition, is different, and the detailed description of the specific processing procedure will be described later.
If the area to be cleaned meets the preset cleaning condition, the sweeping robot can clean the area to be cleaned.
And step 104, if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to the cleaning route stored in advance.
In implementation, if the area to be cleaned does not satisfy the preset cleaning condition, the sweeping robot may determine the next area to be cleaned according to the cleaning route. Then, the sweeping robot can continuously judge whether the next area to be swept meets the preset sweeping condition or not until all the sweeping areas in the sweeping route are traversed.
In the embodiment of the application, the sweeping robot can transmit millimeter waves to the area to be swept, and based on the received echo signals of the millimeter waves, the information of the detection object in the area to be swept is determined; and then, judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned. And if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to the cleaning route stored in advance.
Because when the detection object information in the area to be cleaned does not meet the preset cleaning condition, the area to be cleaned is not cleaned, active adjustment of a cleaning route can be realized, and intelligent obstacle avoidance can be realized.
Optionally, an embodiment of the present application further provides an implementation manner in which the sweeping robot determines whether a detection object exists in an area to be cleaned based on a received millimeter wave echo signal, as shown in fig. 2, a specific processing procedure includes:
In implementation, the sweeping robot may analyze the received echo signal of the millimeter wave to obtain a wavelength range of the echo signal. Wherein, the echo signal to the millimeter wave of receiving is analyzed, obtains the process of echo signal's wavelength range and belongs to prior art, and this application is no longer repeated.
In the implementation, the sweeping robot may determine whether the wavelength range includes the preset wavelength, and if the wavelength range includes the preset wavelength, the sweeping robot may perform step 203; if the wavelength range does not include the preset wavelength, the sweeping robot may perform step 204.
And 204, determining that no detection object exists in the area to be cleaned, and obtaining the detection object information in the area to be cleaned.
In the embodiment of the application, the sweeping robot can acquire the wavelength range of the received millimeter wave echo signal, judge whether the wavelength range contains the preset wavelength, determine that a detection object exists in the area to be cleaned when the wavelength range contains the preset wavelength, and determine that the detection object does not exist in the area to be cleaned when the wavelength range does not contain the preset wavelength. Because the millimeter wave has the characteristic of reflecting the wave with a specific wavelength when contacting a human body or an animal, whether the detection object exists in the area to be cleaned is determined based on judging whether the wavelength range of the echo signal of the millimeter wave contains the preset wavelength, and the detection object information in the area to be cleaned can be quickly obtained. Furthermore, the sweeping robot can rapidly determine whether to sweep the area to be swept.
Optionally, when the detection object information includes whether there is a detection object in the to-be-cleaned area, the floor sweeping robot determines whether the to-be-cleaned area satisfies a preset cleaning condition according to the detection object information in the to-be-cleaned area, and the processing procedure may include:
and if the detection object exists in the area to be cleaned, judging that the area to be cleaned does not meet the preset cleaning condition. And if the detection object does not exist in the area to be cleaned, judging that the area to be cleaned meets the preset cleaning condition.
In the embodiment of the application, under the condition that the detection object information includes whether the detection object exists in the area to be cleaned, the sweeping robot can judge that the area to be cleaned does not meet the preset cleaning condition when the detection object exists in the area to be cleaned, and judge that the area to be cleaned meets the preset cleaning condition when the detection object does not exist in the area to be cleaned. When the detection object exists in the area to be cleaned, the floor sweeping robot judges that the area to be cleaned does not meet the preset cleaning condition, and further does not clean the area to be cleaned, so that the cleaning route can be actively adjusted, and intelligent obstacle avoidance can be realized. Moreover, the disturbance brought to the detection object when the area to be cleaned with the detection object is cleaned can be avoided, so that the user experience can be improved.
Optionally, under the condition that there is the detection object in the area to be cleaned, the robot of sweeping the floor can further acquire the state information of the detection object, and then based on the state information of the detection object, judge whether the area to be cleaned satisfies the preset cleaning condition, and the specific processing procedure includes:
step one, if a detection object exists in the area to be cleaned, state information of the detection object is obtained.
In implementation, the sweeping robot may analyze the point cloud data of the area to be swept to obtain the state information of the detection object, and the specific processing process may refer to the processing process in step 102, which is not described herein again.
And step two, judging whether the state information of the detection object meets a preset state condition.
In implementation, the sweeping robot can determine whether the state information of the detection object meets a preset state condition. If the state information of the detection object meets the preset state condition, the sweeping robot can judge that the area to be swept does not meet the preset sweeping condition; if the state information of the detection object does not meet the preset state condition, the sweeping robot can judge that the area to be swept meets the preset sweeping condition.
Optionally, when the status information includes a number, the preset status condition may be; the number of the detection objects reaches a preset threshold value.
Therefore, if the number of the detection objects reaches the preset threshold value, the state information of the detection objects meets the preset state condition, and the sweeping robot can judge that the area to be cleaned does not meet the preset cleaning condition. If the number of the detection objects does not reach the preset threshold value, the state information of the detection objects does not meet the preset state condition, and the sweeping robot can judge that the area to be cleaned meets the preset cleaning condition.
When the state information includes a gesture, the preset state condition may be: the posture of the detection object is a preset disturbance prevention posture, wherein the preset disturbance prevention posture comprises any one of sitting, standing and lying.
Therefore, if the posture of the detection object is the preset disturbance prevention posture, the state information of the detection object meets the preset state condition, and the sweeping robot can judge that the area to be cleaned does not meet the preset cleaning condition. If the posture of the detection object is not the preset disturbance prevention posture, the state information of the detection object does not meet the preset state condition, and the sweeping robot can judge that the area to be cleaned meets the preset cleaning condition.
When the state information includes the number and the posture, the preset state condition may be that the number of the detection objects reaches a preset threshold, and/or that the posture of the detection object is a preset disturbance prevention posture.
For example, the area to be cleaned is a bedroom, and the detection object information acquired by the sweeping robot is as follows: there are 1 detection object in the area to be cleaned, and the posture of the detection object is lying. The sweeping robot can judge that the detection object information in the area to be cleaned meets the preset state condition, and the area to be cleaned does not meet the preset cleaning condition. The sweeping robot may then not sweep the bedroom.
In the embodiment of the application, under the condition that the detection object exists in the area to be cleaned, the sweeping robot can judge that the area to be cleaned does not meet the preset cleaning condition and does not clean the area to be cleaned when the state information such as the number and/or the posture of the detection object meets the preset state condition. Therefore, the sweeping robot can adjust the sweeping route according to the state information of the detection object, and intelligent obstacle avoidance can be achieved. Furthermore, the user experience can be improved.
An example of a method for adjusting a cleaning route of a cleaning robot is also provided in the embodiments of the present application, and as shown in fig. 3, the method specifically includes the following steps:
And step 302, acquiring the wavelength range of the received millimeter wave echo signal.
If the wavelength range includes the preset wavelength, it is determined that the detection object exists in the area to be cleaned, and step 304 is executed.
If the wavelength range does not contain the preset wavelength, it is determined that the detection object does not exist in the area to be cleaned, and step 307 is executed.
And step 304, acquiring the state information of the detection object.
And 305, judging whether the state information of the detection object meets a preset state condition.
If the state information of the detection object satisfies the preset state condition, step 306 is executed.
If the status information of the detection object does not satisfy the preset status condition, step 307 is executed.
And step 306, judging that the area to be cleaned does not meet the preset cleaning condition, and determining the next area to be cleaned according to the cleaning route stored in advance.
And 307, judging that the area to be cleaned meets the preset cleaning condition, and cleaning the area to be cleaned.
Based on the same technical concept, an embodiment of the present application further provides a cleaning route adjusting device for a cleaning robot, as shown in fig. 4, the device includes:
a sending module 410, configured to send millimeter waves to a region to be cleaned;
a first determining module 420, configured to determine, based on the received echo signal of the millimeter wave, detection object information in the area to be cleaned;
the judging module 430 is configured to judge whether the area to be cleaned meets a preset cleaning condition according to the detection object information in the area to be cleaned;
and a second determining module 440, configured to determine a next area to be cleaned according to a cleaning route stored in advance when the area to be cleaned does not satisfy the preset cleaning condition.
Optionally, the determining module includes:
the judgment sub-module is used for judging that the area to be cleaned does not meet the preset cleaning condition when the detection object exists in the area to be cleaned under the condition that the detection object information comprises whether the detection object exists in the area to be cleaned or not;
the judgment submodule is further used for judging that the area to be cleaned meets a preset cleaning condition when no detection object exists in the area to be cleaned.
Optionally, the determining sub-module is specifically configured to, when a detection object exists in the area to be cleaned, obtain state information of the detection object; and when the state information of the detection object meets a preset state condition, judging that the area to be cleaned does not meet the preset cleaning condition.
Optionally, the determining sub-module is specifically configured to determine that the area to be cleaned does not satisfy a preset cleaning condition when the number of the detection objects reaches a preset threshold under the condition that the state information includes the number.
Optionally, the determining sub-module is specifically configured to determine that the area to be cleaned does not satisfy a preset cleaning condition when the posture of the detection object is a preset disturbance prevention posture under the condition that the state information includes a posture.
Optionally, the first determining module includes:
the acquisition submodule is used for acquiring the wavelength range of the received echo signal of the millimeter wave;
the determining submodule is used for determining that a detection object exists in the area to be cleaned when the wavelength range contains preset wavelength, and obtaining detection object information in the area to be cleaned;
the determining submodule is further configured to determine that no detection object exists in the area to be cleaned when the wavelength range does not include a preset wavelength, and obtain information of the detection object in the area to be cleaned.
In the embodiment of the application, millimeter waves can be transmitted to the area to be cleaned, and the information of the detection object in the area to be cleaned is determined based on the received echo signal of the millimeter waves; and then, judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned. And if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to the cleaning route stored in advance.
Because when the detection object information in the area to be cleaned does not meet the preset cleaning condition, the area to be cleaned is not cleaned, active adjustment of a cleaning route can be realized, and intelligent obstacle avoidance can be realized.
Based on the same technical concept, the embodiment of the present application further provides a sweeping robot, as shown in fig. 5, the sweeping robot includes a detection device 1, a control device 2, a movement device 3, and a sweeping device 4:
the detection device 1 is used for transmitting millimeter waves to an area to be cleaned and receiving echo signals of the millimeter waves;
the control device 2 is configured to determine detection object information in the area to be cleaned based on the received echo signal of the millimeter wave; judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned; when the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to a pre-stored cleaning route;
the control device 2 is further configured to control the moving device 3 to travel along the cleaning route, and control the cleaning device 4 (not shown in the figure) to perform a cleaning operation.
Optionally, the detection device 1 is a millimeter wave radar.
Optionally, the control device 2 is specifically configured to, when the detection object information includes whether a detection object exists in the area to be cleaned, determine that the area to be cleaned does not satisfy a preset cleaning condition when the detection object exists in the area to be cleaned; and when no detection object exists in the area to be cleaned, judging that the area to be cleaned meets a preset cleaning condition.
Optionally, the control device 2 is specifically configured to, when a detection object exists in the area to be cleaned, obtain state information of the detection object, and when the state information of the detection object meets a preset state condition, determine that the area to be cleaned does not meet the preset cleaning condition.
Optionally, the control device 2 is specifically configured to, when the number of the detection objects reaches a preset threshold value under the condition that the state information includes the number, determine that the area to be cleaned does not satisfy a preset cleaning condition; and when the status information includes a posture, when the posture of the detection object is a preset disturbance prevention posture, determining that the area to be cleaned does not satisfy a preset cleaning condition.
Optionally, the control device 2 is specifically configured to obtain a wavelength range of the received millimeter wave echo signal, and determine that a detection object exists in the area to be cleaned when the wavelength range includes a preset wavelength, so as to obtain detection object information in the area to be cleaned; and when the wavelength range does not contain the preset wavelength, determining that no detection object exists in the area to be cleaned, and obtaining the detection object information in the area to be cleaned.
In the embodiment of the application, the sweeping robot can transmit millimeter waves to the area to be swept, and based on the received echo signals of the millimeter waves, the information of the detection object in the area to be swept is determined; and then, judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned. And if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to the cleaning route stored in advance.
Because when the detection object information in the area to be cleaned does not meet the preset cleaning condition, the area to be cleaned is not cleaned, active adjustment of a cleaning route can be realized, and intelligent obstacle avoidance can be realized.
An embodiment of the present application further provides an electronic device, as shown in fig. 6, the electronic device may include: the system comprises a processor 601, a communication interface 602, a memory 603 and a communication bus 604, wherein the processor 601, the communication interface 602 and the memory 603 are communicated with each other through the communication bus 604.
A memory 603 for storing a computer program;
the processor 601, when executing the computer program stored in the memory 603, implements the following steps:
emitting millimeter waves to an area to be cleaned;
determining detection object information in the area to be cleaned based on the received millimeter wave echo signal;
judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned;
and if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to a cleaning route stored in advance.
Optionally, the detecting object information includes whether a detecting object exists in the area to be cleaned, and the determining, according to the detecting object information in the area to be cleaned, whether the area to be cleaned meets a preset cleaning condition includes:
if the detection object exists in the area to be cleaned, judging that the area to be cleaned does not meet a preset cleaning condition;
and if the detection object does not exist in the area to be cleaned, judging that the area to be cleaned meets a preset cleaning condition.
Optionally, if there is a detection object in the area to be cleaned, determining that the area to be cleaned does not satisfy a preset cleaning condition, including:
if a detection object exists in the area to be cleaned, acquiring state information of the detection object;
and if the state information of the detection object meets a preset state condition, judging that the area to be cleaned does not meet the preset cleaning condition.
Optionally, the status information includes a number, and if the status information of the detection object meets a preset status condition, it is determined that the area to be cleaned does not meet the preset cleaning condition, including:
and if the number of the detection objects reaches a preset threshold value, judging that the area to be cleaned does not meet a preset cleaning condition.
Optionally, the state information includes a posture, and if the state information of the detection object satisfies a preset state condition, it is determined that the area to be cleaned does not satisfy the preset cleaning condition, including:
and if the posture of the detection object is a preset disturbance prevention posture, judging that the area to be cleaned does not meet a preset cleaning condition.
Optionally, the determining, based on the received echo signal of the millimeter wave, detection object information in the area to be cleaned includes:
acquiring the wavelength range of the received echo signal of the millimeter wave;
if the wavelength range contains a preset wavelength, determining that a detection object exists in the area to be cleaned, and obtaining detection object information in the area to be cleaned;
and if the wavelength range does not contain the preset wavelength, determining that no detection object exists in the area to be cleaned, and obtaining the detection object information in the area to be cleaned.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also 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.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the cleaning route adjusting method for the cleaning robot are realized.
The embodiment of the application also provides a computer program product containing instructions, which when run on a computer, causes the computer to execute the steps of the cleaning route adjusting method for the cleaning robot.
In the embodiment of the application, the sweeping robot can transmit millimeter waves to the area to be swept, and based on the received echo signals of the millimeter waves, the information of the detection object in the area to be swept is determined; and then, judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned. And if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to the cleaning route stored in advance.
Because when the detection object information in the area to be cleaned does not meet the preset cleaning condition, the area to be cleaned is not cleaned, active adjustment of a cleaning route can be realized, and intelligent obstacle avoidance can be realized.
It should be noted that, for the above-mentioned apparatus, electronic device, computer-readable storage medium and computer program product embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A cleaning route adjusting method of a sweeping robot is characterized by comprising the following steps:
emitting millimeter waves to an area to be cleaned;
determining detection object information in the area to be cleaned based on the received millimeter wave echo signal;
judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned;
and if the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to a cleaning route stored in advance.
2. The method according to claim 1, wherein the detection object information includes whether a detection object exists in the area to be cleaned, and the determining whether the area to be cleaned satisfies a preset cleaning condition according to the detection object information in the area to be cleaned includes:
if the detection object exists in the area to be cleaned, judging that the area to be cleaned does not meet a preset cleaning condition;
and if the detection object does not exist in the area to be cleaned, judging that the area to be cleaned meets a preset cleaning condition.
3. The method according to claim 2, wherein the determining that the area to be cleaned does not satisfy a preset cleaning condition if the detection object exists in the area to be cleaned comprises:
if a detection object exists in the area to be cleaned, acquiring state information of the detection object;
and if the state information of the detection object meets a preset state condition, judging that the area to be cleaned does not meet the preset cleaning condition.
4. The method according to claim 3, wherein the status information includes a number, and the determining that the area to be cleaned does not satisfy a preset cleaning condition if the status information of the detection object satisfies a preset status condition includes:
and if the number of the detection objects reaches a preset threshold value, judging that the area to be cleaned does not meet a preset cleaning condition.
5. The method according to claim 3, wherein the state information includes a posture, and the determining that the area to be cleaned does not satisfy a preset cleaning condition if the state information of the detection object satisfies a preset state condition includes:
and if the posture of the detection object is a preset disturbance prevention posture, judging that the area to be cleaned does not meet a preset cleaning condition.
6. The method according to claim 1, wherein the determining detection object information in the area to be cleaned based on the received echo signal of the millimeter wave comprises:
acquiring the wavelength range of the received echo signal of the millimeter wave;
if the wavelength range contains a preset wavelength, determining that a detection object exists in the area to be cleaned, and obtaining detection object information in the area to be cleaned;
and if the wavelength range does not contain the preset wavelength, determining that no detection object exists in the area to be cleaned, and obtaining the detection object information in the area to be cleaned.
7. The utility model provides a robot of sweeping floor which characterized in that, the robot of sweeping floor includes detection device, controlling means, telecontrol equipment and cleaning device:
the detection device is used for transmitting millimeter waves to an area to be cleaned and receiving echo signals of the millimeter waves;
the control device is used for determining the detection object information in the area to be cleaned based on the received millimeter wave echo signal; judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned; when the area to be cleaned does not meet the preset cleaning condition, determining the next area to be cleaned according to a pre-stored cleaning route;
the control device is also used for controlling the movement device to run according to the cleaning route and controlling the cleaning device to perform cleaning work.
8. The sweeping robot of claim 7, wherein the detection device is a millimeter wave radar.
9. The sweeping robot according to claim 7, wherein the control device is specifically configured to, when the detection object information includes whether a detection object exists in the area to be cleaned, determine that the area to be cleaned does not satisfy a preset cleaning condition when the detection object exists in the area to be cleaned; and when no detection object exists in the area to be cleaned, judging that the area to be cleaned meets a preset cleaning condition.
10. The sweeping robot according to claim 9, wherein the control device is specifically configured to acquire state information of the detection object when the detection object exists in the area to be cleaned, and determine that the area to be cleaned does not satisfy a preset cleaning condition when the state information of the detection object satisfies the preset state condition.
11. The sweeping robot according to claim 10, wherein the control device is specifically configured to determine that the area to be cleaned does not satisfy a preset cleaning condition when the number of the detection objects reaches a preset threshold value in a case where the status information includes the number; and when the status information includes a posture, when the posture of the detection object is a preset disturbance prevention posture, determining that the area to be cleaned does not satisfy a preset cleaning condition.
12. The utility model provides a robot of sweeping floor cleans route adjusting device which characterized in that, the device includes:
the sending module is used for sending millimeter waves to the area to be cleaned;
the first determining module is used for determining the information of the detection object in the area to be cleaned based on the received echo signal of the millimeter wave;
the judging module is used for judging whether the area to be cleaned meets a preset cleaning condition or not according to the detection object information in the area to be cleaned;
and the second determining module is used for determining the next area to be cleaned according to a cleaning route stored in advance when the area to be cleaned does not meet the preset cleaning condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152549.8A CN111407187A (en) | 2020-03-06 | 2020-03-06 | Sweeping robot, and sweeping route adjusting method and device of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152549.8A CN111407187A (en) | 2020-03-06 | 2020-03-06 | Sweeping robot, and sweeping route adjusting method and device of sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111407187A true CN111407187A (en) | 2020-07-14 |
Family
ID=71485214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010152549.8A Pending CN111407187A (en) | 2020-03-06 | 2020-03-06 | Sweeping robot, and sweeping route adjusting method and device of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111407187A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115328172A (en) * | 2022-10-13 | 2022-11-11 | 科大讯飞股份有限公司 | Cleaning robot, control method, device, equipment and storage medium thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105640443A (en) * | 2014-12-03 | 2016-06-08 | 小米科技有限责任公司 | Muting work method and apparatus for automatic cleaning equipment, and electronic equipment |
| CN106338992A (en) * | 2016-09-26 | 2017-01-18 | 海尔优家智能科技（北京）有限公司 | Noise processing method and device |
| CN107348906A (en) * | 2016-05-09 | 2017-11-17 | 沃维克股份有限公司 | The system and method for floor cleaning with clean robot |
| CN107730552A (en) * | 2017-09-27 | 2018-02-23 | 上海与德通讯技术有限公司 | A kind of exchange method, device, sweeping robot and medium |
| WO2018143887A1 (en) * | 2017-02-06 | 2018-08-09 | Acconeer Ab | An autonomous mobile robot comprising radar sensors |
| CN109998429A (en) * | 2018-01-05 | 2019-07-12 | 艾罗伯特公司 | Mobile clean robot artificial intelligence for context aware |
| CN110301864A (en) * | 2019-05-05 | 2019-10-08 | 珠海格力电器股份有限公司 | Intelligent dust collector system based on millimeter wave radar and following method thereof |
-
2020
- 2020-03-06 CN CN202010152549.8A patent/CN111407187A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105640443A (en) * | 2014-12-03 | 2016-06-08 | 小米科技有限责任公司 | Muting work method and apparatus for automatic cleaning equipment, and electronic equipment |
| CN107348906A (en) * | 2016-05-09 | 2017-11-17 | 沃维克股份有限公司 | The system and method for floor cleaning with clean robot |
| CN106338992A (en) * | 2016-09-26 | 2017-01-18 | 海尔优家智能科技（北京）有限公司 | Noise processing method and device |
| WO2018143887A1 (en) * | 2017-02-06 | 2018-08-09 | Acconeer Ab | An autonomous mobile robot comprising radar sensors |
| CN107730552A (en) * | 2017-09-27 | 2018-02-23 | 上海与德通讯技术有限公司 | A kind of exchange method, device, sweeping robot and medium |
| CN109998429A (en) * | 2018-01-05 | 2019-07-12 | 艾罗伯特公司 | Mobile clean robot artificial intelligence for context aware |
| CN110301864A (en) * | 2019-05-05 | 2019-10-08 | 珠海格力电器股份有限公司 | Intelligent dust collector system based on millimeter wave radar and following method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115328172A (en) * | 2022-10-13 | 2022-11-11 | 科大讯飞股份有限公司 | Cleaning robot, control method, device, equipment and storage medium thereof |
| CN115328172B (en) * | 2022-10-13 | 2023-02-17 | 科大讯飞股份有限公司 | Cleaning robot, control method, device, equipment and storage medium thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210041555A1 (en) | System and method for camera radar fusion | |
| CN111476098A (en) | Method, device, terminal and computer readable medium for identifying target area | |
| US11209536B2 (en) | Method and apparatus for tracking motion using radio frequency signals | |
| CN111839360B (en) | Data processing method, device and equipment of sweeper and computer readable medium | |
| CN111759305A (en) | Living body detection method and living body detection system | |
| CN110177247A (en) | Multisensor motion detection | |
| CN113676696B (en) | Target area monitoring method and system | |
| CN112634566B (en) | Intelligent electronic fence construction method and system based on millimeter waves | |
| CN112348777B (en) | Human body target detection method and device and terminal equipment | |
| WO2023025023A1 (en) | Cleaning method and apparatus of mobile robot, and storage medium and electronic apparatus | |
| CN111407187A (en) | Sweeping robot, and sweeping route adjusting method and device of sweeping robot | |
| CN109059991A (en) | Intelligently from mobile device and its method of sensor calibration, computer storage medium | |
| CN113342000A (en) | Animal excrement identification and cleaning method and device, computer equipment and computer readable storage medium | |
| CN114415123B (en) | Non-coherent neighborhood based weighting pulse accumulation processing method and system | |
| CN112506182A (en) | Floor sweeping robot positioning method and device, computer equipment and storage medium | |
| CN111474541A (en) | Area cleaning method and device, electronic equipment and computer readable medium | |
| CN117708657B (en) | Echo signal resonance peak range detection optimization method and system | |
| CN117008596A (en) | Cleaning device control method, apparatus, electronic device, and readable storage medium | |
| CN107708203B (en) | A kind of localization method and device based on geographical fingerprint | |
| CN113384296B (en) | Method for predicting behavior occurrence time, electronic device and storage medium | |
| CN111481106B (en) | Detection method and device for charging seat of sweeper, computing equipment and storage medium | |
| EP4154034A1 (en) | Creation of a map of the surroundings | |
| CN113655470B (en) | Object detection method, device, equipment and storage medium | |
| CN108694365A (en) | A kind of image acquiring method and terminal | |
| CN109239677A (en) | A kind of environment self-adaption CFAR detection thresholding determines method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200714 |
|
| RJ01 | Rejection of invention patent application after publication |