CN111601534A - 清洁机器人及其控制方法和地面处理系统 - Google Patents
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Abstract
一种清洁机器人(1)及其控制方法和地面处理系统,其中地面处理系统包括清洁机器人(1)和基站(2)。基站(2)包括底板(207),支撑板(206)和上板(205),其中上板(205)通过支撑板(206)与底板(207)连接。清洁机器人(1)包括:机身(11),行走装置(40),支撑机身(11)并带动清洁机器人(1)移动;清洁装置(50),用于安装在机身(11)上,清洁装置(50)包括拖地模块(14);控制装置(30),控制行走装置(40)带动清洁机器人(1)移动;动力装置(70),为行走装置(40)提供动力;还包括抬升装置,其包括抬升机构和支撑件,其中控制装置(30)能够控制抬升机构使拖地模块(14)从相对于工作表面的第一位置抬升至第二位置;支撑件,用于在拖地模块(14)抬升时,提供不同于行走装置(40)的相对于工作表面的支撑点;控制装置(30)根据检测装置(10)的检测结果,控制清洁机器人(1)回归基站(2)及在基站(2)更换拖布,因此无需人工干预,智能化程度高,减轻人的负担。控制装置(30)控制抬升装置及时地抬升拖地模块(14),即使遇到地面状态发生变化,或者遇到障碍物等,也具有更好的通过性;在清洁机器人(1)回归基站(2)或者切换工作区域的时候,防止二次污染或交叉污染,清洁效果更佳。
Description
PCT国内申请,说明书已公开。
Claims (45)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (5)
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CN201811572174 | 2018-12-21 | ||
CN201811572174X | 2018-12-21 | ||
CN2019102503313 | 2019-03-29 | ||
CN201910250331 | 2019-03-29 | ||
PCT/CN2019/127059 WO2020125760A1 (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人及其控制方法和地面处理系统 |
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CN202121270739.6U Active CN216495119U (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人 |
CN201980007457.6A Withdrawn CN111601534A (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人及其控制方法和地面处理系统 |
CN202410357290.9A Pending CN118078143A (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人 |
CN201922313218.3U Active CN213405910U (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人和地面处理系统 |
CN202410364907.XA Pending CN118078144A (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人及其控制方法 |
CN202410365561.5A Pending CN118161091A (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人及其控制方法 |
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CN201911329413.3A Active CN111345746B (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人及其控制方法和地面处理系统 |
CN202121270739.6U Active CN216495119U (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人 |
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CN202410357290.9A Pending CN118078143A (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人 |
CN201922313218.3U Active CN213405910U (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人和地面处理系统 |
CN202410364907.XA Pending CN118078144A (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人及其控制方法 |
CN202410365561.5A Pending CN118161091A (zh) | 2018-12-21 | 2019-12-20 | 清洁机器人及其控制方法 |
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US (1) | US20220079406A1 (zh) |
EP (1) | EP3900604B1 (zh) |
JP (1) | JP2022514931A (zh) |
KR (1) | KR102614979B1 (zh) |
CN (7) | CN111345746B (zh) |
WO (2) | WO2020125489A1 (zh) |
Cited By (9)
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CN112956965A (zh) * | 2021-03-31 | 2021-06-15 | 深圳市银星智能科技股份有限公司 | 维护基站和清洁机器人系统 |
CN113854903A (zh) * | 2021-09-28 | 2021-12-31 | 追觅创新科技(苏州)有限公司 | 清洁设备的控制方法及装置 |
CN114246509A (zh) * | 2020-09-23 | 2022-03-29 | 苏州宝时得电动工具有限公司 | 清洁机器人的基站及清洁机器人系统 |
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WO2023142250A1 (zh) * | 2022-01-25 | 2023-08-03 | 昆山鑫泰利智能科技股份有限公司 | 一种洗地机的清洁方法 |
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CN114246509B (zh) * | 2020-09-23 | 2023-05-09 | 苏州宝时得电动工具有限公司 | 清洁机器人的基站及清洁机器人系统 |
CN114431781A (zh) * | 2020-11-04 | 2022-05-06 | 苏州宝时得电动工具有限公司 | 自移动清洁设备及其控制方法、自动清洁系统 |
CN112956965A (zh) * | 2021-03-31 | 2021-06-15 | 深圳市银星智能科技股份有限公司 | 维护基站和清洁机器人系统 |
CN115087383A (zh) * | 2021-05-08 | 2022-09-20 | 深圳甲壳虫智能有限公司 | 清扫设备控制方法及清扫设备 |
WO2022237587A1 (zh) * | 2021-05-08 | 2022-11-17 | 深圳甲壳虫智能有限公司 | 清扫设备控制方法及清扫设备 |
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WO2023217166A1 (zh) * | 2022-05-13 | 2023-11-16 | 追觅创新科技(苏州)有限公司 | 清洁设备的控制方法、系统及装置 |
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CN111345746B (zh) | 2024-04-09 |
CN111345746A (zh) | 2020-06-30 |
WO2020125489A1 (zh) | 2020-06-25 |
US20220079406A1 (en) | 2022-03-17 |
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CN118078143A (zh) | 2024-05-28 |
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