CN113116227A - Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium - Google Patents
Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium Download PDFInfo
- Publication number
- CN113116227A CN113116227A CN201911419289.XA CN201911419289A CN113116227A CN 113116227 A CN113116227 A CN 113116227A CN 201911419289 A CN201911419289 A CN 201911419289A CN 113116227 A CN113116227 A CN 113116227A
- Authority
- CN
- China
- Prior art keywords
- dust
- cleaning robot
- dust box
- cleaning
- preset
- 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.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 327
- 238000012423 maintenance Methods 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims abstract description 42
- 239000000428 dust Substances 0.000 claims abstract description 505
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 239000000126 substance Substances 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 14
- 230000000694 effects Effects 0.000 description 13
- 238000010521 absorption reaction Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 5
- 238000003491 array Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003434 inspiratory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4025—Means for emptying
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The application relates to the technical field of smart home, and particularly discloses a cleaning robot maintenance method, a cleaning robot, a cleaning system and a storage medium. The method comprises the following steps: acquiring the use data of the dust box detected by the dust box detection device, and determining the dust holding capacity of the dust box according to the use data of the dust box; and if the dust containing capacity of the dust box meets the preset maintenance condition, controlling a collected dust interface of the cleaning robot to be arranged corresponding to a main dust collecting interface of the maintenance equipment, so that the maintenance equipment carries out dust collecting operation on the cleaning robot. The method improves the working efficiency of the cleaning robot and reduces the workload of users.
Description
Technical Field
The application relates to the technical field of smart home, in particular to a cleaning robot maintenance method, a cleaning robot, a cleaning system and a storage medium.
Background
With the improvement of living standard of people and the development of smart homes, more and more families can purchase cleaning robots to assist users in cleaning the family environment. The cleaning robot is generally automatically moved to various positions of a home for cleaning work, but after the cleaning robot is cleaned for a period of time, a user is required to manually perform maintenance on the cleaning robot, including cleaning a dust box of the cleaning robot. The maintenance work of the cleaning robot by hand of a user is troublesome, and great inconvenience is brought to the use of the cleaning robot.
Disclosure of Invention
The application provides a cleaning robot maintenance method, a cleaning robot, a cleaning system and a storage medium, so that the working efficiency of the cleaning robot is improved, and the workload of a user is reduced.
In a first aspect, the present application provides a cleaning robot maintenance method applied to a cleaning robot, the cleaning robot including a dust box detection device and a dust box, the dust box being provided with a collected dust interface, the method including:
acquiring the use data of the dust box detected by the dust box detection device, and determining the dust holding capacity of the dust box according to the use data of the dust box;
and if the dust containing capacity of the dust box meets the preset maintenance condition, controlling a collected dust interface of the cleaning robot to be arranged corresponding to a main dust collecting interface of the maintenance equipment, so that the maintenance equipment carries out dust collecting operation on the cleaning robot.
In a second aspect, the present application further provides a cleaning robot, including a memory, a processor, a dust box detection device, and a dust box, where the dust box is provided with a dust-collected interface; the dust box detection device is used for detecting the dust box and generating dust box use data; the dust-collected interface is used for being arranged corresponding to the main dust-collecting interface of the maintenance equipment; the memory is used for storing a computer program; the processor is configured to execute the computer program and to implement the cleaning robot maintenance method as described above when executing the computer program.
In a third aspect, the present application also provides a cleaning system including a cleaning robot and a maintenance device; the cleaning robot is used for realizing the cleaning robot maintenance method; the maintenance apparatus is used to perform a dust collecting operation on the cleaning robot.
In a fourth aspect, the present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the cleaning robot maintenance method as described above.
The application discloses a cleaning robot maintenance method, a cleaning robot, a cleaning system and a storage medium, the method comprises the following steps: acquiring the use data of the dust box detected by the dust box detection device, and determining the dust holding capacity of the dust box according to the use data of the dust box; and if the dust containing capacity of the dust box meets the preset maintenance condition, controlling a collected dust interface of the cleaning robot to be arranged corresponding to a main dust collecting interface of the maintenance equipment, so that the maintenance equipment carries out dust collecting operation on the cleaning robot. By the method, the use data of the dust box of the cleaning robot can be detected, the dust containing capacity of the dust box is determined according to the use data of the dust box, when the dust containing capacity is not enough to support the cleaning robot to continuously execute the cleaning progress or the dust containing capacity can affect the cleaning effect of the cleaning robot, dust collection operation can be actively carried out on the cleaning robot, the dust containing capacity of the cleaning robot is improved, the cleaning progress or the cleaning effect of the cleaning robot is prevented from being affected, the working efficiency of the cleaning robot is improved, meanwhile, a user does not need to manually clean the dust box of the cleaning robot, and the workload of the user is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a maintenance method for a cleaning robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a cleaning robot and a maintenance device provided in an embodiment of the present application;
fig. 3 is a schematic internal structural diagram of a maintenance apparatus according to an embodiment of the present application;
fig. 4 is a block diagram schematically illustrating a structure of a cleaning robot according to an embodiment of the present disclosure.
Detailed Description
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, but not all, embodiments of the present application. 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 flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Embodiments of the present application provide a cleaning robot maintenance method, a cleaning robot, a cleaning system, and a storage medium. Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flowchart of a maintenance method of a cleaning robot, which is applied to a cleaning robot including a dust box detection device and a dust box, where a dust collection interface is disposed, according to an embodiment of the present application.
As shown in fig. 1, the maintenance method of the cleaning robot specifically includes steps S101 to S102.
S101, acquiring the use data of the dust box detected by the dust box detection device, and determining the dust containing capacity of the dust box according to the use data of the dust box.
Wherein, dirt box detection device is the device that is used for detecting dirt box user state, and when the dirt box carries out the dust absorption operation for cleaning machines people, the cavity of placing inspiratory dust, along with cleaning machines people continuously carries out the dust absorption operation, can accumulate the material of more and more absorption in the dirt box, and cleaning machines people's dust absorption effect can receive the influence of the material in the dirt box how much.
Therefore, by providing the dust box detection device in the cleaning robot, the dust box usage data is detected by the dust box detection device, and the dust holding capacity of the dust box can be determined according to the dust box usage data. The use data of the dust box is data which shows the use condition of the dust box from the last highest dust holding capacity to the current time. The dust containing capacity of the dust box can be embodied through the dust box use data.
The dust holding capacity is a capacity parameter for representing dust that can be carried in the dust box, and may be, for example, weight, volume, time, or the like. The dust box generally has a fixed dust holding space, and as more and more substances are accumulated in the dust box, the dust holding capacity of the dust box changes, and the dust holding capacity of the dust box affects the dust collection effect of the cleaning robot. For example, if the dust holding capacity of the dust box is minimized, that is, the dust box cannot hold more dust, the cleaning robot cannot continue the dust-collecting work.
For example, the dust box may carry dust of a first weight according to a preset dust holding capacity of the dust box, and the cleaning robot may suck the dust of the first weight after being used for several times or several times. Therefore, after the dust box use data of the dust box detection device is obtained, the dust containing capacity of the dust box can be determined according to the dust box use data.
S102, if the dust containing capacity of the dust box meets a preset maintenance condition, controlling a collected dust interface of the cleaning robot to be arranged corresponding to a main dust collecting interface of maintenance equipment, so that the maintenance equipment carries out dust collecting operation on the cleaning robot.
The preset maintenance condition is used for judging whether the dust containing capacity of the dust box is insufficient to continue to perform the cleaning progress or whether the dust containing capacity influences the cleaning effect of the cleaning robot. If the dust containing capacity of the dust box meets the preset maintenance condition, the fact that the dust box of the cleaning robot is not enough to continuously support the cleaning robot to continuously execute the cleaning progress or the dust containing capacity influences the cleaning effect of the cleaning robot is represented, and the maintenance equipment can be controlled to carry out dust collection operation on the cleaning robot. The dust collecting operation is an operation for improving the dust holding capacity of the dust box, and may include extracting substances carried in the dust box to release the dust holding space of the dust box, improving the dust holding capacity.
The cleaning robot is provided with a collected dust interface, the maintenance equipment is provided with a main dust collecting interface, and the maintenance equipment can maintain the cleaning robot after the collected dust interface of the cleaning robot and the main dust collecting interface of the maintenance equipment are correspondingly arranged. The corresponding setting of the collected dust interface of the cleaning robot and the main dust collecting interface of the maintenance equipment comprises the following steps: and starting a dust-collected interface of the cleaning robot, and corresponding the positions of the dust-collected interface and the main dust-collecting interface.
The maintenance device includes a dust collection assembly that can take out a substance in a dust box of the cleaning robot. The maintenance device performing a dust collecting operation on the cleaning robot includes: and extracting the substances in the dust box of the cleaning robot through a main dust collection interface and a dust collection interface of the cleaning robot.
Fig. 2 is a schematic structural diagram of a cleaning robot and a maintenance device, and as shown in fig. 2, when the cleaning robot 100 is located at the position shown in fig. 2, that is, at a maintenance preset position, a primary dust collecting interface of the maintenance device 200 is connected to a dust collecting interface of the cleaning robot 100, and the maintenance device 200 can extract a substance in a dust box of the cleaning robot through the primary dust collecting interface and the dust collecting interface of the cleaning robot.
Fig. 3 is a schematic diagram illustrating an internal structure of a maintenance apparatus according to an embodiment of the present disclosure, and as shown in fig. 3, the maintenance apparatus 200 includes a dust collection assembly for extracting substances in a dust collection container of a cleaning robot. Illustratively, the dust collection assembly includes a drive motor disposed within the maintenance device 200, a primary dust collection interface 12 disposed within the maintenance device 200, a dust collection housing 13, and a dust collection passage connected between the primary dust collection interface 12 and the dust collection housing 14.
For example, when the cleaning robot is located at the maintenance preset position, the main dust collection interface 12 of the maintenance apparatus 200 is connected with the collected dust interface of the cleaning robot, and the maintenance apparatus 200 can extract the substance in the dust box of the cleaning robot through the main dust collection interface 12 and the collected dust interface of the cleaning robot.
As shown in fig. 3, the maintenance apparatus 200 further includes a detecting device 11 for detecting the position of the cleaning robot 20. For example, the detection means 11 comprises a microswitch, a photosensitive pair tube, etc.
The cleaning robot maintenance method provided by the embodiment of the application can detect the use data of the dust box of the cleaning robot, and determine the dust containing capacity of the dust box according to the use data of the dust box, when the dust containing capacity is not enough to support the cleaning robot to continuously execute the cleaning progress or the dust containing capacity can influence the cleaning effect of the cleaning robot, the dust collecting operation can be actively carried out on the cleaning robot, the dust containing capacity of the cleaning robot is improved, the cleaning progress or the cleaning effect of the cleaning robot is prevented from being influenced, the working efficiency of the cleaning robot is improved, meanwhile, the dust box of the cleaning robot can be cleaned without being manually by a user, and the workload of the user is reduced.
In one embodiment, the acquiring of the data about the usage of the dust box detected by the dust box detecting device includes:
and when the cleaning robot executes cleaning operation according to preset cleaning task information, acquiring the use data of the dust box detected by the dust box detection device.
When the cleaning robot performs cleaning operation according to preset cleaning task information, the cleaning robot can continuously suck dust, and the dust containing capacity of the dust box is continuously changed. Therefore, when the cleaning robot performs cleaning operation according to the preset cleaning task information, the use data of the dust box is detected, and then the dust containing capacity of the dust box is determined, if the dust containing capacity is not enough to support the cleaning robot to perform cleaning progress or the dust containing capacity can affect the cleaning effect of the cleaning robot, the cleaning robot can be controlled to perform dust collection operation, so that the dust containing capacity of the cleaning robot is improved, and the cleaning robot can have enough dust containing capacity to complete the remaining cleaning operation corresponding to the preset cleaning task information.
In one embodiment, when the cleaning robot performs a cleaning operation according to preset cleaning task information, the method further includes:
determining the residual cleaning task information according to the preset cleaning task information and the cleaning progress of the cleaning robot; determining the dust-fixing requirement according to the residual cleaning task information;
correspondingly, if the dust containing capacity of the dust box accords with the preset maintenance condition, the cleaning robot is controlled to be correspondingly arranged by a dust collecting interface and a main dust collecting interface of the maintenance equipment, and the method comprises the following steps:
and if the dust containing capacity of the dust box meets the preset maintenance condition and the dust containing requirement is greater than the dust containing capacity, controlling a collected dust interface of the cleaning robot to be arranged corresponding to a main dust collecting interface of the maintenance equipment.
The cleaning robot can continuously acquire the cleaning progress of the cleaning robot when the cleaning operation corresponding to the preset cleaning task information is executed, the residual cleaning task information of the cleaning task is determined, and it can be judged how much dust containing space the dust box of the cleaning robot needs to have to complete the residual cleaning task according to the residual cleaning task information, so that the dust requirement can be determined.
As the cleaning robot continuously performs the cleaning operation, the cleaning progress is continuously increased, and the remaining cleaning task information is gradually reduced, that is, the dust holding requirement is gradually reduced, but at the same time, since the dust holding capability of the dust box of the cleaning robot is also continuously reduced, if the reduction rate of the dust holding requirement is lower than the reduction rate of the dust holding capability, the moment when the dust holding requirement is greater than the dust holding capability occurs, that is, the cleaning robot cannot complete the remaining cleaning task information.
Therefore, the residual cleaning task information can be determined according to the preset cleaning task information and the cleaning progress of the cleaning robot, the dust-containing requirement is determined according to the residual cleaning task information, and then when the dust-containing capacity of the dust box meets the preset maintenance condition and the dust-containing requirement is larger than the dust-containing capacity, the cleaning robot is controlled to execute dust-collecting operation. Through this embodiment, can monitor the change of holding dirt demand and holding dirt ability of cleaning machines people in the period of carrying out the cleaning task constantly, carry out the collection dirt operation to cleaning machines people suitable moment to and the material of in-time clearance cleaning machines people in to the dirt box, in time release dirt box hold the dirt space, can guarantee that cleaning machines people accomplishes the cleaning operation that predetermines cleaning task information and correspond smoothly.
In one embodiment, the acquiring of the data about the usage of the dust box detected by the dust box detecting device includes:
and acquiring the use data of the dust box detected by the dust box detection device before the cleaning robot executes cleaning operation according to preset cleaning task information.
When the cleaning robot does not execute the cleaning task information, the cleaning robot is generally in a standby state, can be located in any corner in a family, and can also be located in a maintenance device for standby until the cleaning robot receives the preset cleaning task information and needs to perform cleaning operation according to the preset cleaning task information, wherein the cleaning operation comprises dust collection operation.
Therefore, before the cleaning robot performs cleaning operation according to the preset cleaning task information, the dust box use data of the dust box is detected, and then the dust containing capacity of the dust box is determined.
In one embodiment, the dust-collected interface for controlling the cleaning robot is disposed corresponding to a primary dust-collecting interface of the maintenance device, and includes:
and controlling the cleaning robot to move to the maintenance equipment, and controlling a dust-collected interface of the cleaning robot to be arranged corresponding to a main dust-collecting interface of the maintenance equipment.
If the cleaning robot is located in any corner of a home or is performing cleaning operation, if the cleaning robot is to be subjected to dust collection operation, the cleaning robot can be controlled to move to the maintenance equipment, and then the dust-collected interface of the cleaning robot is controlled to be arranged corresponding to the main dust-collecting interface of the maintenance equipment.
The cleaning robot is further provided with a moving module, the moving module is used for moving on the ground so as to enable the cleaning robot to move, and the moving module can comprise a motor and wheels. By the movement of the movement module, the cleaning robot can be moved over the floor, for example, according to a pre-designed cleaning route.
The cleaning robot is controlled to move to a maintenance preset position of the maintenance equipment, a collected dust interface of the cleaning robot is started, and when the maintenance equipment detects that the cleaning robot moves to the maintenance preset position, a main dust collecting interface of the maintenance equipment can be started, so that the collected dust interface of the cleaning robot corresponds to the main dust collecting interface of the maintenance equipment.
In one embodiment, the dust box detection device comprises a weight sensor disposed at the dust box;
the determining the dust holding capacity of the dust box according to the dust box usage data comprises:
and determining the dust containing capacity of the dust box according to the weight of the dust box detected by the weight sensor and a preset weight threshold.
Wherein, the weight sensor arranged on the dust box can detect the weight of the substance contained in the dust box or the weight of the whole dust box and generate the weight of the dust box. Illustratively, the weight sensor may be disposed at the bottom of the dust box.
The preset weight threshold may be a weight parameter for judging the dust holding capacity of the dust box, and the dust holding capacity of the dust box may be determined according to a relationship between the preset weight threshold and the weight of the dust box. For example, if the weight of the dust box is greater than or equal to the preset weight threshold, it is determined that the dust holding capacity of the dust box is insufficient to continue the cleaning progress or the dust holding capacity affects the cleaning effect of the cleaning robot, that is, it is determined that the dust holding capacity of the dust box meets the preset maintenance condition.
In one embodiment, the preset weight threshold is determined by multiplying the full load weight of the dust box by a weight ratio parameter; and if the weight of the dust box detected by the weight sensor is greater than or equal to the preset weight threshold value, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
Wherein the dust box full load weight is the weight when the dust box is full of dust material, and the dust box full load weight may be predetermined. The weight ratio parameter is a weight parameter for determining a frequency of the cleaning robot performing the dust collecting operation; the larger the weight ratio parameter is, the higher the preset weight threshold value is, and the frequency of dust collecting operations of the cleaning robot may be reduced. The smaller the weight ratio parameter, the lower the preset weight threshold value may be, and the frequency of the dust collecting operation performed by the cleaning robot may be increased. For example, the weight proportion parameter may be greater than or equal to 60%, that is, when six weight portions of dust substances of the full load weight of the dust box are loaded in the dust box, it may be determined that the dust containing capacity of the dust box meets the preset maintenance condition; alternatively, the weight ratio parameter may be 90%, that is, when nine weight of dust substances of the full load weight of the dust box are loaded in the dust box, it is determined that the dust containing capacity of the dust box meets the preset maintenance condition, and the cleaning robot may be controlled to perform the dust collecting operation. The weight ratio parameter can be set according to the actual application requirement, and is not limited herein.
In one embodiment, the dust box detection device includes a volume sensor disposed on the dust box;
the determining the dust holding capacity of the dust box according to the dust box usage data comprises:
and determining the dust containing capacity of the dust box according to the residual volume of the dust box detected by the volume sensor and a preset volume threshold.
The dust box is provided with a volume sensor which can detect the volume of dust substances contained in the dust box, generate the volume of dust, and determine the residual volume of the dust box according to the preset volume of the dust box and the detected volume of the dust. Alternatively, a plurality of sensors may be provided on the inner wall of the dust box to detect the volume of dust substance within the dust box.
The preset volume threshold is a volume parameter for judging the dust holding capacity of the dust box, and the dust holding capacity of the dust box can be determined according to the relation between the residual volume of the dust box and the preset volume threshold. For example, if the remaining volume of the dust box is less than or equal to the preset volume threshold, it is determined that the dust holding capacity of the dust box is insufficient to continue the cleaning progress or the dust holding capacity may affect the cleaning effect of the cleaning robot, that is, it may be determined that the dust holding capacity of the dust box meets the preset maintenance condition.
In one embodiment, the preset volume threshold is determined by multiplying the dust box capacity volume by a volume proportion parameter; and if the residual volume of the dust box detected by the volume sensor is less than or equal to the preset volume threshold, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
Wherein, the dust box capacity volume is the capacity volume of dust box when the dust box is empty, and the dust box capacity volume can be predetermined. The volume ratio parameter is a parameter for determining the frequency of the dust collecting operation of the cleaning robot; the larger the volume ratio parameter, the higher the preset volume threshold, and the lower the frequency of the dust collecting operation of the cleaning robot will be. The smaller the volume ratio parameter, the smaller the preset volume threshold value, and the higher the frequency of the dust collecting operation of the cleaning robot will be. For example, the volume proportion parameter may be less than or equal to 60%, that is, when four volumes of dust substances of the volume capacity of the dust box are loaded in the dust box, it may be determined that the dust containing capacity of the dust box meets the preset maintenance condition; alternatively, the volume ratio parameter may be 10%, that is, when nine volumes of dust substances of the volume of the dust box are loaded in the dust box, it is determined that the dust containing capacity of the dust box meets the preset maintenance condition, and the cleaning robot may be controlled to perform the dust collecting operation. The volume ratio parameter can be set according to the actual application requirement, and is not limited herein.
In one embodiment, the dust box detection device comprises an air pressure sensor arranged in an air duct or a dust collection cavity of the cleaning robot;
the determining the dust holding capacity of the dust box according to the dust box usage data comprises:
and determining the dust containing capacity of the dust box according to the air pressure data detected by the air pressure sensor and a preset air pressure threshold value.
Wherein, set up dust absorption subassembly in the cleaning machines people, dust absorption subassembly includes wind channel and dirt chamber, and the dirt chamber can be the dirt box or be used for installing the dirt box. In the cleaning robot with the detachable dust box, the dust box can be arranged in the dust collecting cavity; in the cleaning robot with the dust box integrated with the machine body, the dust collection chamber may be the dust box.
The cleaning robot can carry out dust absorption to ground at the in-process dust absorption subassembly that removes, and the material that absorbs can get into the dirt box through the wind channel. The air pressure sensor can be arranged in the air duct or the dust collection cavity and is used for detecting air pressure data in a dust collection assembly of the cleaning robot when the cleaning robot performs cleaning operation.
The air pressure data can comprise vacuum degree or dust collection pressure, wherein the vacuum degree is the gas rarefied degree in a vacuum state, namely the vacuum degree in the dust box and the dust collection assembly when the cleaning robot is in dust collection operation; the dust collection pressure can be the pressure in an air duct in the dust collection assembly when the cleaning robot is in dust collection operation, and the more the dust substances in the dust box are, the lower the vacuum degree is, the larger the dust collection pressure is, and the poorer the dust collection effect is.
The preset air pressure threshold is an air pressure parameter for judging the dust containing capacity of the dust box, and the dust containing capacity of the dust box can be determined according to the relation between the air pressure data and the preset air pressure threshold. For example, the preset air pressure threshold includes a preset vacuum degree and a preset pressure, and if the vacuum degree in the air pressure data is less than or equal to the preset vacuum degree, or the dust collection pressure in the air pressure data is greater than or equal to the preset pressure, it is determined that the dust containing capacity of the dust box is insufficient to continue the cleaning progress or the dust containing capacity may affect the cleaning effect of the cleaning robot, that is, it may be determined that the dust containing capacity of the dust box meets the preset maintenance condition.
In one embodiment, the preset air pressure threshold comprises a vacuum level threshold determined by multiplying the initial vacuum level by a vacuum level scaling parameter, and/or a pressure threshold determined by multiplying the initial pressure by a pressure scaling parameter;
if the vacuum degree in the air pressure data detected by the air pressure sensor is less than or equal to the vacuum degree threshold value, and/or
And if the dust collection pressure in the air pressure data detected by the air pressure sensor is greater than or equal to the pressure threshold, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
Wherein, when initial vacuum is when the dirt box is empty, the vacuum that air pressure sensor detected when cleaning robot carries out the dust absorption, when initial pressure is when the dirt box is empty, the pressure data that air pressure sensor detected when cleaning robot carries out the dust absorption operation, initial vacuum and initial pressure can be predetermined.
The vacuum degree proportion parameter is a vacuum degree parameter used for determining the frequency of dust collection operation of the cleaning robot; the greater the vacuum degree ratio parameter, the higher the vacuum degree threshold, and the lower the frequency of dust collecting operation of the cleaning robot. The smaller the vacuum degree proportional parameter, the lower the vacuum degree threshold value will be, and the frequency of dust collecting operations performed by the cleaning robot will increase.
The pressure ratio parameter is a pressure parameter for determining the frequency of dust collection operation of the cleaning robot; the larger the pressure ratio parameter, the higher the pressure threshold, and the less frequently the cleaning robot performs dust collecting operations. The smaller the pressure ratio parameter, the lower the pressure threshold value, and the higher the frequency of dust collecting operations performed by the cleaning robot. Whether the dust containing capacity of the dust box meets the preset maintenance condition or not can be judged through the vacuum degree and/or the dust collection pressure.
For example, the vacuum degree proportion parameter may be less than or equal to 60%, that is, the vacuum degree is 60% or less of the initial vacuum degree, that is, it may be determined that the dust holding capacity of the dust box meets the preset maintenance condition; optionally, the vacuum degree proportion parameter may be 25%, that is, when the vacuum degree is 25% of the initial vacuum degree, it is determined that the dust containing capacity of the dust box meets the preset maintenance condition, and the cleaning robot may be controlled to perform the dust collecting operation. The vacuum degree proportion parameter and the pressure proportion parameter can be set according to the actual application requirement, and are not limited herein.
Referring to fig. 4, fig. 4 is a schematic block diagram of a cleaning robot according to an embodiment of the present disclosure. The cleaning robot may be a sweeping robot.
Referring to fig. 4, the cleaning robot 100 includes a dust box on which a dust collection interface is disposed, and a processor 110, a memory 120, and a dust box detection device 130 connected by a system bus, wherein the memory 120 may include a nonvolatile storage medium and an internal memory.
The non-volatile storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause a processor to perform any one of the cleaning robot maintenance methods.
The dust box detection device is used for detecting the dust box and generating dust box use data; the collected dust interface is used for being arranged corresponding to the main dust collecting interface of the maintenance equipment.
The processor is used for providing calculation and control capability and supporting the operation of the whole cleaning robot.
The internal memory provides an environment for running a computer program in a non-volatile storage medium, which, when executed by the processor, causes the processor to perform any one of the cleaning robot maintenance methods.
It will be appreciated by those skilled in the art that the configuration shown in fig. 4 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the cleaning robot to which the present application is applied, and a particular cleaning robot may include more or less components than shown in the figures, or combine certain components, or have a different arrangement of components.
It should be understood that the Processor may be a Central Processing Unit (CPU), and the Processor may be other general purpose processors, 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, etc. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Wherein, in one embodiment, the processor is configured to execute a computer program stored in the memory to implement the steps of:
acquiring the use data of the dust box detected by the dust box detection device, and determining the dust holding capacity of the dust box according to the use data of the dust box;
and if the dust containing capacity of the dust box meets the preset maintenance condition, controlling a collected dust interface of the cleaning robot to be arranged corresponding to a main dust collecting interface of the maintenance equipment, so that the maintenance equipment carries out dust collecting operation on the cleaning robot.
In one embodiment, the processor, when implementing the obtaining of the data of the usage of the dust box detected by the dust box detecting device, is configured to implement:
and acquiring the dust box use data detected by the dust box detection device before the cleaning robot performs the cleaning operation according to the preset cleaning task information or when the cleaning robot performs the cleaning operation according to the preset cleaning task information.
In one embodiment, the processor, when being configured to perform the cleaning operation according to the preset cleaning task information, is further configured to:
determining the residual cleaning task information according to the preset cleaning task information and the cleaning progress of the cleaning robot;
determining the dust-fixing requirement according to the residual cleaning task information;
the treater is realizing if the dust containing capacity of dirt box accords with and predetermines the maintenance condition, then control cleaning robot by the collection dirt interface with when maintaining the corresponding setting of main collection dirt interface of equipment, be used for realizing:
and if the dust containing capacity of the dust box meets the preset maintenance condition and the dust containing requirement is greater than the dust containing capacity, controlling a collected dust interface of the cleaning robot to be arranged corresponding to a main dust collecting interface of the maintenance equipment.
In one embodiment, the processor, when implementing that the dust-collected interface controlling the cleaning robot is disposed corresponding to a primary dust-collecting interface of a maintenance device, is configured to implement:
and controlling the cleaning robot to move to the maintenance equipment, and controlling a dust-collected interface of the cleaning robot to be arranged corresponding to a main dust-collecting interface of the maintenance equipment.
In one embodiment, the dust box detection device comprises a weight sensor disposed at the dust box; when the processor determines the dust containing capacity of the dust box according to the dust box use data, the processor is used for realizing that:
and determining the dust containing capacity of the dust box according to the weight of the dust box detected by the weight sensor and a preset weight threshold.
In one embodiment, the preset weight threshold is determined by multiplying the full load weight of the dust box by a weight ratio parameter; and if the weight of the dust box detected by the weight sensor is greater than or equal to the preset weight threshold value, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
In one embodiment, the dust box detection device includes a volume sensor disposed on the dust box; when the processor determines the dust containing capacity of the dust box according to the dust box use data, the processor is used for realizing that:
and determining the dust containing capacity of the dust box according to the residual volume of the dust box detected by the volume sensor and a preset volume threshold.
In one embodiment, the preset volume threshold is determined by multiplying the dust box capacity volume by a volume proportion parameter; and if the residual volume of the dust box detected by the volume sensor is less than or equal to the preset volume threshold, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
In one embodiment, the dust box detection device comprises an air pressure sensor arranged in an air duct or a dust collection cavity of the cleaning robot; when the processor determines the dust containing capacity of the dust box according to the dust box use data, the processor is used for realizing that:
and determining the dust containing capacity of the dust box according to the air pressure data detected by the air pressure sensor and a preset air pressure threshold value.
In one embodiment, the preset air pressure threshold comprises a vacuum level threshold determined by multiplying the initial vacuum level by a vacuum level scaling parameter, and/or a pressure threshold determined by multiplying the initial pressure by a pressure scaling parameter;
if the vacuum degree in the air pressure data detected by the air pressure sensor is less than or equal to the vacuum degree threshold value, and/or
And if the dust collection pressure in the air pressure data detected by the air pressure sensor is greater than or equal to the pressure threshold, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
The embodiment of the application also provides a cleaning system, which comprises a cleaning robot and a maintenance device; the cleaning robot is used for realizing any one cleaning robot maintenance method provided by the embodiment of the application; the maintenance apparatus is used to perform a dust collecting operation on the cleaning robot.
The embodiment of the application also provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, the computer program comprises program instructions, and the processor executes the program instructions to realize the maintenance method of any cleaning robot provided by the embodiment of the application.
The computer readable storage medium may be an internal storage unit of the cleaning robot described in the foregoing embodiment, for example, a hard disk or a memory of the cleaning robot. The computer readable storage medium may also be an external storage device of the robot cleaner, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the robot cleaner.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (14)
1. A maintenance method of a cleaning robot is applied to the cleaning robot, the cleaning robot comprises a dust box detection device and a dust box, a dust collection interface is arranged on the dust box, and the method comprises the following steps:
acquiring the use data of the dust box detected by the dust box detection device, and determining the dust holding capacity of the dust box according to the use data of the dust box;
and if the dust containing capacity of the dust box meets the preset maintenance condition, controlling a collected dust interface of the cleaning robot to be arranged corresponding to a main dust collecting interface of the maintenance equipment, so that the maintenance equipment carries out dust collecting operation on the cleaning robot.
2. The maintenance method of a cleaning robot according to claim 1, wherein the acquiring of the cartridge usage data detected by the cartridge detecting device includes:
and acquiring the dust box use data detected by the dust box detection device before the cleaning robot performs the cleaning operation according to the preset cleaning task information or when the cleaning robot performs the cleaning operation according to the preset cleaning task information.
3. The maintenance method of a cleaning robot according to claim 2, further comprising, when the cleaning robot performs a cleaning operation according to preset cleaning task information:
determining the residual cleaning task information according to the preset cleaning task information and the cleaning progress of the cleaning robot;
determining the dust-fixing requirement according to the residual cleaning task information;
if the dust containing capacity of the dust box accords with the preset maintenance condition, the cleaning robot is controlled to be correspondingly set by a dust collecting interface and a main dust collecting interface of the maintenance equipment, and the method comprises the following steps:
and if the dust containing capacity of the dust box meets the preset maintenance condition and the dust containing requirement is greater than the dust containing capacity, controlling a collected dust interface of the cleaning robot to be arranged corresponding to a main dust collecting interface of the maintenance equipment.
4. The maintenance method of a cleaning robot according to claim 1 or 2, wherein the dust-collected interface for controlling the cleaning robot is provided corresponding to a primary dust-collecting interface of a maintenance device, and includes:
and controlling the cleaning robot to move to the maintenance equipment, and controlling a dust-collected interface of the cleaning robot to be arranged corresponding to a main dust-collecting interface of the maintenance equipment.
5. The cleaning robot maintenance method according to claim 1, wherein the dust box detecting device includes a weight sensor provided at a dust box;
the determining the dust holding capacity of the dust box according to the dust box usage data comprises:
and determining the dust containing capacity of the dust box according to the weight of the dust box detected by the weight sensor and a preset weight threshold.
6. The cleaning robot maintenance method of claim 5, wherein the preset weight threshold is determined by multiplying a dust box full load weight by a weight proportion parameter;
and if the weight of the dust box detected by the weight sensor is greater than or equal to the preset weight threshold value, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
7. The cleaning robot maintenance method according to claim 1, wherein the dust box detecting device includes a volume sensor provided on a dust box;
the determining the dust holding capacity of the dust box according to the dust box usage data comprises:
and determining the dust containing capacity of the dust box according to the residual volume of the dust box detected by the volume sensor and a preset volume threshold.
8. The cleaning robot maintenance method of claim 7, wherein the preset volume threshold is determined by multiplying a dust box capacity volume by a volume proportion parameter;
and if the residual volume of the dust box detected by the volume sensor is less than or equal to the preset volume threshold, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
9. The maintenance method of a cleaning robot according to claim 1, wherein the dust box detecting means includes an air pressure sensor provided in an air duct or a dust collecting chamber of the cleaning robot;
the determining the dust holding capacity of the dust box according to the dust box usage data comprises:
and determining the dust containing capacity of the dust box according to the air pressure data detected by the air pressure sensor and a preset air pressure threshold value.
10. The cleaning robot maintenance method of claim 9, wherein the preset air pressure threshold comprises a vacuum level threshold determined according to an initial vacuum level multiplied by a vacuum level scaling parameter, and/or a pressure threshold determined according to an initial pressure multiplied by a pressure scaling parameter;
if the vacuum degree in the air pressure data detected by the air pressure sensor is less than or equal to the vacuum degree threshold value, and/or
And if the dust collection pressure in the air pressure data detected by the air pressure sensor is greater than or equal to the pressure threshold, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
11. A cleaning robot is characterized by comprising a storage, a processor, a dust box detection device and a dust box, wherein a dust collection interface is arranged on the dust box;
the dust box detection device is used for detecting the dust box and generating dust box use data;
the dust-collected interface is used for being arranged corresponding to the main dust-collecting interface of the maintenance equipment;
the memory is used for storing a computer program;
the processor for executing the computer program and implementing the cleaning robot maintenance method according to any one of claims 1 to 10 when executing the computer program.
12. A cleaning system, characterized in that the cleaning system comprises a cleaning robot and a maintenance device;
the cleaning robot is used for implementing the cleaning robot maintenance method according to any one of claims 1 to 10;
the maintenance apparatus is used to perform a dust collecting operation on the cleaning robot.
13. The cleaning system of claim 12, wherein the dust collection operation comprises: and extracting the substances in the dust box of the cleaning robot through a main dust collection interface and a dust collection interface of the cleaning robot.
14. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which, when executed by a processor, causes the processor to carry out the cleaning robot maintenance method according to any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911419289.XA CN113116227B (en) | 2019-12-31 | 2019-12-31 | Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911419289.XA CN113116227B (en) | 2019-12-31 | 2019-12-31 | Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113116227A true CN113116227A (en) | 2021-07-16 |
| CN113116227B CN113116227B (en) | 2023-12-05 |
Family
ID=76769290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911419289.XA Active CN113116227B (en) | 2019-12-31 | 2019-12-31 | Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113116227B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0731819A (en) * | 1993-07-23 | 1995-02-03 | Nippon Steel Corp | Capacity monitor device for bag filter dust collector and method therefor |
| JP2005006812A (en) * | 2003-06-18 | 2005-01-13 | Matsushita Electric Ind Co Ltd | Vacuum cleaner |
| US20080235897A1 (en) * | 2007-03-27 | 2008-10-02 | Samsung Electronics Co., Ltd. | Robot cleaner with improved dust collector |
| CN102334945A (en) * | 2010-07-15 | 2012-02-01 | 三星电子株式会社 | Maintenance station |
| CN103760852A (en) * | 2014-01-08 | 2014-04-30 | 深圳先进技术研究院 | Extensible floor sweeping multi-robot method and system |
| US20170296023A1 (en) * | 2016-04-14 | 2017-10-19 | Beijing Xiaomi Mobile Software Co., Ltd. | Automatic cleaning device and sweeping assembly thereof |
| CN107625487A (en) * | 2017-11-01 | 2018-01-26 | 无锡睿米信息技术有限公司 | A kind of dust catcher of vacuum cleaner dust prompting device for full and the application device |
| CN208784603U (en) * | 2018-01-11 | 2019-04-26 | 重庆福玛特科技有限责任公司 | A kind of sweeping robot dirt box weight-measuring device |
| CN110325088A (en) * | 2017-05-23 | 2019-10-11 | 东芝生活电器株式会社 | Electric dust cleaner |
| CN110558903A (en) * | 2019-10-09 | 2019-12-13 | 上海高仙自动化科技发展有限公司 | Intelligent cleaning robot and monitoring and control method of dustbin thereof |
| CN110623603A (en) * | 2018-06-22 | 2019-12-31 | 东芝生活电器株式会社 | Electric dust suction device |
-
2019
- 2019-12-31 CN CN201911419289.XA patent/CN113116227B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0731819A (en) * | 1993-07-23 | 1995-02-03 | Nippon Steel Corp | Capacity monitor device for bag filter dust collector and method therefor |
| JP2005006812A (en) * | 2003-06-18 | 2005-01-13 | Matsushita Electric Ind Co Ltd | Vacuum cleaner |
| US20080235897A1 (en) * | 2007-03-27 | 2008-10-02 | Samsung Electronics Co., Ltd. | Robot cleaner with improved dust collector |
| CN102334945A (en) * | 2010-07-15 | 2012-02-01 | 三星电子株式会社 | Maintenance station |
| CN103760852A (en) * | 2014-01-08 | 2014-04-30 | 深圳先进技术研究院 | Extensible floor sweeping multi-robot method and system |
| US20170296023A1 (en) * | 2016-04-14 | 2017-10-19 | Beijing Xiaomi Mobile Software Co., Ltd. | Automatic cleaning device and sweeping assembly thereof |
| CN110325088A (en) * | 2017-05-23 | 2019-10-11 | 东芝生活电器株式会社 | Electric dust cleaner |
| CN107625487A (en) * | 2017-11-01 | 2018-01-26 | 无锡睿米信息技术有限公司 | A kind of dust catcher of vacuum cleaner dust prompting device for full and the application device |
| CN208784603U (en) * | 2018-01-11 | 2019-04-26 | 重庆福玛特科技有限责任公司 | A kind of sweeping robot dirt box weight-measuring device |
| CN110623603A (en) * | 2018-06-22 | 2019-12-31 | 东芝生活电器株式会社 | Electric dust suction device |
| CN110558903A (en) * | 2019-10-09 | 2019-12-13 | 上海高仙自动化科技发展有限公司 | Intelligent cleaning robot and monitoring and control method of dustbin thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113116227B (en) | 2023-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11442465B2 (en) | Robot cleaner and control method thereof | |
| WO2017177672A1 (en) | Cleaning robot and method of cleaning thereof | |
| JP6757593B2 (en) | Self-propelled electronic equipment | |
| JP6081060B2 (en) | Robot apparatus, control program, and computer-readable recording medium recording the control program | |
| CN113116247A (en) | Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium | |
| KR20050040122A (en) | Robot cleaning system including automatic removing dust | |
| CN111401574A (en) | Household appliance, accessory management method and readable medium | |
| CN113116227A (en) | Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium | |
| CN115843227A (en) | Vacuum cleaner with a vacuum cleaner head | |
| JP7017983B2 (en) | Autonomous vacuum cleaner | |
| CN106406694A (en) | Cleaning method of mobile terminal and mobile terminal | |
| CN111493741B (en) | Dust box detection method and device, electronic equipment and computer readable storage medium | |
| CN112006613A (en) | Cleaning control method and device for dust box of sweeping robot and storage medium | |
| CN113116238B (en) | Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium | |
| US20220211237A1 (en) | Robot vacuum cleaner and control method thereof | |
| CN111481116A (en) | Sweeping robot fault detection method and device and sweeping robot | |
| CN115916018A (en) | Vacuum cleaner with a vacuum cleaner head | |
| KR20130030951A (en) | Robot cleaner | |
| KR20230062546A (en) | Vacuum cleaner | |
| CN114587187B (en) | Automatic cleaning system, control method and device thereof and storage medium | |
| KR20230035111A (en) | Vacuum cleaner | |
| US20230248198A1 (en) | Vacuum cleaner | |
| KR20230033731A (en) | Vacuum cleaner | |
| KR20230035106A (en) | Vacuum cleaner | |
| CN117753102A (en) | Filling amount determining method and device and underwater cleaning robot |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |