CN114098513A - Intelligent adjusting control method of dust collector - Google Patents
Intelligent adjusting control method of dust collector Download PDFInfo
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- CN114098513A CN114098513A CN202010901363.8A CN202010901363A CN114098513A CN 114098513 A CN114098513 A CN 114098513A CN 202010901363 A CN202010901363 A CN 202010901363A CN 114098513 A CN114098513 A CN 114098513A
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- dust collector
- air
- motor
- garbage
- dust
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses an intelligent regulation control method of a dust collector, which belongs to the technical field of household appliances, solves the problem of short service time of a dust collector battery, and the technical scheme for solving the problem mainly comprises a motor and a controller, wherein the motor is electrically connected with the controller, and the dust collector adopts the following control method: step 1: starting the dust collector; step 2: judging whether the dust collector operates in a large-air-volume dust collection state or not; and step 3: if the dust collector is in a large-air-volume dust collection state, the controller controls the motor to reduce the input power so as to save electric energy; otherwise, returning to the step 2. When the dust collector is judged to be in a large-air-volume dust collection state, the input power of the motor is reduced, so that the dust collection effect of the dust collector can be ensured, the electric energy can be saved, and the service life of a battery of the dust collector can be prolonged.
Description
Technical Field
The invention relates to an intelligent regulation control method of a dust collector.
Background
For convenience of customers' operation, the hand-held type dust catcher has been released in the market, and the hand-held type dust catcher has the lithium cell, so whole dust catcher provides electric drive through the lithium cell, and whole dust catcher no longer receives the control of power cord, and its dust absorption scope is wider, also more nimble. But owing to receive the restriction of electric core technique, the lithium cell discharge capacity of current hand-held type dust catcher is limited, even the time is short, can't satisfy user's use at home, for solving this problem, the state that the dust catcher was located is judged through detecting the inspiratory size of rubbish to prior art, and then the rotational speed of adjustment motor, when detecting out inspiratory rubbish for big rubbish, then improve motor speed, when detecting out inspiratory rubbish for little rubbish, then reduce motor speed, but the rubbish inhales the precision that the size detected and hangs down, motor speed can't match completely with the state that the dust catcher actually was located, also can't ensure the life time of extension under the unchangeable prerequisite of dust collection effect.
Disclosure of Invention
The invention aims to provide an intelligent regulation control method of a dust collector, which reduces the input power of a motor when the dust collector is judged to be in a large-air-volume dust collection state, can ensure the dust collection effect of the dust collector, can save electric energy and is beneficial to prolonging the service time of a battery of the dust collector.
In order to achieve the purpose, the invention adopts the following technical scheme: an intelligent regulation control method of a dust collector comprises a motor and a controller, wherein the motor is electrically connected with the controller, and the dust collector adopts the following control method:
step 1: starting the dust collector;
step 2: judging whether the dust collector operates in a large-air-volume dust collection state or not;
and step 3: if the dust collector is in a large-air-volume dust collection state, the controller controls the motor to reduce the input power so as to save electric energy; otherwise, returning to the step 2.
Further, the dust collector detects the motor rotating speed R, the controller compares the acquired motor rotating speed R with a preset rotating speed threshold value Rm, and if R is larger than or equal to Rm, the dust collector is judged to be in a large-air-volume dust collection state.
Further, the controller compares the acquired motor rotation speed R with a preset rotation speed threshold Rn, if Rm is less than or equal to R and less than or equal to Rn, the controller controls the reduced input power of the motor to be delta P1, and if R is greater than Rn, the controller controls the reduced input power of the motor to be delta P2, wherein delta P2 is greater than delta P1.
Further, the preset rotation speed threshold values Rm and Rn are obtained in the following manner: the method comprises the steps that an air volume detection device is installed on the dust collector, a blocking plate is arranged on the air volume detection device and located at an air suction port of the dust collector, the deflection angle of the blocking plate is adjusted gradually, the air volume detection device obtains current air volume V, if V is V1, the rotating speed R1 of a motor of the dust collector is obtained, then a preset rotating speed threshold value Rm is a rotating speed R1, if V is V2, the rotating speed R2 of the motor of the dust collector is obtained, then a rotating speed threshold value Rn is a rotating speed R2, and V1 is less than V2.
Furthermore, an air suction channel is arranged in the dust collector, the vacuum degree v in the air suction channel is detected by the dust collector, the acquired vacuum degree v is compared with a preset vacuum degree threshold value Vm by the controller, and if v is larger than or equal to Vm, the dust collector is judged to be in a large-air-volume dust collection state.
Furthermore, an air suction port of the dust collector is provided with an air measuring plate, the air measuring plate is rotatably connected to the dust collector, the dust collector detects a deflection angle phi of the current air measuring plate, the controller compares the deflection angle phi with a preset deflection angle threshold phi m, and if the phi is larger than or equal to the phi m, the dust collector is judged to be in a large-air-volume dust collection state.
The dust collector further comprises a garbage can, the dust collector detects the amount of garbage s stored in the garbage can, and if the rotating speed R of the motor is larger than or equal to a preset rotating speed threshold value Rm and the amount of garbage s is smaller than or equal to a preset garbage amount threshold value Sm, the dust collector is judged to be in a large-air-volume dust collection state.
Further, the garbage amount s is the pressure in the garbage can; or the garbage amount is the occupied space of the garbage in the garbage can.
Furthermore, the dust collector detects the size k of the sucked garbage, and if the dust collector is in a large-air-volume dust collection state and the size k of the garbage is smaller than or equal to a preset garbage size threshold Km, the controller controls the motor to reduce the input power so as to save electric energy.
After the technical scheme is adopted, the invention has the following advantages:
when the dust catcher is in big wind volume state, the change of the input power of motor is little to the output power influence of motor, because the output power of motor is in positive correlation with the suction effect of dust catcher, suitably reduce the input power of motor this moment and be little to the dust absorption effect of dust catcher, when judging that the dust catcher is in big wind volume dust absorption state, reduce motor input power, can guarantee the dust absorption effect of dust catcher, can save the electric energy again, do benefit to the live time of extension dust catcher battery.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of the intelligent adjustment control of the vacuum cleaner according to the first embodiment (I);
FIG. 2 is a graph illustrating the angle of a blocking plate and the variation of the output power;
FIG. 3 is a flow chart of the intelligent adjustment control of the vacuum cleaner according to the first embodiment (II);
FIG. 4 is a flow chart (III) of the intelligent adjustment control of the vacuum cleaner according to the first embodiment;
FIG. 5 is a flow chart of the intelligent adjustment control of the vacuum cleaner according to the second embodiment;
fig. 6 is a flow chart of the intelligent adjustment control of the vacuum cleaner in the third embodiment.
Detailed Description
Example one
As shown in fig. 1 and fig. 2, the present embodiment provides an intelligent adjustment control method for a vacuum cleaner, where the vacuum cleaner includes a motor and a controller, the motor is electrically connected to the controller, and the vacuum cleaner adopts the following control method:
step 1: starting the dust collector;
step 2: judging whether the dust collector operates in a large-air-volume dust collection state or not;
and step 3: if the dust collector is in a large-air-volume dust collection state, the controller controls the motor to reduce the input power so as to save electric energy; otherwise, returning to the step 2.
When the dust catcher is in big wind volume state, the change of the input power of motor is little to the output power influence of motor, because the output power of motor is in positive correlation with the suction effect of dust catcher, suitably reduce the input power of motor this moment and be little to the dust absorption effect of dust catcher, when judging that the dust catcher is in big wind volume dust absorption state, reduce motor input power, can guarantee the dust absorption effect of dust catcher, can save the electric energy again, do benefit to the live time of extension dust catcher battery.
Because the rotating speed of the motor is positively correlated with the air volume of the dust collector, the embodiment can judge whether the dust collector is in a large air volume dust collection state currently according to the rotating speed of the motor. Specifically, a rotating speed detector for detecting the rotating speed of the motor is arranged in the dust collector and electrically connected with the controller, the rotating speed detector detects the rotating speed R of the motor, the controller compares the obtained rotating speed R of the motor with a preset rotating speed threshold value Rm, and if R is larger than or equal to Rm, the dust collector is judged to be in a large-air-volume dust collection state. Thereby whole dust catcher need not to increase other hardware structure, can realize the judgement of the amount of wind, does benefit to falling this of dust catcher, and simultaneously, motor speed detects conveniently and accurately to dust catcher intelligent regulation's precision has further been guaranteed. In this embodiment, when the maximum input power of the motor of the vacuum cleaner is 430W, the corresponding preset rotation speed threshold value Rm is 70000 rpm; when the maximum input power of a motor of the dust collector is 550W, the corresponding preset rotating speed threshold value Rm is 120000-140000 rpm.
In order to further improve the adjustment precision, the controller compares the acquired motor rotation speed R with a preset rotation speed threshold Rn, if Rm is less than or equal to R and less than or equal to Rn, the controller controls the reduced input power of the motor to be delta P1, and if R is more than Rn, the controller controls the reduced input power of the motor to be delta P2, wherein delta P2 is more than delta P1. The air volume of the dust collector when the rotating speed R is between Rm and Rn is less than the air volume of the dust collector when the rotating speed R is more than Rn, so that the influence of the change of the input power on the dust collection effect when the rotating speed R is between Rm and Rn is larger than that when the rotating speed R is more than Rn, and the amplitude of the corresponding reduced input power of the dust collector when the rotating speed R is between Rm and Rn is smaller than that when the rotating speed R is more than Rn, so that the dust collection effect of the dust collector is ensured.
The larger the opening degree of the suction port of the vacuum cleaner is, the larger the air volume inside the vacuum cleaner is, and correspondingly, the smaller the opening degree of the suction port is, the smaller the air volume inside the vacuum cleaner is. In order to conveniently determine the preset threshold values Rm and Rn, air quantity detection equipment is arranged on the dust collector in a product experiment stage, the air quantity detection equipment is provided with a blocking plate used for adjusting the air quantity, the blocking plate is positioned at an air suction port of the dust collector, the opening size of the air suction port can be changed by adjusting the angle of the blocking plate, so that the air quantity at the air suction port can be adjusted, and the change of the rotating speed of the motor can be triggered by the change of the air quantity, therefore, the angle of the blocking plate can be continuously adjusted to read the air quantity value collected by the current air quantity detection equipment, and if the current air quantity value is judged to be in the large air quantity, the rotating speed of the current dust collector is reversely read to be the corresponding threshold value. Specifically, the preset rotation speed threshold values Rm and Rn are obtained in the following manner: and gradually adjusting the deflection angle of the blocking plate, acquiring the air volume V of the current air volume detection device by the air volume detection device, acquiring the rotating speed R1 of the motor of the current dust collector if V is V1, wherein the preset rotating speed threshold value Rm is the rotating speed R1, acquiring the rotating speed R2 of the motor of the current dust collector if V is V2, and the rotating speed threshold value Rn is the rotating speed R2, wherein V1 is less than V2. In this embodiment, the air volume detecting device belongs to a dedicated device purchased in an experimental stage, that is, the air volume detecting device is the prior art, and the working principle and structure thereof are not described herein again, where V1 and V2 may be single air volume values or air volume range values.
In the present embodiment, as described above, the deflection of the blocking plate is to adjust the size of the opening of the air inlet to control the air volume, and for the convenience of visual representation of experimental data to facilitate understanding, the deflection angle Φ of the blocking plate when the blocking plate is fully opened with respect to the blocking plate may be used to reflect the air volume, that is, the air volume V detected by the air volume detecting device is replaced to reflect the air volume, and therefore, the abscissa shown in fig. 2 is represented by the blocking plate angle, and of course, the air volume value may also be used as the representation.
Continuing to refer to fig. 2, in this embodiment, the maximum input power of the motor is 430W, when the deflection angle Φ of the blocking plate is less than 61 °, the vacuum cleaner is in a large air volume vacuum state, the output power difference corresponding to different input powers (430W, 415W, 405W, 400W, 380W, 370W, 360W) of the vacuum cleaner is not large, that is, the input power has little influence on the output power, the vacuum cleaner can reduce the input power of the motor to save electric energy, otherwise, the input power of the current motor is ensured to run. When the deflection angle phi of the blocking plate is 56-61 degrees, the corresponding rotating speed R of the motor belongs to Rm-Rn, and at the moment, the controller can control the motor to reduce the input power from 430W to 400W, namely the reduced input power is delta P1 to be 30W; when the deflection angle phi of the blocking plate is less than 56 degrees, the rotating speed R of the motor is correspondingly more than Rn, at the moment, the controller can control the motor to reduce the input power from 430W to 380W, namely the reduced input power is delta P2 which is 50W, so that the dust collection effect can be ensured, and the electric energy can be saved.
As shown in fig. 3, it can be understood that the air volume of the vacuum cleaner can be determined not only by the above-described indirect determination based on the rotation speed but also by the degree of vacuum in the vacuum cleaner. Specifically, an air suction channel is arranged in the dust collector, a vacuum detector electrically connected with the controller is arranged on the dust collector, the vacuum detector detects the vacuum degree v in the air suction channel, the controller compares the acquired vacuum degree v with a preset vacuum degree threshold value Vm, and if v is larger than or equal to Vm, the dust collector is judged to be in a large-air-volume dust collection state.
As shown in fig. 4, of course, an air intake of the vacuum cleaner may be provided with an air vane perpendicular to the air suction direction, and the air vane is rotatably connected to the vacuum cleaner. As is known, in the use stage of a vacuum cleaner, the wind measuring plate is in an initial state perpendicular to the wind suction direction, and at this time, the inflow of wind is affected, so that the wind measuring plate deflects under the action of wind force to ensure smooth inflow of wind, and the deflection angle of the wind measuring plate can be used as a standard for judging the wind volume. Specifically, an angle sensor electrically connected with a controller is arranged on the dust collector, the angle sensor detects the deflection angle phi of the current wind measuring plate relative to the wind measuring plate in the initial state, the controller compares the deflection angle phi with a preset deflection angle threshold phi m, and if the phi is larger than or equal to the phi m, the dust collector is judged to be in a large-air-volume dust collection state.
Example two
As shown in fig. 5, the dust collector further comprises a garbage bin, in order to further improve the precision of intelligent adjustment of the dust collector, the dust collector detects the amount of garbage s stored in the garbage bin, and if the motor rotating speed R is greater than or equal to a preset rotating speed threshold value Rm and the amount of garbage s is less than or equal to a preset garbage amount threshold value Sm, it is determined that the dust collector is in a high-air-volume dust collection state. Because the rubbish of dustbin is more, the loss of power is big more, and the amount of wind also corresponds lowly, considers two dimensions of rotational speed and the rubbish volume of dustbin so simultaneously and judges the amount of wind, avoids the detection of single dimension to appear unusually and judges to be big amount of wind, and then reduces input power and influence dust absorption effect, and the amount of wind judges accurately higher promptly to improve dust catcher intelligent regulation's precision.
In this embodiment, the garbage amount s may be a pressure in the garbage bin or an occupied space of garbage in the garbage bin.
Other non-described contents in the embodiment refer to the first embodiment.
EXAMPLE III
As shown in fig. 6, certainly, in order to ensure that the suction force of the vacuum cleaner can suck the garbage at the current position into the garbage bin, the vacuum cleaner can detect the size k of the sucked garbage, and if the vacuum cleaner is in a large air volume dust collection state and the size k of the garbage is smaller than or equal to the preset garbage size threshold Km, the controller controls the motor to reduce the input power so as to save the electric energy. Therefore, when k is smaller than or equal to the preset garbage size threshold Km, the currently sucked garbage is judged to be small garbage, namely the suction force of the current dust collector is enough, so that the garbage can be sucked when the input power of the motor is reduced, on the contrary, when k is larger than the preset garbage size threshold Km, the currently sucked garbage is judged to be large garbage, and at the moment, the large garbage cannot be sucked when the input power of the motor is reduced, so that the garbage cleaning effect is poor.
In this embodiment, other undescribed contents refer to the first embodiment or the second embodiment.
Other embodiments of the present invention than the preferred embodiments described above will be apparent to those skilled in the art from the present invention, and various changes and modifications can be made therein without departing from the spirit of the present invention as defined in the appended claims.
Claims (9)
1. The intelligent regulation control method of the dust collector comprises a motor and a controller, wherein the motor is electrically connected with the controller, and the intelligent regulation control method is characterized in that the dust collector adopts the following control method:
step 1: starting the dust collector;
step 2: judging whether the dust collector operates in a large-air-volume dust collection state or not;
and step 3: if the dust collector is in a large-air-volume dust collection state, the controller controls the motor to reduce the input power so as to save electric energy; otherwise, returning to the step 2.
2. The intelligent regulation and control method of the dust collector as claimed in claim 1, wherein the dust collector detects a motor rotation speed R, the controller compares the acquired motor rotation speed R with a preset rotation speed threshold value Rm, and if R is larger than or equal to Rm, the dust collector is determined to be in a high-air-volume dust collection state.
3. The intelligent regulation control method of the vacuum cleaner as claimed in claim 2, wherein the controller compares the obtained motor speed R with a preset speed threshold Rn, and controls the motor to reduce the input power to be Δ P1 if Rm ≦ R ≦ Rn, and to reduce the input power to be Δ P2 if R > Rn, wherein Δ P2 is greater than Δ P1.
4. An intelligent regulation and control method of a vacuum cleaner as claimed in claim 3, wherein the preset rotation speed thresholds Rm and Rn are obtained by: the method comprises the steps that an air volume detection device is installed on the dust collector, a blocking plate is arranged on the air volume detection device and located at an air suction port of the dust collector, the deflection angle of the blocking plate is adjusted gradually, the air volume detection device obtains current air volume V, if V is V1, the rotating speed R1 of a motor of the dust collector is obtained, then a preset rotating speed threshold value Rm is a rotating speed R1, if V is V2, the rotating speed R2 of the motor of the dust collector is obtained, then a rotating speed threshold value Rn is a rotating speed R2, and V1 is less than V2.
5. The intelligent adjustment and control method of the dust collector as claimed in claim 1, wherein the dust collector is provided with an air suction channel, the dust collector detects a vacuum degree v in the air suction channel, the controller compares the obtained vacuum degree v with a preset vacuum degree threshold value Vm, and if v is larger than or equal to Vm, the dust collector is determined to be in a large-air-volume dust collection state.
6. The intelligent regulation and control method of the dust collector as claimed in claim 1, wherein an air intake of the dust collector is provided with an air measuring plate, the air measuring plate is rotatably connected to the dust collector, the dust collector detects a deflection angle phi of the current air measuring plate, the controller compares the deflection angle phi with a preset deflection angle threshold phi m, and if phi is larger than or equal to phi m, the dust collector is judged to be in a high-air-volume dust collection state.
7. The intelligent regulation and control method of the dust collector as claimed in claim 2, wherein the dust collector further comprises a garbage bin, the dust collector detects the amount of garbage s stored in the garbage bin, and if the motor rotation speed R is greater than or equal to a preset rotation speed threshold value Rm and the amount of garbage s is less than or equal to a preset garbage amount threshold value Sm, the dust collector is determined to be in a high-air-volume dust collection state.
8. The intelligent regulation control method of a vacuum cleaner according to claim 7, wherein the garbage amount s is a pressure in a garbage can; or the garbage amount is the occupied space of the garbage in the garbage can.
9. The intelligent regulation and control method of the dust collector according to any one of claims 1 to 8, wherein the dust collector detects the size k of the sucked garbage, and if the dust collector is in a high-air-volume dust collection state and the size k of the garbage is less than or equal to a preset garbage size threshold Km, the controller controls the motor to reduce the input power so as to save the electric energy.
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| CN202010901363.8A CN114098513B (en) | 2020-09-01 | 2020-09-01 | Intelligent adjusting control method of dust collector |
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| CN202010901363.8A CN114098513B (en) | 2020-09-01 | 2020-09-01 | Intelligent adjusting control method of dust collector |
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| CN114098513B CN114098513B (en) | 2023-03-10 |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS63130025A (en) * | 1986-11-19 | 1988-06-02 | 株式会社日立製作所 | Electric cleaner |
| JPH0299025A (en) * | 1988-10-07 | 1990-04-11 | Hitachi Ltd | Vacuum cleaner |
| JP2006167239A (en) * | 2004-12-17 | 2006-06-29 | Hitachi Home & Life Solutions Inc | Vacuum cleaner |
| EP1997417A2 (en) * | 2007-05-30 | 2008-12-03 | Miele & Cie. KG | Method for operating a vacuum cleaner |
| CN102365045A (en) * | 2009-07-31 | 2012-02-29 | 株式会社东芝 | Electric Cleaner And Method For Adjusting Same |
| JP2013022359A (en) * | 2011-07-25 | 2013-02-04 | Sharp Corp | Vacuum cleaner |
| CN205903227U (en) * | 2016-04-14 | 2017-01-25 | 北京小米移动软件有限公司 | Automatic cleaning device's round brush subassembly, wind path structure and automatic cleaning device |
| CN107567299A (en) * | 2015-03-27 | 2018-01-09 | 力奇有限公司 | Dirt collection device and its operation method |
| JP2018015396A (en) * | 2016-07-29 | 2018-02-01 | パナソニックＩｐマネジメント株式会社 | Autonomous travel type vacuum cleaner |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63130025A (en) * | 1986-11-19 | 1988-06-02 | 株式会社日立製作所 | Electric cleaner |
| JPH0299025A (en) * | 1988-10-07 | 1990-04-11 | Hitachi Ltd | Vacuum cleaner |
| JP2006167239A (en) * | 2004-12-17 | 2006-06-29 | Hitachi Home & Life Solutions Inc | Vacuum cleaner |
| EP1997417A2 (en) * | 2007-05-30 | 2008-12-03 | Miele & Cie. KG | Method for operating a vacuum cleaner |
| CN102365045A (en) * | 2009-07-31 | 2012-02-29 | 株式会社东芝 | Electric Cleaner And Method For Adjusting Same |
| JP2013022359A (en) * | 2011-07-25 | 2013-02-04 | Sharp Corp | Vacuum cleaner |
| CN107567299A (en) * | 2015-03-27 | 2018-01-09 | 力奇有限公司 | Dirt collection device and its operation method |
| CN205903227U (en) * | 2016-04-14 | 2017-01-25 | 北京小米移动软件有限公司 | Automatic cleaning device's round brush subassembly, wind path structure and automatic cleaning device |
| JP2018015396A (en) * | 2016-07-29 | 2018-02-01 | パナソニックＩｐマネジメント株式会社 | Autonomous travel type vacuum cleaner |
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| CN114098513B (en) | 2023-03-10 |
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