CN114431759B - Method for moving cleaner - Google Patents
Method for moving cleaner Download PDFInfo
- Publication number
- CN114431759B CN114431759B CN202210114078.0A CN202210114078A CN114431759B CN 114431759 B CN114431759 B CN 114431759B CN 202210114078 A CN202210114078 A CN 202210114078A CN 114431759 B CN114431759 B CN 114431759B
- Authority
- CN
- China
- Prior art keywords
- cleaning device
- wall surface
- cleaned
- cleaner
- driving
- 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.)
- Active
Links
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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides a method for moving a cleaner, the cleaner comprises a main body and a cleaning device, the cleaning device comprises a first cleaning device and a second cleaning device, the method comprises the following steps: forming a negative pressure space among the main body, the first cleaning device, the second cleaning device and the surface to be cleaned; the first cleaning device is driven to rotate relative to the surface to be cleaned, and the second cleaning device is driven to rotate relative to the surface to be cleaned, wherein any one of the first cleaning device and the second cleaning device is provided with a high friction area and a low friction area which are contacted with the surface to be cleaned outside in the rotating process, and the friction difference between the high friction area and the low friction area enables the cleaner to generate power which advances along the set direction so as to enable the cleaner to move on the surface to be cleaned outside. Compared with the prior art, the invention can enable the cleaner to move on the external surface to be cleaned more stably and more quickly, so that the cleaner can be flexibly adapted to the surfaces to be cleaned in various complex environments, the cleaning efficiency of the cleaner is improved, the cleaning time is shortened, and the energy is saved.
Description
Technical Field
The invention relates to the technical field of cleaners, in particular to a moving method of a cleaner.
Background
There are various types of window cleaners for facilitating cleaning of doors and windows in the prior art, but the window cleaners in the prior art have drawbacks such as:
the window cleaning machine in the prior art has large overall weight, is difficult to operate on the surface of the door and window to be cleaned, and is easy to fall off from the vertical surface of the door and window;
the window cleaning machine on the market generally adopts a double-wheel one-static one-moving motion mode to walk, namely one cleaning wheel is adsorbed on the surface of a door and a window, and the other cleaning wheel is rotated to walk.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a movement method of a cleaner, and the specific technical scheme is as follows:
a moving method of a cleaner including a main body and a cleaning device including a first cleaning device and a second cleaning device, comprising:
forming a negative pressure space between the main body, the first cleaning device and an external surface to be cleaned, and forming a negative pressure space between the main body, the second cleaning device and the external surface to be cleaned, so that the cleaner is adsorbed on the external surface to be cleaned;
The first cleaning device is driven to rotate relative to the external surface to be cleaned, and the second cleaning device is driven to rotate relative to the external surface to be cleaned, any one of the first cleaning device and the second cleaning device is provided with a high friction area and a low friction area which are in contact with the external surface to be cleaned in the rotation process, and the friction force between the high friction area and the surface to be cleaned is larger than the friction force between the low friction area and the surface to be cleaned, so that the cleaner moves on the external surface to be cleaned.
In a specific embodiment, the method further comprises:
in a first control period, driving the first cleaning device to rotate along a first direction relative to the surface to be cleaned, and driving the second cleaning device to rotate along a second direction relative to the surface to be cleaned;
the first direction and the second direction are opposite, and the linear speed of the first cleaning device is the same as that of the second cleaning device, so that the cleaner can directly move on the surface to be cleaned.
In a specific embodiment, the method further comprises:
in a second control period, driving the first cleaning device to rotate along a first direction relative to the surface to be cleaned, and driving the second cleaning device to rotate along a second direction relative to the surface to be cleaned;
The first direction and the second direction are opposite, and the linear speed of the first cleaning device is different from that of the second cleaning device, so that the cleaner turns on an external surface to be cleaned; alternatively, the first direction and the second direction may be the same, and the linear velocity of the first cleaning device may be different from or the same as the linear velocity of the second cleaning device, so that the cleaner turns on the surface to be cleaned.
In a specific embodiment, the moving method further includes:
when the first cleaning device and the second cleaning device reach the first wall surface, one of the first cleaning device and the second cleaning device is driven to reversely rotate so as to separate from the first wall surface, the other one of the first cleaning device and the second cleaning device is kept attached to the first wall surface, wherein an included angle is formed between the first wall surface and the surface to be cleaned, and the first wall surface extends out of the surface to be cleaned.
In a specific embodiment, after one of the first cleaning device and the second cleaning device is reversely rotated to be separated from the first wall surface, the moving method further includes:
Driving the inverted cleaning device to rotate to be in a preset posture with the other cleaning device;
driving the first cleaning device and the second cleaning device to travel, and enabling the cleaning device attached to the first wall surface to keep attached to the first wall surface in the traveling process;
when the first cleaning device and the second cleaning device reach a second wall surface, driving the first cleaning device and the second cleaning device to change the travelling direction;
the second wall surface is arranged at an included angle with the surface to be cleaned, extends out of the surface to be cleaned, and forms a corner smaller than 180 degrees between the first wall surface and the second wall surface.
In a specific embodiment, the "driving the first cleaning device and the second cleaning device to change the traveling direction" includes:
the first cleaning device is driven to reversely rotate, the second cleaning device is driven to reversely rotate so that the first cleaning device and the second cleaning device are separated from the second wall surface, and the cleaning device attached to the first wall surface is kept attached to the first wall surface in the advancing process.
In a specific embodiment, the "driving the first cleaning device and the second cleaning device to change the traveling direction" includes:
the first cleaning device is driven to reversely rotate, and the second cleaning device is driven to reversely rotate so that the first cleaning device and the second cleaning device are separated from the second wall surface and are separated from the first wall surface.
In a specific embodiment, the "driving the first cleaning device and the second cleaning device to change the traveling direction" includes:
and driving the cleaning device which is only attached to the second wall surface to reversely rotate so as to separate from the second wall surface.
In a specific embodiment, the driving the cleaning device that is only attached to the second wall surface to rotate in a reverse direction to disengage from the second wall surface includes:
in the reverse rotation process of the cleaning device which is only attached to the second wall surface, the cleaning device which is in driving contact with the first wall surface and the second wall surface is kept in contact with the first wall surface and the second wall surface.
In a specific embodiment, after one of the first cleaning device and the second cleaning device is reversely rotated to be separated from the first wall surface, the moving method further includes:
Driving the inverted cleaning device to rotate to be in a preset posture with the other cleaning device;
driving the first cleaning device and the second cleaning device to travel, and enabling the cleaning device attached to the first wall surface to keep attached to the first wall surface in the traveling process;
when one cleaning device attached to the first wall moves to be separated from the first wall, the linear speed of the other cleaning device is increased, and the cleaning device separated from the first wall and the other cleaning device reach a third wall, wherein the third wall and the surface to be cleaned are arranged at an included angle, the third wall extends out of the surface to be cleaned, and a corner larger than 180 degrees is formed between the first wall and the third wall.
In a specific embodiment, after the cleaning device separated from the first wall surface reaches the third wall surface, the moving method further includes:
driving the cleaning device with the increased linear velocity to rotate to be in a preset posture with the other cleaning device;
the first cleaning device and the second cleaning device are driven to advance, and the cleaning device attached to the third wall surface is enabled to keep attached to the third wall surface in the advancing process.
In a specific embodiment, the moving method further comprises, before driving the first cleaning device and the second cleaning device to travel:
the cleaning device with the increased linear velocity is driven to rotate to be attached to the third wall surface;
driving one of the first cleaning device and the second cleaning device to be separated from the third wall surface, and enabling the other of the first cleaning device and the second cleaning device to be attached to the third wall surface;
the cleaning device separated from the third wall surface is driven to rotate reversely so as to be in a preset posture with the other cleaning device.
In a specific embodiment, "driving one of the first cleaning device and the second cleaning device to rotate in a reverse direction to disengage from the first wall surface when both the first cleaning device and the second cleaning device reach the first wall surface" includes:
driving one of the first cleaning device and the second cleaning device to travel against an obstacle on the first wall surface when the first cleaning device and the second cleaning device travel against the obstacle;
when the first cleaning device and the second cleaning device reach the first wall surface, one of the first cleaning device and the second cleaning device is driven to reversely rotate so as to be separated from the first wall surface.
In a specific embodiment, the obstacle is formed by a corner greater than 180 degrees and a corner less than 180 degrees; the moving method further comprises the following steps:
when the cleaner travels to a corner of less than 180 degrees, the cleaner moves according to the above-described moving method;
when the cleaner travels to a corner of more than 180 degrees, the cleaner moves according to the above-described moving method. Compared with the prior art, the invention has the following beneficial effects:
the moving method of the cleaner provided by the invention can enable the cleaner to move on the external surface to be cleaned more stably and more quickly, so that the cleaner can be flexibly adapted to the surfaces to be cleaned in various complex environments, the cleaning efficiency of the cleaner is improved, the cleaning time is shortened, the energy is saved, and the use experience of a user is improved.
In the first control period, the moving efficiency of the cleaner can be improved, so that the cleaner can rapidly and flexibly advance or retreat on the surface to be cleaned, and the window wiping effect of the cleaner is improved.
In the second control period, the turning efficiency of the cleaner can be improved, so that the cleaner can quickly and flexibly turn on the surface to be cleaned, the window wiping effect of the cleaner is improved, and the cleaner is suitable for various environments to be cleaned.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of steps for moving a cleaner over an external surface to be cleaned in an embodiment;
FIG. 2 is a schematic view of the structure of the cleaner in the embodiment;
FIG. 3 is a schematic view showing the structure of the cleaner in the forward direction in the embodiment;
FIG. 4 is a schematic view showing a structure of the cleaner in a retreating state in the embodiment;
FIG. 5 is a schematic view of a first construction of an embodiment of a cleaner encountering a wall surface;
FIG. 6 is a schematic view of a second construction of the embodiment in which the cleaner encounters a wall surface;
FIG. 7 is a schematic view of a first structure of the cleaner on a surface to be cleaned (a corner of less than 180 degrees is formed between a first wall surface and a second wall surface);
FIG. 8 is a schematic view of a second structure of the cleaner on a surface to be cleaned (a corner of less than 180 degrees is formed between the first wall surface and the second wall surface);
FIG. 9 is a schematic view of a third structure of the cleaner on a surface to be cleaned (a corner of less than 180 degrees is formed between the first wall surface and the second wall surface);
FIG. 10 is a schematic view of a fourth embodiment of a cleaner disposed on a surface to be cleaned (a corner of less than 180 degrees is formed between a first wall surface and a second wall surface);
FIG. 11 is a schematic view of a fifth construction of the cleaner on a surface to be cleaned (a corner of less than 180 degrees is formed between a first wall surface and a second wall surface);
FIG. 12 is a schematic view of a sixth embodiment of a cleaner disposed on a surface to be cleaned (a corner of less than 180 degrees is formed between a first wall surface and a second wall surface);
FIG. 13 is a schematic view of a seventh construction of the cleaner according to the embodiment on a surface to be cleaned (a corner of less than 180 degrees is formed between the first wall surface and the second wall surface);
fig. 14 is a schematic structural view of a cleaning device attached to only a second wall surface in an embodiment;
FIG. 15 is a schematic view of an eighth construction of the cleaner according to the embodiment on a surface to be cleaned (a corner of more than 180 degrees is formed between the first wall surface and the second wall surface);
Fig. 16 is a schematic view of a ninth configuration of the cleaner on the surface to be cleaned (one of the first cleaning device and the second cleaning device traveling against an obstacle) in the embodiment.
Description of main reference numerals:
1-a main body; 2-a first cleaning device; 3-a second cleaning device; 4-negative pressure space; 5-a vacuum pipe; 6-a vacuum device; 7-corners less than 180 degrees; 8-a first wall surface; 9-a second wall surface; 10-corners greater than 180 degrees; 11-a third wall surface; 12-an obstacle; 13-the surface to be cleaned.
Detailed Description
Examples
As shown in fig. 1 to 16, the present embodiment provides a moving method of a cleaner including a main body 1 and a cleaning device including a first cleaning device 2 and a second cleaning device 3, comprising:
a negative pressure space 4 is formed among the main body 1, the first cleaning device 2 and the external surface to be cleaned 13, a negative pressure space 4 is formed among the main body 1, the second cleaning device 3 and the external surface to be cleaned 13, so that the cleaner is adsorbed on the external surface to be cleaned 13, specifically, a space is formed among the main body 1, the first cleaning device 2 and the external surface to be cleaned 13, a space is formed among the main body 1, the second cleaning device 3 and the external surface to be cleaned 13, and the main body 1 is preferably connected with the external vacuum device 6 through the vacuum pipeline 5 so that the space generates negative pressure, so that the cleaner is adsorbed on the external surface to be cleaned 13; the first cleaning device 2 is driven to rotate relative to the external surface to be cleaned 13, and the second cleaning device 3 is driven to rotate relative to the external surface to be cleaned 13, any one of the first cleaning device 2 and the second cleaning device 3 has a high friction area and a low friction area which are contacted with the external surface to be cleaned 13 during rotation, and the friction force between the high friction area and the surface to be cleaned 13 is larger than the friction force between the low friction area and the surface to be cleaned 13, so that the cleaner moves on the external surface to be cleaned 13, specifically, the embodiment adjusts the speed and the direction of the cleaner on the external surface to be cleaned 13 according to the magnitude and the direction of the resultant force of the high friction area and the low friction area. It will be appreciated that the first cleaning device 2 and the second cleaning device 3 clean the surface 13 to be cleaned during movement of the cleaner over the surface 13 to be cleaned, alternatively the vacuum device 6 is located inside the cleaner or outside the cleaner. It will be appreciated that the difference in friction between the high friction zone and the low friction zone causes the cleaner to generate power to travel in a set direction.
Optionally, the first cleaning device 2 includes a first cleaning turntable and a first wiping element, where the first wiping element is sleeved or adhered on the first cleaning turntable; the second cleaning device 3 comprises a second cleaning rotary table and a second wiping piece, and the second wiping piece is sleeved or stuck on the second cleaning rotary table; the first and second cleaning elements are preferably cleaning cloths, by means of which the cleaner cleans the surface 13 to be cleaned; the outer surface 13 to be cleaned is preferably the surface of a door or window to be cleaned, in particular the surface of a window pane to be cleaned; alternatively, the first cleaning device 2 may be an integral structure having a cleaning function directly and capable of traveling (e.g., rotating), and the second cleaning device 3 may be an integral structure having a cleaning function directly and capable of traveling (e.g., rotating).
Specifically, in this embodiment, the widths of the first cleaning turntable and the second cleaning turntable are both greater than the width of the main body 1, so that the current frame is detected, and when the cleaner encounters a wall surface, the current sensor in the cleaner can detect the wall surface and the corner of the window cleaning wall surface, so as to achieve dead-angle-free cleaning.
Specifically, the embodiment can enable the cleaner to move on the external surface to be cleaned 13 more stably and more quickly, enable the cleaner to flexibly adapt to the surface to be cleaned 13 in various complex environments, improve the cleaning efficiency of the cleaner, shorten the cleaning time, save energy sources and improve the use experience of users; the vacuum device 6 can be arranged outside and connected with the cleaner through the vacuum pipeline 5, so that the whole cleaner is small in size and weight, is not easy to fall off the surface 13 to be cleaned, can be attractive in appearance, and saves the production cost of the cleaner.
As shown in fig. 3 to 4, in this embodiment, the method further includes: in the first control period, the first cleaning device 2 is driven to rotate along a first direction relative to the outer surface to be cleaned 13, and the second cleaning device 3 is driven to rotate along a second direction relative to the outer surface to be cleaned 13; the first direction and the second direction are opposite, and the linear velocity of the first cleaning device 2 is the same as the linear velocity of the second cleaning device 3, so that the cleaner moves straight on the outer surface to be cleaned 13. The embodiment can improve the moving efficiency of the cleaner, enable the cleaner to rapidly and flexibly advance or retreat on the surface 13 to be cleaned, and improve the window wiping effect of the cleaner.
Specifically, the first direction may be a counterclockwise direction or a clockwise direction, and the second direction may be a counterclockwise direction or a clockwise direction; when the first direction is a counterclockwise direction, the second direction is a clockwise direction; when the first direction is clockwise, the second direction is counterclockwise.
Alternatively, in the present embodiment, when the cleaner is advanced on the outer surface to be cleaned 13, the first direction is preferably counterclockwise, the second direction is preferably clockwise, the first cleaning device 2 is rotated in the counterclockwise direction, and the second cleaning device 3 is rotated in the clockwise direction, so that the cleaner is advanced on the outer surface to be cleaned 13; when the cleaner is retracted on the outer surface to be cleaned 13, the first direction is preferably clockwise, the second direction is preferably counterclockwise, the first cleaning device 2 is rotated in the clockwise direction, and the second cleaning device 3 is rotated in the counterclockwise direction, so that the cleaner is retracted on the outer surface to be cleaned 13.
Specifically, the first cleaning device 2 is driven by a first motor, the second cleaning device 3 is driven by a second motor, the first motor and the second motor are optionally provided in the main body 1, "the cleaner moves on the external surface to be cleaned 13" includes: detecting a first load current of the first motor, and if the first load current is recognized to be larger than a first threshold value, driving the first motor to rotate reversely, enabling the first cleaning device 2 to rotate reversely, and enabling the cleaner to be located on one side of the first cleaning device 2 to rotate backwards; and detecting a second load current of the second motor, and if the second load current is recognized to be larger than a second threshold value, driving the second motor to rotate reversely, enabling the second cleaning device 3 to rotate reversely, and enabling the cleaner to be located on one side of the second cleaning device 3 to rotate backwards.
Specifically, the first motor is electrically connected with the control system of the cleaner to detect the current value of the first motor, and the second motor is electrically connected with the control system of the cleaner to detect the current value of the second motor.
In this embodiment, the method further includes: in the second control period, the first cleaning device 2 is driven to rotate along a first direction relative to the outer surface to be cleaned 13, and the second cleaning device 3 is driven to rotate along a second direction relative to the outer surface to be cleaned 13; the first direction and the second direction are opposite, the linear velocity of the first cleaning device 2 is different from the linear velocity of the second cleaning device 3, so that the cleaner turns on the outer surface to be cleaned 13; alternatively, the first direction and the second direction are the same, and the linear velocity of the first cleaning device 2 is different from or the same as the linear velocity of the second cleaning device 3, so that the cleaner turns on the outer surface to be cleaned 13; and the turning angle is regulated according to the preset angle in the cleaner, and after the turning angle is turned to the preset angle, the next instruction is carried out. Specifically, the present embodiment can promote the turning efficiency of the cleaner, make the cleaner turn on the surface 13 to be cleaned rapidly and flexibly, promote the window wiping effect of the cleaner, and make the cleaner adapt to various environments to be cleaned. It will be appreciated that the cleaner may be turned in situ about the central axis of the cleaner when the linear velocity of the first cleaning device 2 is the same as the linear velocity of the second cleaning device 3.
Specifically, in this embodiment, the first direction and the second direction may be selected to be opposite, and the turning of the cleaner is achieved by the linear velocity differential between the first cleaning device 2 and the second cleaning device 3, for example, the first cleaning device 2 rotates in the counterclockwise direction with respect to the outer surface to be cleaned 13, and the second cleaning device 3 rotates in the clockwise direction with respect to the outer surface to be cleaned 13, and the linear velocity of the first cleaning device 2 is greater than or less than the linear velocity of the second cleaning device 3, so that the cleaner achieves the turning on the outer surface to be cleaned 13.
In the present embodiment, "the linear velocity of the first cleaning device 2 is different from the linear velocity of the second cleaning device 3" includes: one of the first cleaning device 2 and the second cleaning device 3 has a linear velocity of 0 and the other has a linear velocity of greater than 0; or, the linear velocity of the first cleaning device 2 is greater than that of the second cleaning device 3; or, the linear velocity of the second cleaning device 3 is greater than that of the first cleaning device 2. Specifically, in the present embodiment, the linear velocity of the first cleaning device 2 is optionally larger than the linear velocity of the second cleaning device 3 or the linear velocity of the second cleaning device 3 is optionally larger than the linear velocity of the first cleaning device 2. Alternatively, the linear velocity of the first cleaning device 2 and the second cleaning device 3 are not 0.
As shown in fig. 5, in this embodiment, the "movement of the cleaner over the outer surface to be cleaned 13" further includes recognition of the encountering of the wall surface, and the recognition method includes: the first cleaning device 2 and the second cleaning device 3 do not move forward on any wall surface or any edge of the outer surface to be cleaned 13, i.e. the first cleaning device 2 and the second cleaning device 3 move forward on the non-wall surface or the non-edge surface of the outer surface to be cleaned 13; and detecting the first load current and the second load current simultaneously, and judging that the first cleaning device 2 and the second cleaning device 3 are attached to the wall surface of the external surface to be cleaned 13 and judging that the cleaner is positioned on the wall surface of the external surface to be cleaned 13 if the first load current is larger than the first threshold value and the second load current is larger than the second threshold value, and meanwhile, the cleaner cannot continuously move forward. After the identification is finished, the control system controls the cleaner to carry out the next step of instruction, and the azimuth sensor is used for adjusting the azimuth alignment of the machine body. Specifically, the present embodiment can accurately and efficiently detect and identify the wall surface on the surface to be cleaned 13, which is beneficial for the cleaner to move on the surface to be cleaned 13 and clean, and can improve the cleaning efficiency of the cleaner, so that the cleaner can flexibly adapt to the surface to be cleaned 13 in various environments.
In this embodiment, after the cleaner meets the wall, still include: the first motor and the second motor are driven to rotate reversely, and the first cleaning device 2 and the second cleaning device 3 are driven to rotate reversely, so that the cleaner starts to retreat and move away from the wall surface, and further actions such as turning or going straight backwards are carried out according to a preset route.
Specifically, the actual cleaner product, when wiping a window, is the first step: finding an upper left corner point, placing the cleaner on glass to be cleaned (vertical) by hand, adjusting the state of the cleaner body under the action of an azimuth sensor in the cleaner, and starting to perform a next instruction to drive forwards after the cleaner is adjusted to a state when moving forwards; after encountering the front vertical plane, turning 90 degrees, running leftwards, and after encountering the vertical plane, defaulting to the upper left corner of the cleaner, and similarly, the cleaner can defaulting to be set as: when starting running, finding the right upper corner point, the left lower corner point and the right lower corner point.
In this embodiment, the "cleaner moving over the outer surface 13 to be cleaned" further includes identifying the corner 7 of less than 180 degrees, and the identifying method includes: one of the first cleaning device 2 and the second cleaning device 3 is attached to the first wall surface 8 of the external surface 13 to be cleaned, and the other is not attached to the first wall surface 8; and detecting the first load current and the second load current, and judging that the first cleaning device 2 and the second cleaning device 3 are attached to the second wall surface 9 of the external surface to be cleaned 13 and judging that the cleaner is positioned at the corner 7 smaller than 180 degrees on the external surface to be cleaned 13 if the first load current is larger than the first threshold value and the second load current is larger than the second threshold value. After the identification is finished, the control system controls the cleaner to carry out the next step of instruction, and the azimuth sensor is used for adjusting the azimuth alignment of the machine body. Specifically, the embodiment can accurately and efficiently detect and identify the corner 7 smaller than 180 degrees on the surface 13 to be cleaned, is favorable for the cleaner to turn and clean the corner 7 smaller than 180 degrees, can improve the cleaning efficiency of the cleaner, and can be flexibly suitable for the surface 13 to be cleaned in various environments.
In this embodiment, the "cleaner moving over the outer surface 13 to be cleaned" further includes identifying the corner 10 of more than 180 degrees, and the identifying method includes: the first cleaning device 2 is attached to the first wall surface 8 of the external surface 13 to be cleaned, and the second cleaning device 3 is not attached to the first wall surface 8; detecting a first load current, judging that the first cleaning device 2 is separated from the first wall surface 8 and drives the second cleaning device 3 to turn by the linear speed greater than that of the first cleaning device 2 if the first load current is less than a first threshold value, detecting a second load current at the same time, judging that the second cleaning device 3 is attached to the third wall surface 11 of the external surface 13 to be cleaned and judging that the cleaner is positioned at a corner 10 greater than 180 degrees on the external surface 13 to be cleaned if the second load current is greater than a second threshold value. After the identification is finished, the control system controls the cleaner to carry out the next step of instruction, and the azimuth sensor is used for adjusting the azimuth alignment of the machine body. Specifically, the embodiment can accurately and efficiently detect and identify the corner 10 of more than 180 degrees on the surface 13 to be cleaned, which is beneficial to the cleaner to turn and clean the corner 10 of more than 180 degrees, and can improve the cleaning efficiency of the cleaner, so that the cleaner can flexibly adapt to the surface 13 to be cleaned in various environments.
As shown in fig. 6, in this embodiment, the moving method further includes: when the first cleaning device 2 and the second cleaning device 3 reach the first wall surface 8, one of the first cleaning device 2 and the second cleaning device 3 is driven to reversely rotate so as to separate from the first wall surface 8, and the other of the first cleaning device 2 and the second cleaning device 3 can reversely rotate, can be static, can maintain the original rotation direction or keep being attached to the first wall surface 8, wherein an included angle is formed between the first wall surface 8 and the surface 13 to be cleaned, and the first wall surface 8 extends outside the surface 13 to be cleaned.
In this embodiment, after one of the first cleaning device 2 and the second cleaning device 3 rotates reversely to be separated from the first wall surface 8, the moving method further includes: driving the inverted cleaning device to rotate to be in a preset posture with the other cleaning device; namely: driving the counter-rotating one of the first cleaning device 2 and the second cleaning device 3 to be in a preset posture with the other cleaning device; specifically, the cleaner is internally provided with an orientation sensor, and the orientation sensor is used for sensing the first cleaning device 2 and the second cleaning device 3 and enabling the first cleaning device 2 and the second cleaning device 3 to be in a preset posture, wherein the preset posture can be selected as a state that the central axis connecting line of the first cleaning device 2 and the second cleaning device 3 is basically vertical to the first wall surface 8; specifically, in the straight running process of the cleaner, the azimuth sensor always detects whether the cleaner body is inclined, and if so, the rotation speeds of the first cleaning device 2 and the second cleaning device 3 are adjusted so that the cleaner keeps straight running, and further the cleaner is ensured to move according to a follow-up preset route; driving the first cleaning device 2 and the second cleaning device 3 to travel, and enabling the cleaning device attached to the first wall surface 8 to keep attached to the first wall surface 8 in the traveling process; the second wall surface 9 and the surface to be cleaned 13 are arranged at an included angle, the second wall surface 9 extends out of the surface to be cleaned 13, and a corner 7 smaller than 180 degrees is formed between the first wall surface 8 and the second wall surface 9; as shown in fig. 7, when both the first cleaning device 2 and the second cleaning device 3 reach the second wall surface 9, the first cleaning device 2 and the second cleaning device 3 are driven to change the traveling direction.
Specifically, when the cleaner runs against the wall, the current sensor and the azimuth sensor in the cleaner jointly control the cleaner to run, the current sensor detects the condition of being close to the wall, and the azimuth sensor detects the alignment condition of the cleaner body, so that the cleaner can be close to the wall and can run straight.
As shown in fig. 8, in the present embodiment, "driving the first cleaning device 2 and the second cleaning device 3 to change the traveling direction" includes: the first cleaning device 2 is driven to rotate reversely, and the second cleaning device 3 is driven to rotate reversely, so that the first cleaning device 2 and the second cleaning device 3 are separated from the second wall surface 9, and the cleaning device attached to the first wall surface 8 keeps attached to the first wall surface 8 in the advancing process. It will be appreciated that during the inversion of the first cleaning device 2 and during the inversion of the second cleaning device 3, the first cleaning device 2 and the second cleaning device 3 need to be brought into a predetermined posture; the preset posture may be selected in a state in which the central axis line of the first cleaning device 2 and the second cleaning device 3 is substantially perpendicular to the first wall surface 8.
As shown in fig. 10, in the present embodiment, "driving the first cleaning device 2 and the second cleaning device 3 to change the traveling direction" may further include: driving the first cleaning device 2 to reversely rotate and driving the second cleaning device 3 to reversely rotate so that the first cleaning device 2 and the second cleaning device 3 are separated from the second wall surface 9 and are separated from the first wall surface 8; in this way, the cleaner can be made to clean the surface 13 to be cleaned in a line feed.
As shown in fig. 14, in the present embodiment, "driving the first cleaning device 2 and the second cleaning device 3 to change the traveling direction" may further include: the cleaning device which is only attached to the second wall surface 9 is driven to reversely rotate so as to be separated from the second wall surface 9.
In this embodiment, "driving the cleaning device that is attached to only the second wall surface 9 to rotate in the opposite direction so as to be separated from the second wall surface 9" includes: in the reverse rotation process of the cleaning device which is driven to only attach to the second wall surface 9, the cleaning device which is driven to contact the first wall surface 8 and the second wall surface 9 maintains contact with the first wall surface 8 and the second wall surface 9.
As shown in fig. 14, in this embodiment, "driving the cleaning device that is attached only to the second wall surface 9 to rotate in the opposite direction so as to disengage from the second wall surface 9" may further include: in the process of driving the cleaning device which is only attached to the second wall surface 9 to rotate reversely, the cleaning device which is in contact with the first wall surface 8 and the second wall surface 9 is driven to be separated from the first wall surface 8 and separated from the second wall surface 9.
As shown in fig. 7-13, specifically, in this embodiment, when the cleaner runs right, the edge sensor inside the cleaner starts to detect, and when the cleaning device encounters a corner or edge on the right side, the data is transmitted back to the control unit in the cleaner to start line feed of the cleaner, the coverage area of line feed and the offset angle of line feed of the cleaner are related to program settings, the cleaner starts to run left, and when the cleaner reaches the corner or edge on the left side, the data is transmitted back to the control unit in the cleaner to start line feed of the cleaner; the reciprocating line feed is performed in this way, running in the forward direction in a reciprocating manner, so as to achieve a full-area wiping of the surface 13 to be cleaned. When the cleaner reaches the lower right corner, the cleaning process is completed in the whole area, the area of the surface 13 to be cleaned and the original position of the cleaner in the original mode can be calculated through the walking path and time stored by the orientation sensor in the cleaner, the orientation of the cleaning machine is adjusted, and the cleaning machine returns to the original position when the cleaning machine is placed.
As shown in fig. 15, in this embodiment, after one of the first cleaning device 2 and the second cleaning device 3 rotates reversely to be separated from the first wall surface 8, the moving method further includes: driving the inverted cleaning device to rotate to be in a preset posture with the other cleaning device; namely: driving the counter-rotating one of the first cleaning device 2 and the second cleaning device 3 to be in a preset posture with the other cleaning device, wherein the preset posture is selected as a state that the central axis connecting line of the first cleaning device 2 and the second cleaning device 3 is basically vertical to the first wall surface 8; driving the first cleaning device 2 and the second cleaning device 3 to travel, and enabling the cleaning device attached to the first wall surface 8 to keep attached to the first wall surface 8 in the traveling process; when one cleaning device attached to the first wall surface 8 runs to be separated from the first wall surface 8, the linear speed of the other cleaning device is increased, the cleaning device is driven to rotate reversely, and the cleaning device separated from the first wall surface 8 and the other cleaning device reach the third wall surface 11, wherein an included angle is formed between the third wall surface 11 and the surface 13 to be cleaned, the third wall surface 11 extends outside the surface 13 to be cleaned, and a corner 10 larger than 180 degrees is formed between the first wall surface 8 and the third wall surface 11.
In this embodiment, after the cleaning devices separated from the first wall surface 8 reach the third wall surface 11, the moving method further includes: the cleaning device with the increased driving line speed rotates to be in a preset posture with the other cleaning device, for example, the counter-rotating cleaning device in the first cleaning device 2 and the second cleaning device 3 rotates to be in a preset posture with the other cleaning device, and the preset posture is selected as a state that the central axis line of the first cleaning device 2 and the second cleaning device 3 is basically vertical to the third wall surface 11; the first cleaning device 2 and the second cleaning device 3 are driven to travel, and the cleaning device attached to the third wall surface 11 is kept attached to the third wall surface 11 during the traveling process.
As shown in fig. 15, in the present embodiment, before driving the first cleaning device 2 and the second cleaning device 3 to travel, the moving method further includes: driving the cleaning device with the increased linear velocity to rotate to be attached to the third wall surface; that is, the reversely rotating one of the first cleaning device 2 and the second cleaning device 3 is driven to be reversely rotated to be fitted to the third wall surface 11; at this time, the first cleaning device 2 and the second cleaning device 3 are both in a state of being attached to the third wall surface 11; driving one of the first cleaning device 2 and the second cleaning device 3 to be separated from the third wall surface 11, and enabling the other of the first cleaning device 2 and the second cleaning device 3 to be attached to the third wall surface 11; driving the cleaning device separated from the third wall surface 11 to reverse so as to be in a preset posture with another cleaning device; the preset posture may be selected in a state where the central axis line of the first cleaning device 2 and the second cleaning device 3 is substantially perpendicular to the third wall surface 11.
As shown in fig. 16, in the present embodiment, "when the first cleaning device 2 and the second cleaning device 3 reach the first wall surface 8, driving one of the first cleaning device 2 and the second cleaning device 3 to rotate reversely to disengage from the first wall surface 8" includes: when the first cleaning device 2 and the second cleaning device 3 travel to the obstacle 12 on the first wall surface 8, one of the first cleaning device 2 and the second cleaning device 3 is driven to travel to fit the obstacle 12; when both the first cleaning device 2 and the second cleaning device 3 reach the first wall surface 8, one of the first cleaning device 2 and the second cleaning device 3 is driven to reversely rotate to disengage from the first wall surface 8, alternatively, when one of the first cleaning device 2 and the second cleaning device 3 reversely rotates to disengage from the first wall surface 8, the other can maintain to be attached to the first wall surface 8 or disengage from the first wall surface 8 (the traveling mode of attaching to the first wall surface 8 and the traveling mode of disengaging from the first wall surface 8 can be as described above), and the cleaner is driven to perform the next action, such as moving according to the preset route or continuing to advance according to the original state. Specifically, the obstacle 12 is formed by a corner 10 of more than 180 degrees and a corner 7 of less than 180 degrees; when the side length of the obstacle 12 is smaller than the length of the cleaner body, the obstacle 12 is recognized, and when the side length of the obstacle 12 is larger than the length of the cleaner body, the obstacle is judged as a wall surface, such as the first wall surface 8, the second wall surface 9 and the third wall surface 11.
Compared with the prior art, the moving method of the cleaner provided by the embodiment can enable the cleaner to move on the external surface to be cleaned more stably and more quickly, enable the cleaner to be flexibly applicable to the surface to be cleaned in various complex environments, improve the cleaning efficiency of the cleaner, shorten the cleaning time, save energy and improve the use experience of users.
In the first control period, the moving efficiency of the cleaner can be improved, so that the cleaner can rapidly and flexibly advance or retreat on the surface to be cleaned, and the window wiping effect of the cleaner is improved.
In the second control period, the turning efficiency of the cleaner can be improved, so that the cleaner can quickly and flexibly turn on the surface to be cleaned, the window wiping effect of the cleaner is improved, and the cleaner is suitable for various environments to be cleaned.
Those skilled in the art will appreciate that the drawing is merely a schematic illustration of a preferred implementation scenario and that the modules or flows in the drawing are not necessarily required to practice the invention.
Those skilled in the art will appreciate that modules in an apparatus in an implementation scenario may be distributed in an apparatus in an implementation scenario according to an implementation scenario description, or that corresponding changes may be located in one or more apparatuses different from the implementation scenario. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above-mentioned inventive sequence numbers are merely for description and do not represent advantages or disadvantages of the implementation scenario.
The foregoing disclosure is merely illustrative of some embodiments of the invention, and the invention is not limited thereto, as modifications may be made by those skilled in the art without departing from the scope of the invention.
Claims (14)
1. A moving method of a cleaner including a main body and a cleaning device including a first cleaning device and a second cleaning device, comprising:
forming a negative pressure space between the main body, the first cleaning device and an external surface to be cleaned, and forming a negative pressure space between the main body, the second cleaning device and the external surface to be cleaned, so that the cleaner is adsorbed on the external surface to be cleaned;
driving the first cleaning device to rotate relative to an external surface to be cleaned, and driving the second cleaning device to rotate relative to the external surface to be cleaned, wherein any one of the first cleaning device and the second cleaning device has a high friction area and a low friction area which are contacted with the external surface to be cleaned in the rotating process, and the friction force between the high friction area and the surface to be cleaned is larger than the friction force between the low friction area and the surface to be cleaned, so that the cleaner moves on the external surface to be cleaned;
The moving method further comprises the following steps:
when the first cleaning device and the second cleaning device reach a first wall surface, driving one of the first cleaning device and the second cleaning device to reversely rotate so as to be separated from the first wall surface; the first wall surface and the surface to be cleaned are arranged at an included angle, and the first wall surface extends out of the surface to be cleaned;
after one of the first cleaning device and the second cleaning device is reversely rotated to be separated from the first wall surface, the moving method further comprises:
driving the inverted cleaning device to rotate to be in a preset posture with the other cleaning device; the preset posture is a state that a central axis connecting line of the first cleaning device and the second cleaning device is basically vertical to the first wall surface;
the first cleaning device and the second cleaning device are driven to travel.
2. The method of moving a cleaner of claim 1, further comprising:
in a first control period, driving the first cleaning device to rotate along a first direction relative to the surface to be cleaned, and driving the second cleaning device to rotate along a second direction relative to the surface to be cleaned;
The first direction and the second direction are opposite, and the linear speed of the first cleaning device is the same as that of the second cleaning device, so that the cleaner can directly move on the surface to be cleaned.
3. The method of moving a cleaner of claim 1, further comprising:
in a second control period, driving the first cleaning device to rotate along a first direction relative to the surface to be cleaned, and driving the second cleaning device to rotate along a second direction relative to the surface to be cleaned;
the first direction and the second direction are opposite, and the linear speed of the first cleaning device is different from that of the second cleaning device, so that the cleaner turns on an external surface to be cleaned; alternatively, the first direction and the second direction may be the same, and the linear velocity of the first cleaning device may be different from or the same as the linear velocity of the second cleaning device, so that the cleaner turns on the surface to be cleaned.
4. The method of moving a cleaner of claim 1, further comprising:
One of the first cleaning device and the second cleaning device reversely rotates to be separated from the first wall surface, and the other one of the first cleaning device and the second cleaning device keeps being attached to the first wall surface.
5. The method of moving a cleaner of claim 4, wherein after one of the first and second cleaning devices is reversely rotated to be separated from the first wall surface, the method further comprises:
driving the first cleaning device and the second cleaning device to travel, and enabling the cleaning device attached to the first wall surface to keep attached to the first wall surface in the traveling process;
when the first cleaning device and the second cleaning device reach a second wall surface, driving the first cleaning device and the second cleaning device to change the travelling direction;
the second wall surface is arranged at an included angle with the surface to be cleaned, extends out of the surface to be cleaned, and forms a corner smaller than 180 degrees between the first wall surface and the second wall surface.
6. The method of claim 5, wherein the driving the first cleaning device and the second cleaning device to change the traveling direction includes:
The first cleaning device is driven to reversely rotate, the second cleaning device is driven to reversely rotate so that the first cleaning device and the second cleaning device are separated from the second wall surface, and the cleaning device attached to the first wall surface is kept attached to the first wall surface in the advancing process.
7. The method of claim 5, wherein the driving the first cleaning device and the second cleaning device to change the traveling direction includes:
the first cleaning device is driven to reversely rotate, and the second cleaning device is driven to reversely rotate so that the first cleaning device and the second cleaning device are separated from the second wall surface and are separated from the first wall surface.
8. The method of claim 5, wherein the driving the first cleaning device and the second cleaning device to change the traveling direction includes:
and driving the cleaning device which is only attached to the second wall surface to reversely rotate so as to separate from the second wall surface.
9. The method of claim 8, wherein said driving the cleaning device to only contact the second wall surface to reversely rotate to disengage the second wall surface comprises:
In the reverse rotation process of the cleaning device which is only attached to the second wall surface, the cleaning device which is in driving contact with the first wall surface and the second wall surface is kept in contact with the first wall surface and the second wall surface.
10. The method of moving a cleaner of claim 4, wherein after one of the first and second cleaning devices is reversely rotated to be separated from the first wall surface, the method further comprises:
driving the inverted cleaning device to rotate to be in a preset posture with the other cleaning device;
driving the first cleaning device and the second cleaning device to travel, and enabling the cleaning device attached to the first wall surface to keep attached to the first wall surface in the traveling process;
when one cleaning device attached to the first wall moves to be separated from the first wall, the linear speed of the other cleaning device is increased, and the cleaning device separated from the first wall and the other cleaning device reach a third wall, wherein the third wall and the surface to be cleaned are arranged at an included angle, the third wall extends out of the surface to be cleaned, and a corner larger than 180 degrees is formed between the first wall and the third wall.
11. The method of claim 10, wherein after the cleaning device separated from the first wall surface reaches the third wall surface, the method further comprises:
driving the cleaning device with the increased linear velocity to rotate to be in a preset posture with the other cleaning device;
the first cleaning device and the second cleaning device are driven to advance, and the cleaning device attached to the third wall surface is enabled to keep attached to the third wall surface in the advancing process.
12. The method of moving a cleaner of claim 11, wherein prior to driving the first cleaning device and the second cleaning device to travel, the method of moving further comprises:
the cleaning device with the increased linear velocity is driven to rotate to be attached to the third wall surface;
driving one of the first cleaning device and the second cleaning device to be separated from the third wall surface, and enabling the other of the first cleaning device and the second cleaning device to be attached to the third wall surface;
the cleaning device separated from the third wall surface is driven to rotate reversely so as to be in a preset posture with the other cleaning device.
13. The method of claim 4, wherein driving one of the first and second cleaning devices to rotate in a reverse direction to disengage from the first wall surface when the first and second cleaning devices reach the first wall surface comprises:
driving one of the first cleaning device and the second cleaning device to travel against an obstacle on the first wall surface when the first cleaning device and the second cleaning device travel against the obstacle;
when the first cleaning device and the second cleaning device reach the first wall surface, one of the first cleaning device and the second cleaning device is driven to reversely rotate so as to be separated from the first wall surface.
14. The movement method of the cleaner as claimed in claim 13, the obstacle being formed of a corner of more than 180 degrees and a corner of less than 180 degrees; the moving method is characterized by further comprising the following steps:
moving the cleaner according to the moving method of claims 5-9 when the cleaner travels to a corner of less than 180 degrees;
when the cleaner travels to a corner of more than 180 degrees, the cleaner moves according to the moving method of claims 10-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114078.0A CN114431759B (en) | 2022-01-30 | 2022-01-30 | Method for moving cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114078.0A CN114431759B (en) | 2022-01-30 | 2022-01-30 | Method for moving cleaner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114431759A CN114431759A (en) | 2022-05-06 |
| CN114431759B true CN114431759B (en) | 2023-04-28 |
Family
ID=81371427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210114078.0A Active CN114431759B (en) | 2022-01-30 | 2022-01-30 | Method for moving cleaner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114431759B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114794993A (en) * | 2022-06-28 | 2022-07-29 | 山西嘉世达机器人技术有限公司 | Control method and device of cleaning machine, control equipment and storage medium |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106308669B (en) * | 2016-10-08 | 2019-04-16 | 南京天迈信息科技有限公司 | A kind of glass-cleaning robot and its control method |
| CN106667364A (en) * | 2017-02-27 | 2017-05-17 | 武汉市享昱科技有限公司 | Double-sucker glass curtain wall robot cleaner |
| KR102426578B1 (en) * | 2017-09-14 | 2022-07-29 | 삼성전자주식회사 | Robot cleaner and controlling method thereof |
| CN208144972U (en) * | 2017-12-18 | 2018-11-27 | 福州市楚天电子有限公司 | A kind of window wiping robot |
| CN108324197A (en) * | 2017-12-29 | 2018-07-27 | 陈玉玲 | A kind of high-rise building residence exterior wall scouring spray robot |
| CN209331909U (en) * | 2018-09-17 | 2019-09-03 | 东莞市凤瑞电子科技有限公司 | A kind of window cleaning equipment adsorbent equipment |
| CN112773239A (en) * | 2019-11-01 | 2021-05-11 | 科沃斯家用机器人有限公司 | Traveling mechanism, surface cleaning device and traveling method of surface cleaning device |
| CN111631634A (en) * | 2020-04-30 | 2020-09-08 | 珠海市一微半导体有限公司 | Intelligent window cleaning robot |
| CN112336266A (en) * | 2020-11-12 | 2021-02-09 | 长江大学 | Glass cleaning device |
-
2022
- 2022-01-30 CN CN202210114078.0A patent/CN114431759B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114431759A (en) | 2022-05-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7427573B2 (en) | Device and method for semi-automatic cleaning of surfaces | |
| JP6732230B2 (en) | Self-propelled robot | |
| US9908432B2 (en) | Robot cleaner and control method thereof | |
| US9854956B2 (en) | Robot cleaner and control method thereof | |
| KR101779667B1 (en) | Solar cell cleaning robot and cleaning method using the same | |
| CN114431759B (en) | Method for moving cleaner | |
| JP6598510B2 (en) | Autonomous traveling device wheel cleaning system, autonomous traveling device control method, and control program | |
| WO2004028324A1 (en) | Window wiping system | |
| CN202141947U (en) | Right-angle area mobile control system of glass-cleaning robot | |
| CN109625109A (en) | It is a kind of for cleaning the robot on photovoltaic module surface | |
| CN108078478B (en) | Intelligent glass wiping device and control method | |
| CN102830700A (en) | Control system and control method of movement of glass cleaning robot at right angle area | |
| KR102188797B1 (en) | Robot cleaner and method for controling the same | |
| WO2021190247A1 (en) | Autonomous moving device and control method | |
| CN102591333B (en) | Window wiping robot control system and control method thereof | |
| KR20160090570A (en) | Robot cleaning apparatus and method for controlling the same | |
| CN109953682B (en) | Control method of multi-medium intelligent cleaning robot | |
| CN212996284U (en) | Autonomous mobile device | |
| Jarande et al. | Robotic Vacuum Cleaner Using Arduino with Wifi | |
| CN102591337A (en) | Information interaction system and method of glass cleaner | |
| CN102591334A (en) | Facing control system and facing control method for glass wiping robot | |
| KR101397103B1 (en) | Robot cleaner and method for controlling travel the same | |
| CN111839328B (en) | Cleaning method, window cleaning robot and storage medium | |
| CN105005299A (en) | Intelligent variable speed line-inspection obstacle-avoiding dolly | |
| CN106691296B (en) | Automatic window cleaning machine |
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 |