CN209611004U - A kind of ground automatic identification equipment and cleaning equipment - Google Patents
A kind of ground automatic identification equipment and cleaning equipment Download PDFInfo
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- CN209611004U CN209611004U CN201821749726.5U CN201821749726U CN209611004U CN 209611004 U CN209611004 U CN 209611004U CN 201821749726 U CN201821749726 U CN 201821749726U CN 209611004 U CN209611004 U CN 209611004U
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Abstract
The utility model is suitable for smart home field, and providing a kind of ground automatic identification equipment and cleaning equipment, the device includes: transmission square-wave signal, receives background return and carries out the central processing unit of ground identification；Emit signal to the ground and receives the ultrasonic sensor through background return；Send the square-wave signal of the central processing unit to the signal emission module of ultrasonic sensor；It receives the background return that the ultrasonic sensor transmits and is sent to the signal receiving module of the central processing unit, square-wave signal is sent to signal emission module by central processing unit, square-wave signal is sent ultrasonic sensor by signal emission module；Ultrasonic sensor emits signal according to square-wave signal to the ground, and the signal through ground return, which is received by signal receiving module and is sent to central processing unit central processing unit, can be realized ground identification according to ground reflected signal amplitude.
Description
Technical field
The utility model belongs to smart home field more particularly to a kind of ground automatic identification equipment and cleaning equipment.
Background technique
In the prior art, it in the use process of the cleaning equipments such as dust catcher, sweeper, is usually set by cleaning
The physical button of the operation range of standby institute's band itself artificially selects high tap position or low-grade location to control the work of cleaning equipment
State presses the low grade of cleaning equipment by user when the clean ground of cleaning equipment institute is the hardstands such as floor
Position key, makes cleaning equipment carry out cleaning under low-grade location；When the clean ground of cleaning equipment institute is the soft ground such as carpet
When, the high tap position key of cleaning equipment is pressed by user, and cleaning equipment is made to carry out cleaning under high tap position.It is existing
Have cleaning equipment operation range adjust need artificially operated according to the actual situation, and can not automatic identification ground, more
Further it can not realize that the adaptive switching of cleaning equipment operation range is simultaneously pressed repeatedly according to clean floor type
The physical button of lower operation range also extremely be easy to cause the damage of device itself, brings greatly not to the use of cleaning equipment
And cleaning low efficiency just,.
Utility model content
The utility model provides a kind of ground automatic identification equipment, it is intended to solve to know ground automatically when cleaning equipment work
Other problem.
The utility model is realized in this way a kind of ground automatic identification equipment, comprising:
Square-wave signal is sent, background return is received and carries out the central processing unit of ground identification；
Emit signal to the ground and receives the ultrasonic sensor through background return；
Send the square-wave signal of the central processing unit to the signal emission module of ultrasonic sensor；
It receives the background return that the ultrasonic sensor transmits and is sent to the signal of the central processing unit and connect
Receive module.
Further, the signal emission module, comprising:
The signal conversion circuit of the ultrasonic sensor is driven according to the square-wave signal of the central processing unit.
Further, the signal receiving module, comprising:
It is connect with the ultrasonic sensor, the first order signal for carrying out signal filter and amplification to background return filters
Amplifying circuit；
The second level signal filter amplification circuit being connect with the first order signal filter amplification circuit output end；
It is connect with the second level signal filter amplification circuit output end, the signal after two-stage signal filter and amplification is carried out
The signal rectification filter circuit of rectifying and wave-filtering；
The signal coupling circuit being connect with the signal rectification filter circuit output end.
Further, the signal conversion circuit, comprising:
Base stage is connect with central processing unit driving end, and collector connects to power supply, the triode of emitter ground connection；
Cathode connects the collector of the triode, and anode connects the third diode of the ultrasonic sensor；
Anode connects the collector of the triode, and cathode connects the first diode of the ultrasonic sensor.
Further, the first order signal filter amplification circuit, comprising:
Positive input terminal connects reference voltage, and negative input end connects the first operational amplifier of the ultrasonic sensor；
The 3rd resistor being connected in first operational amplifier and the ultrasonic sensor connection line；
One end connects the negative input end of first operational amplifier, and the other end connects the defeated of first operational amplifier
The third capacitor of outlet；
It is connected to the 4th resistance at third capacitor both ends.
Further, the second level signal filter amplification circuit, comprising:
Positive input terminal connects reference voltage, and negative input end connects the of the first order signal filter amplification circuit output end
Two operational amplifiers；
The 5th be connected in the second operational amplifier and the first order signal filter amplification circuit connection line
Resistance；
One end connects the negative input end of the second operational amplifier, and the other end connects the defeated of the second operational amplifier
6th capacitor of outlet；
It is connected to the 6th resistance at the 6th capacitor both ends.
Further, the signal rectification filter circuit, comprising:
Anode connects the second level signal filter amplification circuit output end, and cathode connects the of the signal coupling circuit
Two diodes；
One end is connected on second diode cathode and the signal coupling circuit connecting line, and the of other end ground connection
Seven capacitors；
One end is connected on second diode cathode and the signal coupling circuit connecting line, and the of other end ground connection
Seven resistance.
Further, the signal coupling circuit, comprising:
One end is connect with the signal rectification filter circuit, and the other end connects the 8th capacitor of the central processing unit；
One end is connected on the 8th capacitor and the central processing unit connecting line, the 8th resistance of other end ground connection.
Further, it is connected with and is used between the ultrasonic sensor and the first order signal filter amplification circuit
Second capacitor of signal coupling, between the first order signal filter amplification circuit and the second level signal filter amplification circuit
It is connected with the 4th capacitor for signal coupling.
The utility model also provides a kind of cleaning equipment, including the ground automatic identification equipment.
In ground automatic identification equipment provided by the utility model, square-wave signal is sent by central processing unit and is sent out to signal
Module is penetrated, square-wave signal is sent ultrasonic sensor by signal emission module；Ultrasonic sensor is according to square-wave signal to ground
Surface launching signal, the signal through ground return, which is received by signal receiving module and is sent to central processing unit, carries out ground identification,
Since soft background return amplitude is small, hardstand reflected signal amplitude is big, therefore central processing unit is according to background return
Amplitude can be realized ground identification, to make that cleaning device can base area be thin-skinned automatically selects suitable gear firmly to carry out ground clear
It is clean.
Detailed description of the invention
Fig. 1 is the ground automatic identification equipment block diagram that the utility model embodiment one provides；
Fig. 2 is the ground automatic identification equipment block diagram that the utility model embodiment two provides；
Fig. 3 is the signal conversion circuit figure that the utility model embodiment three provides；
Fig. 4 is the signal receiving module circuit diagram that the utility model embodiment four to nine provides.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
The utility model embodiment provides a kind of ground automatic identification equipment, comprising: sends square-wave signal, receives ground
Reflection signal and the central processing unit for carrying out ground identification；Ultrasonic sensor is sent by the square-wave signal of central processing unit
Signal emission module；Emit signal to the ground and receives the ultrasonic sensor through background return；Receive supersonic sensing
Background return that device transmits and the signal receiving module for being sent to central processing unit.Ground automatic identification equipment can base area
Ground identification can be realized in face reflected signal amplitude size, identifies that ground is hardstand or soft ground.
Embodiment one
The utility model embodiment provides a kind of ground automatic identification equipment, as shown in Figure 1, the device includes:
Square-wave signal is sent, background return is received and carries out the central processing unit 100 of ground identification；
Send the square-wave signal of central processing unit 100 to the signal emission module 200 of ultrasonic sensor 300；
Emit signal to the ground and receives the ultrasonic sensor 300 through background return；
It receives the background return that ultrasonic sensor 300 transmits and is sent to the signal reception of central processing unit 100
Module 400.
The working principle of above-mentioned ground automatic identification equipment is: central processing unit 100 sends square-wave signal and emits to signal
Square-wave signal is sent ultrasonic sensor 300 by module 200, signal emission module 200；Ultrasonic sensor 300 is according to side
Wave signal emits signal to the ground, and signal is received by signal receiving module 400 through ground return and is sent to central processing unit
100, central processing unit 100 carries out ground identification according to ground reflected signal amplitude.
In the present embodiment, since hardstand reflected signal amplitude is big, the signal amplitude of soft ground (such as carpet) is small, therefore
Ground identification can be realized according to ground reflected signal amplitude size, may recognize that ground is hardstand (such as floor) or soft
Ground (such as carpet).Central processing unit 100 is using the single-chip microcontroller of market purchasing, and ultrasonic sensor 300 is using market purchasing
Module, specific structure and circuit are not the innovative point of the application, therefore, the specific structure of central processing unit 100 and circuit
It is not limited thereto and repeats.
Embodiment two
The utility model embodiment provides a kind of ground automatic identification equipment, as shown in Fig. 2, on the basis of embodiment one
On, signal emission module 200, comprising:
The signal conversion circuit 201 of ultrasonic sensor 300 is driven according to the square-wave signal of central processing unit.
In the present embodiment, the PWM square-wave signal that single-chip microcontroller issues is received by signal conversion circuit 201, signal is converted
At can by 300 received signal of ultrasonic sensor, be sent into ultrasonic sensor 300.
Embodiment three
The utility model embodiment provides a kind of ground automatic identification equipment, as shown in figure 3, on the basis of embodiment two
On, signal conversion circuit 201, comprising:
Base stage drives end PWM_DRV to connect with central processing unit 100, and collector is connect with power supply VCC, emitter ground connection
Triode Q1；
The collector of cathode connecting triode Q1, the third diode D3 of anode connection ultrasonic sensor 300；
The collector of positive connecting triode Q1, cathode connect the first diode D1 of ultrasonic sensor 300.
In the present embodiment, also set up in triode Q1 base stage and the connection line of the driving of central processing unit 100 end PWM_DRV
Tenth resistance R10, signal conversion circuit 201 further include one end ground connection, and the other end is connected to the tenth resistance R10 and triode Q1 base
Eleventh resistor R11 between pole also sets up the as load resistance in triode Q1 collector and power supply VCC connection line
Nine resistance R9.By the tenth resistance R10, eleventh resistor R11 realize current limliting, enable the square-wave signal of central processing unit by
Triode Q1 is received, and does not damage device.The PWM square-wave signal control triode Q1 work of central processing unit, so that driving is super
Sonic sensor 300 (J1), PWM square-wave signal is through triode Q1, using the first diode D1 of reverse parallel connection and the three or two
Signal is sent into the end Sensor+ of ultrasonic sensor 300 (J1) by pole pipe D3.
Example IV
The utility model embodiment provides a kind of ground automatic identification equipment, as shown in figure 4, on the basis of embodiment one
On, signal receiving module 400, comprising:
It is connect with ultrasonic sensor 300, the first order signal for carrying out signal filter and amplification to background return filters
Amplifying circuit 401；
The second level signal filter amplification circuit 402 being connect with 401 output end of first order signal filter amplification circuit；
It is connect with 402 output end of second level signal filter amplification circuit, the signal after two-stage signal filter and amplification is carried out
The signal rectification filter circuit 403 of rectifying and wave-filtering；
The signal coupling circuit 404 being connect with 403 output end of signal rectification filter circuit.
In the present embodiment, ultrasonic sensor 300 receives background return, first order signal filter amplification circuit
401, second level signal filter amplification circuit 402 carries out two-stage signal filter and amplification to background return；Signal rectification filtering
Circuit 403 carries out rectifying and wave-filtering to the signal after two-stage signal filter and amplification, is then fed into signal coupling circuit 404, realizes letter
Number conversion, converting the signal into single-chip microcontroller being capable of received signal.
Embodiment five
The utility model embodiment provides a kind of ground automatic identification equipment, as shown in figure 4, on the basis of example IV
On, first order signal filter amplification circuit 401, comprising:
Positive input terminal connects reference voltage, and negative input end connects the first operational amplifier U1 of ultrasonic sensor 300；
The 3rd resistor R3 being connected in the first operational amplifier U1 and 300 connection line of ultrasonic sensor；
One end connects the negative input end of the first operational amplifier, and the other end connects the of the output end of the first operational amplifier
Three capacitor C3；
It is connected to the 4th resistance R4 at third capacitor both ends.
In the present embodiment, 401 front end of first order signal filter amplification circuit is also connected with: the 7th diode of reverse parallel connection
D7 and the 8th diode D8；Concatenated first resistor R1 and second resistance R2；The one end first resistor R1 connects reference voltage VCC,
The first resistor R1 other end connects second resistance one end, second resistance R2 other end ground connection；7th diode D7 of reverse parallel connection
And the 8th the one end diode D8 be connected between concatenated first resistor R1 and second resistance R2, the other end be connected to ultrasonic wave biography
The end Sensor+ of sensor 300 (J1).The background return that ultrasonic sensor 300 receives through reverse parallel connection the seven or two
Pole pipe D7 and the 8th diode D8 is passed to first order signal filter amplification circuit 401 and carries out first order amplification filtering, and signal is through the
One operational amplifier U1 amplification, while after 3rd resistor R3, the 4th resistance R4 and third capacitor C3 filtering, it is sent into the second level
Signal filter amplification circuit 402 carries out second level amplification filtering, the letter of the ground return as received by ultrasonic sensor 300
Number more faint and interference information is more, is rationally amplified by two-stage amplification filtering to faint background return, and
Filter out the interference in signal.
Embodiment six
The utility model embodiment provides a kind of ground automatic identification equipment, as shown in figure 4, on the basis of example IV
On, second level signal filter amplification circuit 402, comprising:
Positive input terminal connects reference voltage, and negative input end connects the of 401 output end of first order signal filter amplification circuit
Two operational amplifier U3；
The 5th resistance being connected in second operational amplifier U3 and 401 connection line of first order signal filter amplification circuit
R5；
One end connects the negative input end of second operational amplifier U3, and the other end connects the output end of second operational amplifier U3
The 6th capacitor C6；
It is connected to the 6th resistance R6 at the 6th both ends capacitor C6.
In the present embodiment, second operational amplifier U3 connection power supply VCC, the 5th one end capacitor C5 is connected to the second operation and puts
In the connection line of big device U3 and power supply VCC, other end ground connection.After 401 filter and amplification of first order signal filter amplification circuit
Signal amplify again through second operational amplifier U3, while again by the 5th resistance R5, the 6th resistance R6 and the 6th capacitor
Secondary filtering processing is then fed into signal rectification filter circuit 403, completes second level signal filter and amplification.
Embodiment seven
The utility model embodiment provides a kind of ground automatic identification equipment, as shown in figure 4, on the basis of example IV
On, signal rectification filter circuit 403, comprising:
Anode connection 402 output end of second level signal filter amplification circuit, the second of cathode connection signal coupling circuit 404
Diode D2；
One end is connected on the second diode D2 cathode and 404 connecting line of signal coupling circuit, and the 7th of other end ground connection the
Capacitor C7；
One end is connected on the second diode D2 cathode and 404 connecting line of signal coupling circuit, and the 7th of other end ground connection the
Resistance R7.
In the present embodiment, the signal exported through second level signal filter amplification circuit 402 passes through the second diode D2, the 7th
After capacitor C7 and the 7th resistance R7 rectifying and wave-filtering, it is sent into signal coupling circuit 404.
Embodiment eight
The utility model embodiment provides a kind of ground automatic identification equipment, as shown in figure 4, on the basis of example IV
On, signal coupling circuit 404, comprising:
One end is connect with signal rectification filter circuit 403, and the other end connects the 8th capacitor C8 of central processing unit 100；
One end is connected on the 8th capacitor C8 and 100 connecting line of central processing unit, the 8th resistance R8 of other end ground connection.
In the present embodiment, by the 8th capacitor C8 and the 8th resistance R8, the signal that signal rectification filter circuit 403 is exported
It is passed in central processing unit 100 without loss as far as possible, while filtering interference signals.
Embodiment nine
The utility model embodiment provides a kind of ground automatic identification equipment, as shown in figure 4, on the basis of example IV
On, the second capacitor coupled for signal is connected between ultrasonic sensor 300 and first order signal filter amplification circuit 401
C2 is connected between first order signal filter amplification circuit 401 and second level signal filter amplification circuit 402 and couples for signal
The 4th capacitor C4.
In the present embodiment, coupling function is realized by capacitor between every two parts circuit, AC signal is passed from previous stage
To next stage circuit, coupling efficiency is high, and signal is undistorted.
Embodiment ten
The utility model embodiment provides a kind of cleaning equipment, including the ground automatic identification in any of the above-described embodiment
Device.
In the present embodiment, cleaning equipment can be dust catcher, sweeper etc., identifiably by ground automatic identification equipment
Face is hardstand (such as floor) or soft ground (such as carpet), is identified according to the amplitude power of background return, is led to
The reflected signal amplitude of normal hardstand is big, and the signal amplitude on the soft ground such as carpet is small, therefore central processing unit is according to ground return
Signal amplitude can be realized ground identification, to make that cleaning equipment can base area be thin-skinned automatically selects suitable gear firmly and carry out ground
Face cleaning.Specifically, after ground automatic identification equipment identifies that ground is soft or hard, the single-chip microcontroller in cleaning equipment is passed to, then by
The preset software program of single-chip microcontroller in cleaning equipment is shifted gears to control, and centre does not need other additional devices, can make to clean
Equipment can base area be thin-skinned automatically selects suitable gear firmly and carry out ground cleaning.
A kind of ground automatic identification equipment of the utility model embodiment, can be real according to ground reflected signal amplitude size
Existing ground identification.The square-wave signal that central processing unit issues is received by signal conversion circuit, converting signals into can be ultrasonic
Wave sensor received signal is sent into ultrasonic sensor.The square-wave signal of central processing unit controls triode operation, to drive
Dynamic ultrasonic sensor, square-wave signal is through triode, using the first diode and third diode of reverse parallel connection, by signal
It is sent into ultrasonic sensor.Ultrasonic sensor receives background return, first order signal filter amplification circuit, the second level
Signal filter amplification circuit carries out two-stage signal filter and amplification to background return；Signal rectification filter circuit is to two-stage signal
Signal after filter and amplification carries out rectifying and wave-filtering, is then fed into signal coupling circuit, realize signal conversion, converts the signal into
Central processor being capable of received signal.In first order signal filter amplification circuit, background return through reverse parallel connection the 7th
Diode and the 8th diode are passed to first order signal filter amplification circuit and carry out first order amplification filtering, and signal is through the first operation
Amplifier amplification, while after 3rd resistor, the 4th resistance and third capacitor filtering, it is sent into second level signal filter and amplification electricity
Road carries out second level amplification filtering, is rationally amplified by two-stage amplification filtering to faint background return, and filter out
Fall the interference in signal.In the signal filter amplification circuit of the second level, after first order signal filter amplification circuit filter and amplification
Signal amplifies again through second operational amplifier, at the same by the 5th resistance, the 6th resistance and the 6th capacitor again filtering at
Reason is then fed into signal rectification filter circuit, completes second level signal filter and amplification.In signal rectification filter circuit, through second
The signal of grade signal filter amplification circuit output is sent after the filtering of the second diode, the 7th capacitor and the 7th resistance rectification
Enter signal coupling circuit.In signal coupling circuit, by the 8th capacitor and the 8th resistance, signal rectification filter circuit is exported
Signal is passed in central processing unit without loss as far as possible, while filtering interference signals.Pass through capacitor between every two parts circuit
It realizes coupling function, AC signal is passed into next stage circuit from previous stage, coupling efficiency is high, and signal is undistorted.This is practical new
Type embodiment additionally provides a kind of cleaning equipment including ground automatic identification equipment, can recognize by ground automatic identification equipment
Ground is hardstand (such as floor) or soft ground (such as carpet), is identified according to the amplitude power of background return,
The reflected signal amplitude of usual hardstand is big, and the signal amplitude on the soft ground such as carpet is small.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (9)
1. a kind of ground automatic identification equipment characterized by comprising
Square-wave signal is sent, background return is received and carries out the central processing unit of ground identification；
Emit signal to the ground and receives the ultrasonic sensor through background return；
Send the square-wave signal of the central processing unit to the signal emission module of ultrasonic sensor；
It receives the background return that the ultrasonic sensor transmits and is sent to the signal reception mould of the central processing unit
Block；
The signal emission module, comprising:
The signal conversion circuit of the ultrasonic sensor is driven according to the square-wave signal of the central processing unit.
2. ground automatic identification equipment as described in claim 1, which is characterized in that the signal conversion circuit, comprising:
Base stage is connect with central processing unit driving end, and collector connects to power supply, the triode of emitter ground connection；
Cathode connects the collector of the triode, and anode connects the third diode of the ultrasonic sensor；
Anode connects the collector of the triode, and cathode connects the first diode of the ultrasonic sensor.
3. ground automatic identification equipment as described in claim 1, which is characterized in that the signal receiving module, comprising:
It is connect with the ultrasonic sensor, the first order signal filter and amplification of signal filter and amplification is carried out to background return
Circuit；
The second level signal filter amplification circuit being connect with the first order signal filter amplification circuit output end；
It is connect with the second level signal filter amplification circuit output end, the signal after two-stage signal filter and amplification is rectified
The signal rectification filter circuit of filtering；
The signal coupling circuit being connect with the signal rectification filter circuit output end.
4. ground automatic identification equipment as claimed in claim 3, which is characterized in that the first order signal filter and amplification electricity
Road, comprising:
Positive input terminal connects reference voltage, and negative input end connects the first operational amplifier of the ultrasonic sensor；
The 3rd resistor being connected in first operational amplifier and the ultrasonic sensor connection line；
One end connects the negative input end of first operational amplifier, and the other end connects the output end of first operational amplifier
Third capacitor；
It is connected to the 4th resistance at third capacitor both ends.
5. ground automatic identification equipment as claimed in claim 3, which is characterized in that the second level signal filter and amplification electricity
Road, comprising:
Positive input terminal connects reference voltage, and negative input end connects the second fortune of the first order signal filter amplification circuit output end
Calculate amplifier；
The 5th resistance being connected in the second operational amplifier and the first order signal filter amplification circuit connection line；
One end connects the negative input end of the second operational amplifier, and the other end connects the output end of the second operational amplifier
The 6th capacitor；
It is connected to the 6th resistance at the 6th capacitor both ends.
6. ground automatic identification equipment as claimed in claim 3, which is characterized in that the signal rectification filter circuit, comprising:
Anode connects the second level signal filter amplification circuit output end, and cathode connects the two or two of the signal coupling circuit
Pole pipe；
One end is connected on second diode cathode and the signal coupling circuit connecting line, the 7th electricity of other end ground connection
Hold；
One end is connected on second diode cathode and the signal coupling circuit connecting line, the 7th electricity of other end ground connection
Resistance.
7. ground automatic identification equipment as claimed in claim 3, which is characterized in that the signal coupling circuit, comprising:
One end is connect with the signal rectification filter circuit, and the other end connects the 8th capacitor of the central processing unit；
One end is connected on the 8th capacitor and the central processing unit connecting line, the 8th resistance of other end ground connection.
8. ground automatic identification equipment as claimed in claim 3, which is characterized in that the ultrasonic sensor and described first
The second capacitor for signal coupling, the first order signal filter amplification circuit are connected between grade signal filter amplification circuit
The 4th capacitor coupled for signal is connected between the second level signal filter amplification circuit.
9. a kind of cleaning equipment, which is characterized in that including the described in any item ground automatic identification equipments of such as claim 1-8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821749726.5U CN209611004U (en) | 2018-10-26 | 2018-10-26 | A kind of ground automatic identification equipment and cleaning equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821749726.5U CN209611004U (en) | 2018-10-26 | 2018-10-26 | A kind of ground automatic identification equipment and cleaning equipment |
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| CN209611004U true CN209611004U (en) | 2019-11-12 |
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| CN201821749726.5U Active CN209611004U (en) | 2018-10-26 | 2018-10-26 | A kind of ground automatic identification equipment and cleaning equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113303733A (en) * | 2020-02-27 | 2021-08-27 | 北京石头世纪科技股份有限公司 | Cleaning robot |
| CN113303707A (en) * | 2020-02-27 | 2021-08-27 | 北京石头世纪科技股份有限公司 | Carpet identification method for cleaning robot |
| CN113812889A (en) * | 2021-09-30 | 2021-12-21 | 深圳市银星智能科技股份有限公司 | Self-moving robot |
-
2018
- 2018-10-26 CN CN201821749726.5U patent/CN209611004U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113303733A (en) * | 2020-02-27 | 2021-08-27 | 北京石头世纪科技股份有限公司 | Cleaning robot |
| CN113303707A (en) * | 2020-02-27 | 2021-08-27 | 北京石头世纪科技股份有限公司 | Carpet identification method for cleaning robot |
| WO2021169328A1 (en) * | 2020-02-27 | 2021-09-02 | 北京石头世纪科技股份有限公司 | Carpet recognition method for robot cleaner |
| CN113812889A (en) * | 2021-09-30 | 2021-12-21 | 深圳市银星智能科技股份有限公司 | Self-moving robot |
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