TW201722336A - Sweeping robot - Google Patents
Sweeping robot Download PDFInfo
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- TW201722336A TW201722336A TW105132837A TW105132837A TW201722336A TW 201722336 A TW201722336 A TW 201722336A TW 105132837 A TW105132837 A TW 105132837A TW 105132837 A TW105132837 A TW 105132837A TW 201722336 A TW201722336 A TW 201722336A
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
Description
本發明關於電器製造技術領域，特別關於一種掃地機器人。The invention relates to the technical field of electrical appliances manufacturing, and in particular to a sweeping robot.
隨著社會的發展及人們生活水準的提高，清潔工作成為人們日常生活中必須面對的一個問題，針對該問題，研發人員研發出了掃地機器人。With the development of society and the improvement of people's living standards, cleaning has become a problem that people must face in their daily lives. For this problem, R&D personnel have developed sweeping robots.
目前的掃地機器人適合清掃空間比較空曠的地方，對於床底、沙發底部等空間高度低的地方的時候，無法進入就放棄清掃，導致沙發底、床底等長時間積累很多灰塵，不能實現掃地機器人對狹小空間的全方位清掃。此外，在對家具密集的空間中工作時有點力不從心，無論是卡在餐桌和餐椅之間，或者在餐桌下迷了路，十幾分鐘都轉不出來，都需要使用者去尋找掃地機器人，增加了使用者的負擔。At present, the sweeping robot is suitable for cleaning the empty space. When the space is low in the bottom of the bed or the bottom of the sofa, it is impossible to enter and give up cleaning. As a result, the bottom of the sofa and the bottom of the bed accumulate a lot of dust for a long time. All-round cleaning of small spaces. In addition, when working in a furniture-intensive space, it is a little powerless. Whether it is stuck between the dining table and the dining chair, or lost under the dining table, it can't be turned out in ten minutes. Users need to find the sweeping robot. Increased the burden on the user.
針對掃地機器人不適用於狹小空間的清掃的問題，本發明所屬技術領域的技術人員一直在尋找解決的方法。For the problem that the sweeping robot is not suitable for cleaning in a small space, those skilled in the art of the present invention are always looking for a solution.
本發明的目的在於提供一種掃地機器人，以解決現有掃地機器人不適用於清掃狹小空間的問題。It is an object of the present invention to provide a cleaning robot to solve the problem that the existing cleaning robot is not suitable for cleaning a small space.
為解決上述技術問題，本發明提供一種掃地機器人，掃地機器人包括：母機以及子機，子機與母機進行通訊並可分離地裝設於母機上，子機與母機分離後可單獨進行清掃的工作；其中，子機的體積小於母機的體積。In order to solve the above technical problem, the present invention provides a sweeping robot, which includes: a mother machine and a slave machine. The slave machine communicates with the parent machine and can be separately installed on the mother machine, and the slave machine can be separately cleaned after being separated from the parent machine. Wherein the volume of the slave is smaller than the volume of the parent machine.
較佳者，子機與母機分離後，子機與母機分離或合體後，母機和子機均能進行清掃的工作。Preferably, after the slave unit is separated from the parent machine, the slave machine and the slave machine can perform the cleaning work after the slave machine is separated or combined with the parent machine.
較佳者，掃地機器人還包括：探頭，轉動設置於母機上，用於探測清掃空間中的障礙物並獲取相鄰兩個障礙物之間的距離。Preferably, the cleaning robot further comprises: a probe disposed on the parent machine for detecting an obstacle in the cleaning space and acquiring a distance between two adjacent obstacles.
較佳者，探頭具有距離感測器，探頭藉由距離感測器獲取相鄰兩個障礙物之間的距離。Preferably, the probe has a distance sensor, and the probe acquires the distance between two adjacent obstacles by the distance sensor.
較佳者，掃地機器人還包括：控制系統，設置於母機上並分別與母機和子機通訊，控制單元用於控制母機和子機進行清掃。Preferably, the cleaning robot further comprises: a control system disposed on the parent machine and communicating with the parent machine and the slave machine respectively, and the control unit is configured to control the mother machine and the slave machine for cleaning.
較佳者，控制系統包括判定模組，判定模組與探頭通訊，用於判定相鄰兩個障礙物之間的距離是否適合母機或子機進行清掃。Preferably, the control system includes a determination module, and the determination module communicates with the probe to determine whether the distance between two adjacent obstacles is suitable for cleaning by the parent machine or the slave machine.
較佳者，子機與母機之間進行無線通訊，母機包括第一發射裝置，子機包括第一接收裝置，第一接收裝置用於接收第一發射裝置發出的訊號。Preferably, the slave communicates with the parent machine, the master comprises a first transmitting device, the slave comprises a first receiving device, and the first receiving device is configured to receive a signal sent by the first transmitting device.
較佳者，子機還包括第二發射裝置，母機還包括第二接收裝置，第二接收裝置用於接收第二發射裝置發出的訊號。Preferably, the handset further includes a second transmitting device, the base device further comprising a second receiving device, and the second receiving device is configured to receive the signal sent by the second transmitting device.
較佳者，母機包括容納槽，容納槽用於收納子機。Preferably, the mother machine includes a receiving slot for receiving the child machine.
較佳者，母機包括第一充電端，子機包括第二充電端，第一充電端設置於容納槽內，子機收納於容納槽中時第二充電端與第一充電端電連接。Preferably, the main machine includes a first charging end, and the sub-machine includes a second charging end. The first charging end is disposed in the receiving slot, and the second charging end is electrically connected to the first charging end when the sub-machine is received in the receiving slot.
較佳者，母機包括第一垃圾儲存倉，第一垃圾儲存倉用於儲存清掃的垃圾。Preferably, the parent machine includes a first garbage storage bin, and the first garbage storage bin is used to store the cleaned garbage.
較佳者，子機包括第二垃圾儲存倉，第二垃圾儲存倉用於儲存清掃的垃圾。Preferably, the child machine includes a second garbage storage bin, and the second garbage storage bin is used for storing the cleaned garbage.
較佳者，子機還包括：檢查裝置，用於檢測第二垃圾儲存倉中的垃圾體積；傾倒裝置，用於在第二垃圾儲存倉中的垃圾體積超過預定體積時，將第二垃圾儲存倉中的垃圾傾倒至第一垃圾儲存倉中。Preferably, the slave machine further comprises: an inspection device for detecting the volume of the garbage in the second garbage storage bin; and a dumping device for storing the second garbage when the volume of the garbage in the second garbage storage bin exceeds a predetermined volume The garbage in the warehouse is dumped into the first garbage storage bin.
在本發明所提供的掃地機器人中，將掃地機器人設計為包括母機及子機，子機與母機進行通訊並可分離地裝設於母機上，子機與母機分離後可單獨進行清掃的工作；其中，子機的體積小於母機的體積。在母機無法進入的清掃空間時，可以選擇子機脫離母機的機身進行清掃作業，以完成母機無法完成的清掃任務。基於本發明的掃地機器人可以適用於狹小空間的清掃，滿足實際需求，提高了清掃效果。In the sweeping robot provided by the present invention, the sweeping robot is designed to include a mother machine and a slave machine, and the slave machine communicates with the parent machine and can be separately installed on the mother machine, and the slave machine can be separately cleaned after being separated from the parent machine; Wherein, the volume of the slave is smaller than the volume of the parent machine. When the cleaning space that the parent machine cannot enter, you can select the slave to leave the body of the parent machine for cleaning, so as to complete the cleaning task that the mother machine cannot complete. The sweeping robot based on the invention can be applied to the cleaning of a small space to meet the actual demand and improve the cleaning effect.
以下結合圖式和具體實施例對本發明提出的掃地機器人作進一步詳細說明。根據下面說明和申請專利範圍，本發明的優點和特徵將更清楚。需說明的是，圖式均採用非常簡化的形式且均使用非精準的比例，僅用以方便、明晰地輔助說明本發明實施例的目的。The cleaning robot proposed by the present invention will be further described in detail below with reference to the drawings and specific embodiments. Advantages and features of the present invention will be apparent from the description and appended claims. It should be noted that the drawings are all in a very simplified form and both use non-precise proportions, and are only for convenience and clarity to assist the purpose of the embodiments of the present invention.
請參考第1至3圖，第1圖是母機與子機合體時的結構示意圖；第2圖是子機分離母機時的結構示意圖；第3圖是本發明一實施例中掃地機器人的功能方塊圖。如第1至3圖所示，本發明的掃地機器人包括：母機1和子機2，子機2與母機1進行通訊並可分離地裝設於母機1上，子機與母機分離後可單獨進行清掃的工作，其中，子機2的體積小於母機1的體積。由於子機2的體積和母機1的體積上存在差異，因此，針對可以容納子機2而不能容納母機1的狹窄空間可以選用子機2進行垃圾的清掃回收，子機佔據其自身體積小的優勢，增大了可清掃的空間，從而避免出現由於母機1體積過大無法進入狹窄空間清掃，導致狹小空間無法清掃的現象。另一方面，本發明的掃地機器人產生核心控制的相關結構可均設置於母機中，進一步降低了子機的體積，降低了對母機和子機分佈設置相應的控制結構的成本。Please refer to the first to third figures. FIG. 1 is a schematic structural view of the mother machine and the child machine; FIG. 2 is a schematic structural view of the child machine when the mother machine is separated; and FIG. 3 is a functional block of the cleaning robot according to an embodiment of the present invention. Figure. As shown in Figures 1 to 3, the cleaning robot of the present invention comprises: a mother machine 1 and a child machine 2, and the child machine 2 communicates with the parent machine 1 and can be separately mounted on the parent machine 1. The slave machine can be separately separated from the parent machine. The cleaning work, wherein the volume of the slave 2 is smaller than the volume of the parent machine 1. Since there is a difference in the volume of the slave unit 2 and the volume of the base unit 1, the child machine 2 can be used for the cleaning and recovery of the garbage for the narrow space in which the child machine 2 can be accommodated and cannot accommodate the mother machine 1. The child machine occupies its own small volume. The advantage is that the space for cleaning can be increased, so as to avoid the phenomenon that the small space cannot be cleaned due to the excessive volume of the mother machine 1 and the inability to enter the narrow space. On the other hand, the related structures for generating the core control of the cleaning robot of the present invention can be disposed in the mother machine, which further reduces the volume of the child machine and reduces the cost of the corresponding control structure for the parent machine and the child machine.
進一步地，掃地機器人在子機與母機分離後，母機可單獨進行清掃的工作；子機與母機合體後，子機與母機共同進行清掃的工作。Further, after the cleaning robot is separated from the parent machine, the parent machine can perform the cleaning work separately; after the child machine and the parent machine are combined, the child machine and the parent machine perform the cleaning work together.
為了及時的獲取清掃空間相鄰障礙物之間的距離，掃地機器人還包括探頭4，探頭4轉動設置於母機上。具體地，探頭4具有感測器，探頭4藉由感測器獲取相鄰兩個障礙物之間的距離。較佳的感測器為距離感測器。In order to obtain the distance between adjacent obstacles in the cleaning space in time, the sweeping robot further includes a probe 4, and the probe 4 is rotated and disposed on the mother machine. Specifically, the probe 4 has a sensor, and the probe 4 acquires the distance between two adjacent obstacles by the sensor. A preferred sensor is a distance sensor.
本實施例中的掃地機器人還包括控制系統3，設置於母機上並分別與母機和子機通訊，控制單元用於控制母機和子機進行清掃。其中，控制系統3包括一判定模組31，判定模組31與探頭4通訊，用於判定相鄰兩個障礙物之間的距離是否適合母機或子機進行清掃。基於一個控制單元可以實現母機和子機兩個機器的控制，避免出現針對母機和子機分別設置控制單元造成的成本提高的問題。The cleaning robot in this embodiment further includes a control system 3, which is disposed on the parent machine and communicates with the parent machine and the slave machine respectively, and the control unit is used for controlling the mother machine and the slave machine for cleaning. The control system 3 includes a determination module 31. The determination module 31 communicates with the probe 4 to determine whether the distance between two adjacent obstacles is suitable for cleaning by the parent machine or the slave machine. The control of the two machines of the master and the slave can be realized based on one control unit, and the problem of increasing the cost caused by separately setting the control unit for the master and the slave is avoided.
具體地，假設掃地機器人進行清掃的空間中相鄰兩個障礙物為第一障礙物及第二障礙物，當掃地機器人碰到第一障礙物後，停下來開啟探頭4（該探頭4內部帶有距離感測器，功能類似於手機上的light sensor中的距離感測器），探頭4按一定的速率順時針或者逆時針等速旋轉，當感測器掃到第二障礙物時，則感測器發出一個脈衝中斷給母機的系統主控中央處理器(CPU)，中央處理器(CPU)開始計時，等感測器再掃到第一障礙物後，則感測器會再發出一個脈衝中斷給主控CPU，主控CPU根據這2個脈衝中斷的時間，在結合探頭4等速旋轉的速度可以算出第一障礙物與第二障礙物之間的距離。如果第一障礙物與第二障礙物之間的距離大於子機的尺寸，這裡的尺寸為子機截面最寬的距離，則掃地機器人釋放子機進入第一障礙物與第二障礙物之間進行清掃。Specifically, it is assumed that two adjacent obstacles in the space in which the cleaning robot performs cleaning are the first obstacle and the second obstacle. When the cleaning robot hits the first obstacle, it stops and opens the probe 4 (the inner belt of the probe 4) There is a distance sensor, which is similar to the distance sensor in the light sensor on the mobile phone. The probe 4 rotates clockwise or counterclockwise at a certain rate. When the sensor sweeps to the second obstacle, then The sensor sends a pulse interrupt to the system main control central processing unit (CPU) of the parent machine, the central processing unit (CPU) starts timing, and after the sensor scans to the first obstacle again, the sensor will issue another one. The pulse interrupt is given to the main control CPU, and the main control CPU can calculate the distance between the first obstacle and the second obstacle according to the speed of the two pulses interrupted in combination with the speed of the constant rotation of the probe 4. If the distance between the first obstacle and the second obstacle is greater than the size of the handset, where the dimension is the widest distance of the slave section, the sweeping robot releases the slave into the first obstacle and the second obstacle Clean up.
進一步地，子機與母機之間可以選用無線方式通訊，也可以選用有線方式通訊。本實施例中，較佳為無線通訊，為了滿足兩者之間無線通訊的需求，相應的母機和子機會設置通訊所需的裝置。例如，母機包括第一發射裝置11，子機包括第一接收裝置21，第一接收裝置21用於接收第一發射裝置11發出的訊號。子機還包括第二發射裝置22，母機還包括第二接收裝置12，第二接收裝置12用於接收第二發射裝置22發出的訊號。Further, the wireless communication may be used between the slave and the parent machine, or the wired communication may be selected. In this embodiment, wireless communication is preferred, and in order to meet the requirements of wireless communication between the two, the corresponding parent machine and the sub-opport set the devices required for communication. For example, the parent machine includes a first transmitting device 11, the slave device includes a first receiving device 21, and the first receiving device 21 is configured to receive a signal from the first transmitting device 11. The handset further includes a second transmitting device 22, the base device further comprising a second receiving device 12 for receiving signals from the second transmitting device 22.
請繼續參考第1至3圖，母機1包括用於收納子機2的容納槽10，子機收納於母機1的容納槽10中時，掃地機器人呈圓盤狀。其中，子機2和母機1合體的形狀包括但不局限於圓盤狀。Referring to FIGS. 1 to 3, the mother machine 1 includes a housing groove 10 for housing the child machine 2, and when the child machine is housed in the housing groove 10 of the parent machine 1, the cleaning robot has a disk shape. The shape of the combination of the child machine 2 and the parent machine 1 includes, but is not limited to, a disk shape.
當母機與子機之間進行無線通訊，兩者必然存在能源的消耗，針對此問題，在母機設置第一充電端13，在子機設置第二充電端23，第一充電端13設置於容納槽內，子機收納於容納槽中時第二充電端23與第一充電端13電連接，子機即可進行充電。When wireless communication is performed between the parent machine and the child machine, there must be energy consumption between the two. For this problem, the first charging end 13 is set in the mother machine, and the second charging end 23 is set in the child machine, and the first charging end 13 is set to accommodate In the slot, when the slave is stored in the accommodating slot, the second charging terminal 23 is electrically connected to the first charging terminal 13, and the slave can be charged.
為了滿足子機和母機各自的清掃需求，母機包括第一垃圾儲存倉14，第一垃圾儲存倉14用於儲存清掃的垃圾，子機包括第二垃圾儲存倉24，第二垃圾儲存倉24用於儲存清掃的垃圾。由於子機的體積較小，儲存垃圾容量有限，如不及時將子機的第二垃圾儲存倉24中的垃圾轉移，將導致子機無法繼續回收垃圾。針對此問題，本發明選擇在子機中設置檢查裝置25以及傾倒裝置26，檢查裝置25用於檢測第二垃圾儲存倉24中的垃圾體積；傾倒裝置26用於在第二垃圾儲存倉24中的垃圾體積超過預定體積時，將第二垃圾儲存倉24中的垃圾傾倒至第一垃圾儲存倉14中。即子機回收的垃圾轉移給母機，以便子機可以繼續進行後續清掃工作。提高了掃地機器人的工作效率，整個過程全程自動化，減少了人員的操作。In order to meet the respective cleaning requirements of the child machine and the parent machine, the mother machine includes a first garbage storage bin 14 for storing the cleaned garbage, the child machine includes a second garbage storage bin 24, and the second garbage storage bin 24 Store the cleaned garbage. Due to the small size of the sub-machine, the storage garbage capacity is limited. If the garbage in the second garbage storage bin 24 of the sub-machine is not timely transferred, the sub-machine cannot continue to recycle the garbage. In response to this problem, the present invention elects to provide an inspection device 25 and a dumping device 26 in the slave machine for detecting the volume of waste in the second garbage storage bin 24; the dumping device 26 is for use in the second garbage storage bin 24 When the garbage volume exceeds a predetermined volume, the garbage in the second garbage storage bin 24 is dumped into the first garbage storage bin 14. That is, the garbage recovered by the slave machine is transferred to the parent machine, so that the child machine can continue the subsequent cleaning work. The working efficiency of the sweeping robot is improved, and the whole process is automated throughout the process, reducing the operation of personnel.
第3圖是本發明的掃地機器人的功能方塊圖，第4圖是本發明的掃地機器人的工作原理流程圖。下面請結合第3圖及第4圖對本發明的掃地機器人的工作過程進行詳細的闡述。Fig. 3 is a functional block diagram of the cleaning robot of the present invention, and Fig. 4 is a flow chart showing the operation principle of the cleaning robot of the present invention. Next, the working process of the cleaning robot of the present invention will be described in detail in conjunction with FIGS. 3 and 4.
掃地機器人的工作過程具體如下：The working process of the sweeping robot is as follows:
首先，先啟動母機進行清掃工作，並即時判斷母機能否進入清掃空間中相鄰兩障礙物之間進行清掃，若能，則繼續由母機進入相鄰兩障礙物之間清掃，若否，則判斷相鄰兩個障礙物之間的間距是否大於子機的尺寸，若是，則釋放子機進行清掃，若否，則繼續由母機進入相鄰兩障礙物之間清掃。在子機進行清掃的過程中，需要即時判斷子機的清掃狀態，當子機清掃結束後，母機回收子機，並進行最後是否結束清掃的判斷，如不結束清掃，仍由母機進行清掃。First, start the cleaning machine for the cleaning machine, and immediately determine whether the parent machine can enter between the two adjacent obstacles in the cleaning space for cleaning. If so, continue to clean between the two obstacles by the parent machine. If not, then It is judged whether the spacing between two adjacent obstacles is larger than the size of the sub-machine, and if so, the sub-machine is released for cleaning, and if not, the cleaning is continued between the two adjacent obstacles by the parent machine. During the cleaning process of the slave unit, it is necessary to immediately determine the cleaning status of the slave unit. When the slave unit is cleaned, the slave machine recovers the slave unit and judges whether or not the cleaning is finished. If the cleaning is not completed, the master machine performs the cleaning.
綜上，在本發明所提供的掃地機器人中，將掃地機器人設計為包括母機及子機，子機與母機進行通訊並可分離地裝設於母機上，子機與母機分離後可單獨進行清掃的工作；其中，子機的體積小於母機的體積。在母機無法進入的清掃空間時，可以選擇子機脫離母機的機身進行清掃作業，以完成母機無法完成的清掃任務。基於本發明的掃地機器人可以適用於狹小空間的清掃，滿足實際需求，提高了清掃效果。In summary, in the cleaning robot provided by the present invention, the cleaning robot is designed to include a mother machine and a child machine, and the child machine communicates with the mother machine and can be separately installed on the mother machine. The child machine can be separately cleaned after being separated from the mother machine. The work; wherein the volume of the slave is smaller than the volume of the parent machine. When the cleaning space that the parent machine cannot enter, you can select the slave to leave the body of the parent machine for cleaning, so as to complete the cleaning task that the mother machine cannot complete. The sweeping robot based on the invention can be applied to the cleaning of a small space to meet the actual demand and improve the cleaning effect.
上述描述僅是對本發明較佳實施例的描述，並非對本發明範圍的任何限定，本發明所屬技術領域中具有通常知識者根據上述揭示內容做的任何變更、修飾，均屬於申請專利範圍的保護範圍。The above description is only for the description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes and modifications made by those skilled in the art according to the above disclosure are within the scope of protection of the patent application. .
1‧‧‧母機
10‧‧‧容納槽
11‧‧‧第一發射裝置
12‧‧‧第二接收裝置
13‧‧‧第一充電端
14‧‧‧第一垃圾儲存倉
2‧‧‧子機
21‧‧‧第一接收裝置
22‧‧‧第二發射裝置
23‧‧‧第二充電端
24‧‧‧第二垃圾儲存倉
25‧‧‧檢查裝置
26‧‧‧傾倒裝置
3‧‧‧控制系統
31‧‧‧判定模組
4‧‧‧探頭1‧‧‧ parent machine
10‧‧‧ accommodating slot
11‧‧‧First launcher
12‧‧‧second receiving device
13‧‧‧First charging end
14‧‧‧First Garbage Storage Bin
2‧‧‧Some
21‧‧‧First receiving device
22‧‧‧second launcher
23‧‧‧Second charging end
24‧‧‧Second garbage storage bin
25‧‧‧Checking device
26‧‧‧Dumping device
3‧‧‧Control system
31‧‧‧Determining module
4‧‧‧ probe
第1圖是本發明一實施例中母機與子機合體時的結構示意圖； 第2圖是本發明一實施例中子機分離母機時的結構示意圖； 第3圖是本發明一實施例中掃地機器人的功能方塊圖；以及 第4圖是本發明一實施例中掃地機器人的工作原理流程圖。1 is a schematic structural view of a mother machine and a child machine in a combination of an embodiment of the present invention; FIG. 2 is a schematic structural view of a child machine when the mother machine is separated according to an embodiment of the present invention; and FIG. 3 is a view of the present invention. A functional block diagram of the robot; and FIG. 4 is a flow chart showing the working principle of the cleaning robot in an embodiment of the present invention.
1‧‧‧母機 1‧‧‧ parent machine
2‧‧‧子機 2‧‧‧Some
10‧‧‧容納槽 10‧‧‧ accommodating slot
Claims (13)
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| CN201510993279.2A CN105534415A (en) | 2015-12-24 | 2015-12-24 | Floor sweeping robot |
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| TWI583339B TWI583339B (en) | 2017-05-21 |
| TW201722336A true TW201722336A (en) | 2017-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW105132837A TWI583339B (en) | 2015-12-24 | 2016-10-12 | Sweeping robot |
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| CN (1) | CN105534415A (en) |
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Also Published As
| Publication number | Publication date |
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| TWI583339B (en) | 2017-05-21 |
| CN105534415A (en) | 2016-05-04 |
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