WO2018103212A1 - 一种带投影装置的扫地机器人及其交互系统 - Google Patents

一种带投影装置的扫地机器人及其交互系统 Download PDF

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Publication number
WO2018103212A1
WO2018103212A1 PCT/CN2017/075715 CN2017075715W WO2018103212A1 WO 2018103212 A1 WO2018103212 A1 WO 2018103212A1 CN 2017075715 W CN2017075715 W CN 2017075715W WO 2018103212 A1 WO2018103212 A1 WO 2018103212A1
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Prior art keywords
projection
cleaning robot
intelligent
wireless communication
sweeping
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PCT/CN2017/075715
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English (en)
French (fr)
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杨伟樑
高志强
林清云
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广景视睿科技（深圳）有限公司
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Publication of WO2018103212A1 publication Critical patent/WO2018103212A1/zh

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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
    • 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
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B29/00—Combinations of cameras, projectors or photographic printing apparatus with non-photographic non-optical apparatus, e.g. clocks or weapons; Cameras having the shape of other objects

Definitions

  • the invention relates to the field of sweeping robots, in particular to a sweeping robot with a projection device and an interactive system thereof.
  • Sweeping robot is a kind of intelligent household appliances. With certain artificial intelligence and relying on built-in programs, it can detect factors such as room size, furniture placement, floor cleanliness, etc., and develop a reasonable cleaning route with certain intelligence and automatic The floor cleaning work was done in the room. Generally, the brush and vacuum method is adopted, and the ground debris is first absorbed into its own garbage storage box, thereby completing the function of ground cleaning. Generally speaking, the robot that completes cleaning, vacuuming, and wiping the ground is also classified as a sweeping robot. The development direction of the sweeping robot will be the higher cleaning effect, higher cleaning efficiency and larger cleaning area brought by more advanced artificial intelligence. But at present, the degree of intelligence of the sweeping robot is not as advanced as imagined, and the functions achieved are relatively simple.
  • the intelligent sweeping robot also has a projection function, which has a dual function for enriching the user experience; the projection device utilizes the rechargeable battery of the intelligent sweeping robot and the universal wheel. And a device such as a central processing unit, which can perform mobile intelligent projection.
  • the technical problem to be solved by the present invention is to provide a smart sweeping robot with a projection device, which enables the intelligent sweeping robot to have a projection function in addition to the general cleaning function, and the dual use of the machine enriches the user experience; the projection device utilizes the intelligence
  • the sweeping robot's own rechargeable battery, universal wheel and central processing unit can be used for mobile intelligent projection.
  • a technical solution adopted by the present invention is: a smart sweeping robot with a projection device, comprising: a sweeping robot body, the sweeping robot body including a rotatable 10,000 disposed below a wheel and a sweeping brush, a rechargeable battery disposed inside thereof, and a first driving device and a second driving device respectively for driving the rotation of the universal wheel and the sweeping brush;
  • the projection device is disposed on the body of the cleaning robot, and the projection angle is a display for displaying projection information; a wireless communication device for transmitting data information; and a central processor coupled to the first driving device, the second driving device, the projection device, and the wireless communication device and controlling the first driving device, The second driving device, the projection device, and the wireless communication device operate.
  • the intelligent cleaning robot further includes: an imaging device disposed above the body of the cleaning robot; the imaging angle of the imaging device is adjustable, and the light-emitting area of the imaging beam can cover the light-emitting area of the projection beam of the projection device;
  • the device is connected to the central processor, and the central processor controls its working state and camera angle.
  • the wireless communication device comprises: a Bluetooth communicator and/or a WiFi communication Device.
  • the intelligent cleaning robot further comprises: an audio device; the audio device is connected to the central processor and its operation is controlled by the central processor.
  • the smart sweeping robot further includes: a touch key; a touch key, the touch key is connected to the central processing unit, and is configured to control the work of the intelligent sweeping robot body and the projection device according to external input. mode.
  • the intelligent cleaning robot further comprises: a storage device for the projection device to provide the projection content; the projection content comprising real-time projection information stored in advance or transmitted by the wireless communication device.
  • the projection device may be an LCOS pico projector or a DLP pico projector.
  • the intelligent cleaning robot further includes: a motion sensor connected to the central processor for collecting the motion state and the trajectory of the cleaning robot.
  • the wireless communication device is a Bluetooth communicator and/or a WiFi communicator.
  • the invention also provides an interactive system of a cleaning robot with a projection device, comprising: a cleaning robot with a projection device and an intelligent mobile terminal, wherein the cleaning robot and the intelligent mobile terminal can be wirelessly connected through a wireless communication device; Terminal can signal control sweeper The working mode of the person, the position and content of the projection angle.
  • the smart mobile terminal comprises: a central processing unit and a wireless communication device; the smart mobile terminal is a smart phone or a tablet; and the wireless communication connection may be a Bluetooth connection or a WiFi network connection.
  • the present invention discloses a cleaning robot with a projection device and an interactive system thereof, wherein the cleaning robot includes: a cleaning robot body, and a rotating body is disposed below the body of the cleaning robot a universal wheel and a sweeping brush; the cleaning robot body is internally provided with a rechargeable battery and a first driving device and a second driving device respectively for driving the rotation of the universal wheel and the sweeping brush; and a projection device for projecting the display projection Information; a wireless communication device for transmitting data information; a central processing unit connected to the first driving device, the second driving device, the projection device, and the wireless communication device and controlling its operation.
  • the intelligent sweeping robot of the invention has the functions of cleaning and projection, and has dual functions for one machine, which enriches the user experience; the projection device can use the rechargeable battery of the intelligent sweeping robot, the universal wheel and the central processor to perform mobile intelligent projection. , feature-rich and low cost.
  • FIG. 1 is a schematic structural diagram of a module of a preferred embodiment of the intelligent sweeping robot of the present invention
  • FIG. 2 is a schematic structural diagram of an interactive system of a preferred embodiment of the intelligent sweeping robot of the present invention.
  • a smart cleaning robot with a projection device includes: a cleaning robot body 100, and the cleaning robot body 100 is disposed below a rotatable universal wheel (not shown in the drawing) and a sweeping brush (not shown in the drawing); the cleaning robot body 100 further includes a rechargeable battery 103 disposed inside thereof and respectively for driving the universal wheel (attached)
  • the first driving device 101 and the second driving device 102 are rotated by a sweeping brush (not shown);
  • the projection device 104 is disposed on the cleaning robot body 100, and the projection angle is adjustable for projecting and displaying projection information;
  • the wireless communication device 105 is configured to perform data information transmission;
  • the central processing unit 106 is connected to the first driving device 101, the second driving device 102, the projection device 104, and the wireless communication device 105 and controls its operation.
  • the intelligent cleaning robot further includes: an imaging device 107 disposed above the cleaning robot body 100; the imaging device 107 has an adjustable imaging angle, and the imaging device 107 can take an image of any angle according to the needs of the user;
  • the light-emitting area of the imaging beam of the device 107 can cover the projection light-emitting area of the projection device 104, so that the imaging device 107 can be used to capture the projection screen of the projection device 104, so that the projection device 104 can complete the auto-focus;
  • the device 106 is connected, and its operating state and camera angle are controlled by the central processing unit 106.
  • the intelligent cleaning robot further includes: an audio device 108; the audio device 108 is connected to the central processing unit 106, and the central processor 106 controls its operation;
  • the touch-up key 110 is further connected to the central processing unit 106.
  • the central processing unit 106 can be based on different keys input by the outside world through the touch key 110.
  • the state, the working mode of the intelligent sweeping robot sweeping robot body 100 and the projection device 104 is controlled; the working mode includes: only sweeping the ground without projecting/projecting only the non-sweeping/side sweeping projection; the user can touch the touch button according to his own needs. One click to choose.
  • the rechargeable battery 103 of the embodiment of the present invention may also be a disposable battery or a power supply device directly connected to an external power source.
  • connection in the embodiment of the present invention may be a wireless connection or a wired connection, and may be a signal connection and/or an electrical connection.
  • the intelligent cleaning robot further includes: a storage device 109, which can provide projection content for the projection device 104; the projection content may be stored in advance, or may be real-time projection information transmitted by the wireless communication device 105.
  • the storage device 109 can also be used to store a picture taken by the camera device 107 for the central processor 106 to compare the picture taken by the camera device 107 with the image for comparison and perform subsequent control.
  • the projection device 104 can be an LCOS pico projector or a DLP pico projector, which can be embedded in a smart sweeping robot without increasing the size and weight of the intelligent sweeping robot.
  • an interactive system of a cleaning robot with a projection device includes: a smart sweeping robot 300 and the smart mobile terminal 200, the smart cleaning robot 300 and the smart mobile terminal 200 can be wirelessly connected through a wireless communication device; the smart mobile terminal can signal control the working mode, the projection angle position and the content of the cleaning robot.
  • the smart mobile terminal 200 includes: a central processing unit 201 and a wireless communication device 202; the smart mobile terminal 200 is a smart phone or a tablet computer or other portable or desktop mobile terminal; the wireless communication connection may be a Bluetooth connection or a WiFi network. Connecting, the wireless communication connection may also be replaced by a wired communication connection when needed; by means of the wireless communication device, the user may use the smart mobile terminal 200 to send an operation instruction to the intelligent cleaning robot 300; the intelligent cleaning robot controls different according to the operation instruction The working device performs the corresponding operational task.
  • the smart sweeping robot 300 when the smart sweeping robot 300 is not in the user's side, the user cannot directly control the smart sweeping robot 300 to the designated position through the touch key 110 to perform the work mode of projecting only the non-sweeping ground, and the user can pass the APP of the smart mobile terminal 200.
  • the intelligent cleaning robot 300 sends an operation command, and the intelligent cleaning robot 300 drives the universal wheel to operate according to the instruction, moves to the position where the user is located or the designated position, and then adjusts the projection angle of the projection device 104 to perform the projection work.
  • the intelligent sweeping robot with a projection device and an interactive system thereof enable the intelligent sweeping robot to have the functions of projection and interaction in addition to the general cleaning function, and a dual-purpose machine;
  • the intelligent sweeping robot's own rechargeable battery, universal wheel and central processing unit it can be used for mobile intelligent projection, which is rich in functions and cost.
  • the interactive system users can remotely control the intelligent sweeping robot, which is more convenient and faster.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Projection Apparatus (AREA)
  • Manipulator (AREA)

Abstract

一种带投影装置（104）的扫地机器人及其交互系统，其中扫地机器人包括：扫地机器人本体（100），所述扫地机器人本体（100）下方带可转动的万向轮和扫地刷；所述扫地机器人本体（100）内部带可充电电池（103）以及分别用于驱动万向轮和扫地刷转动的第一驱动装置（101）和第二驱动装置（102）；投影装置（104），用于投影显示投影信息；无线通信装置（105），用于进行数据信息传输；中央处理器（106），与第一驱动装置（101）、第二驱动装置（102）、投影装置（104）以及无线通信装置（105）相连接并控制其工作。该智能扫地机器人具有清洁和投影功能，一机两用；投影装置（104）利用智能扫地机器人自身的充电电池、万向轮以及中央处理器（106）等装置，可以进行移动式智能化投影，功能丰富且成本较低。

Description

一种带投影装置的扫地机器人及其交互系统 技术领域
本发明涉及扫地机器人领域，特别是涉及一种带投影装置的扫地机器人及其交互系统。
背景技术
扫地机器人是智能家用电器的一种，凭借一定的人工智能并依靠内置的程序，能对房间大小、家俱摆放、地面清洁度等因素进行检测，制定合理的清洁路线，具备一定的智能自动在房间内完成地板清理工作。一般采用刷扫和真空方式，将地面杂物先吸纳进入自身的垃圾收纳盒，从而完成地面清理的功能。一般来说，将完成清扫、吸尘、擦地工作的机器人，也统一归为扫地机器人。扫地机器人的发展方向，将是更加高级的人工智能带来的更高的清扫效果、更高的清扫效率、更大的清扫面积。但是目前，扫地机器人的智能化程度并不如想像中的那么先进，实现的功能比较单一。
随着科技的发展，各种具有计算机功能的智能投影机和多媒体应用层出不穷，同时用户对大屏幕和人机交互的要求也越来越强烈。在智能扫地机器人中加入投影装置，使智能扫地机器人除了具有一般的清洁功能外，还具有投影功能，一机两用，丰富了用户体验；投影装置利用智能扫地机器人自身的充电电池、万向轮以及中央处理器等装置，可以进行移动式智能化投影。
发明内容
本发明主要解决的技术问题是提供一种带投影装置的智能扫地机器人，使智能扫地机器人除了具有一般的清洁功能外，还具有投影功能，一机两用，丰富了用户体验；投影装置利用智能扫地机器人自身的充电电池、万向轮以及中央处理器等装置，可以进行移动式智能化投影。
为解决上述技术问题，本发明采用的一个技术方案是：一种带投影装置的智能扫地机器人，其特征在于，包括：扫地机器人本体，所述扫地机器人本体包括设置在其下方的可转动的万向轮和扫地刷，设置在其内部的可充电电池，以及分别用于驱动万向轮和扫地刷转动的第一驱动装置和第二驱动装置；投影装置，设置于扫地机器人本体，投影角度可调，用于投影显示投影信息；无线通信装置，用于进行数据信息传输；以及中央处理器，与第一驱动装置、第二驱动装置、投影装置以及无线通信装置连接并控制第一驱动装置、第二驱动装置、投影装置以及无线通信装置工作。
根据优选实施例，所述智能扫地机器人还包括：设置于扫地机器人本体上方的摄像装置；所述摄像装置的摄像角度可调，摄像光束出光面积可覆盖投影装置的投影光束出光面积；所述摄像装置与中央处理器相连，由中央处理器控制其工作状态及摄像角度。
根据优选实施例，所述无线通信装置包括：蓝牙通信器和/或WiFi通信 器。
根据优选实施例，所述智能扫地机器人，还包括：音频装置；所述音频装置与中央处理器相连接，由中央处理器控制其工作。
根据优选实施例，所述智能扫地机器人，还包括：触控键；触控键，所述触控键与中央处理器相连，用于根据外界输入控制智能扫地机器人扫地机器人本体和投影装置的工作模式。
根据优选实施例，所述智能扫地机器人，还包括：存储装置，用于投影装置提供投影内容；所述投影内容包括事先存储的，或者通过无线通信装置所传输的实时投影信息。
根据优选实施例，所述投影装置可以是LCOS微型投影机或者DLP微型投影机。
根据优选实施例，所述的智能扫地机器人，还包括：运动传感器，所述运动传感器与中央处理器相连，用于采集扫地机器人的运动状态和轨迹。
根据优选实施例，所述无线通信装置为蓝牙通信器和/或WiFi通信器。
本发明还提供了一种带投影装置的扫地机器人的交互系统，包括：带投影装置的扫地机器人和智能移动终端，所述扫地机器人与智能移动终端可通过无线通信装置进行无线通信连接；智能移动终端可信号控制扫地机 器人的工作模式、投影角度位置及内容。
根据优选实施例，所述智能移动终端包括：中央处理器和无线通信装置；所述智能移动终端为智能手机或者平板电脑；所述无线通信连接可以为蓝牙连接或者WiFi网络连接。
与现有技术相比，本发明具有如下有益效果：本发明公开了一种带投影装置的扫地机器人及其交互系统，其中扫地机器人包括：扫地机器人本体，所述扫地机器人本体下方设置有可转动的万向轮和扫地刷；所述扫地机器人本体内部设置有可充电电池以及分别用于驱动万向轮和扫地刷转动的第一驱动装置和第二驱动装置；投影装置，用于投影显示投影信息；无线通信装置，用于进行数据信息传输；中央处理器，与第一驱动装置、第二驱动装置、投影装置以及无线通信装置相连接并控制其工作。本发明的智能扫地机器人具有清洁和投影功能，一机两用，丰富了用户体验；投影装置利用智能扫地机器人自身的充电电池、万向轮以及中央处理器等装置，可以进行移动式智能化投影，功能丰富且成本较低。
附图说明
图1为本实用新型智能扫地机器人最优实施例模块结构示意图；
图2为本实用新型智能扫地机器人最优实施例的交互系统结构示意图。
具体实施方式
下面结合附图和实施方式对本发明进行详细说明。
图1为本发明智能扫地机器人最优实施例模块结构示意图；如图1所示，一种带投影装置的智能扫地机器人，包括：扫地机器人本体100，所述扫地机器人本体100包括设置在其下方的可转动的万向轮(附图未标示)和扫地刷(附图未标示)；所述扫地机器人本体100还包括设置在其内部的可充电电池103以及分别用于驱动万向轮(附图未标示)和扫地刷(附图未标示)转动的第一驱动装置101和第二驱动装置102；投影装置104，设置于扫地机器人本体100，投影角度可调，用于投影显示投影信息；无线通信装置105，用于进行数据信息传输；中央处理器106，与第一驱动装置101、第二驱动装置102、投影装置104以及无线通信装置105相连接并控制其工作。
值得注意的是，所述智能扫地机器人还包括：设置于扫地机器人本体100上方的摄像装置107；所述摄像装置107摄像角度可调，摄像装置107可根据用户的需要采取任意角度的画面；摄像装置107的摄像光束出光面积可覆盖投影装置104的投影光束出光面积，这样摄像装置107可以用于摄取投影装置104的投影画面，使投影装置104可以完成自动对焦；所述摄像装置107与中央处理器106相连，由中央处理器106控制其工作状态及摄像角度。
值得注意的是，所述智能扫地机器人，还包括：音频装置108；所述音频装置108与中央处理器106相连接，由中央处理器106控制其工作； 为了使智能扫地机器人更为智能化，其还包括：触控键110，所述触控键110与中央处理器106相连，所述中央处理器106可以根据外界通过触控键110输入的不同按键状态，控制智能扫地机器人扫地机器人本体100和投影装置104的工作模式；所述工作模式包括：只扫地不投影/只投影不扫地/边扫地边投影；用户可根据自己的需要，通过触控键一键选择。其中，本发明实施例的可充电电池103还可以是一次性电池或者是直接通过连接外部电源的供电装置。
其中，本发明实施例的连接可以是无线连接，也可以是有线连接，可以是信号连接和/或电连接。
所述智能扫地机器人，还包括：存储装置109，可为投影装置104提供投影内容；所述投影内容可以为事先存储的，也可以是通过无线通信装置105所传输的实时投影信息。所述存储装置109还可以用来存储摄像装置107摄取的画面，用于中央处理器106将摄像装置107摄取的画面与用于对比的图像进行对比并进行后续控制。
所述投影装置104可以是LCOS微型投影机或者DLP微型投影机，可以嵌入智能扫地机器人，不增大智能扫地机器人的尺寸和重量。
图2为本发明智能扫地机器人最优实施例的交互系统结构示意图。如图2所示，带投影装置的扫地机器人的交互系统，包括：智能扫地机器人 300和智能移动终端200，所述智能扫地机器人300与智能移动终端200可通过无线通信装置进行无线通信连接；智能移动终端可信号控制扫地机器人的工作模式、投影角度位置及内容。
所述智能移动终端200包括：中央处理器201和无线通信装置202；所述智能移动终端200为智能手机或者平板电脑或者其他便携式或台式移动终端；所述无线通信连接可以为蓝牙连接或者WiFi网络连接，所述无线通信连接在需要时，也可以使用有线通信连接代替；借助无线通信装置，用户可以使用智能移动终端200来给智能扫地机器人300发送操作指令；智能扫地机器人根据操作指令，控制不同的工作装置进行对应的操作任务。例如：当智能扫地机器人300不在用户身边，用户无法直接通过触控键110来操控智能扫地机器人300来到指定的位置进行只投影不扫地的工作模式时，用户可以通过智能移动终端200的APP向智能扫地机器人300发送操作指令，智能扫地机器人300根据指令，第一驱动装置101驱动万向轮工作，运动到用户所在的位置或者指定的位置，然后再调整投影装置104的投影角度进行投影工作。
综合所述，本发明所述的一种带投影装置的智能扫地机器人及其交互系统，使智能扫地机器人除了具有一般的清洁功能外，还具有投影和交互的功能，一机两用；投影装置利用智能扫地机器人自身的充电电池、万向轮以及中央处理器等装置，可以进行移动式智能化投影，功能丰富且成本 较低；借助交互系统，用户可远程操控智能扫地机器人，更方便更快捷。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围。

Claims (10)

  1. 一种带投影装置的智能扫地机器人，其特征在于，包括：
    扫地机器人本体，所述扫地机器人本体包括设置在其下方的可转动的万向轮和扫地刷，设置在其内部的可充电电池，以及分别用于驱动万向轮和扫地刷转动的第一驱动装置和第二驱动装置；
    投影装置，设置于扫地机器人本体，投影角度可调，用于投影显示投影信息；
    无线通信装置，用于进行数据信息传输；以及
    中央处理器，与第一驱动装置、第二驱动装置、投影装置以及无线通信装置连接并控制第一驱动装置、第二驱动装置、投影装置以及无线通信装置工作。
  2. 根据权利要求1所述的智能扫地机器人，其特征在于，还包括：设置于扫地机器人本体上方的摄像装置；所述摄像装置的摄像角度可调，摄像光束出光面积可覆盖投影装置的投影光束出光面积；所述摄像装置与中央处理器相连，由中央处理器控制其工作状态及摄像角度。
  3. 根据权利要求1所述的智能扫地机器人，其特征在于，还包括：音频装置；所述音频装置与中央处理器相连接，由中央处理器控制其工作。
  4. 根据权利要求1所述的智能扫地机器人，其特征在于，还包括：触控键，所述触控键与中央处理器相连，用于根据外界输入控制智能扫地机器人扫地机器人本体和投影装置的工作模式。
  5. 根据权利要求1所述的智能扫地机器人，其特征在于，还包括：存储装置，所述存储装置与中央处理器相连，用于为投影装置提供投影内容；所述投影内容包括事先存储的，或者通过无线通信装置所传输的实时投影信息。
  6. 根据权利要求1所述的智能扫地机器人，其特征在于，还包括：运动传感器，所述运动传感器与中央处理器相连，用于采集扫地机器人的运动状态和轨迹。
  7. 根据权利要求1所述的智能扫地机器人，其特征在于，所述无线通信装置为蓝牙通信器和/或WiFi通信器。
  8. 根据权利要求1所述的智能扫地机器人，其特征在于，所述投影装置为LCOS微型投影机或者DLP微型投影机。
  9. 一种带投影装置的扫地机器人的交互系统，其特征在于，包括：如权利要求1所述的带投影装置的扫地机器人和智能移动终端，所述扫地机器人与智能移动终端可通过无线通信装置进行无线通信连接；智能移动终端可信号控制扫地机器人的工作模式、投影角度位置及内容。
  10. 根据权利要求9所述的带投影装置的扫地机器人的交互系统，其特征在于，所述智能移动终端包括：中央处理器和无线通信装置；所述智能移动终端为智能手机或者平板电脑；所述无线通信连接可以为蓝牙连接或者WiFi网络连接。
PCT/CN2017/075715 2016-12-08 2017-03-06 一种带投影装置的扫地机器人及其交互系统 WO2018103212A1 (zh)

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