WO2020192590A1 - Robot de balayage - Google Patents

Robot de balayage Download PDF

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Publication number
WO2020192590A1
WO2020192590A1 PCT/CN2020/080482 CN2020080482W WO2020192590A1 WO 2020192590 A1 WO2020192590 A1 WO 2020192590A1 CN 2020080482 W CN2020080482 W CN 2020080482W WO 2020192590 A1 WO2020192590 A1 WO 2020192590A1
Authority
WO
WIPO (PCT)
Prior art keywords
fuselage
sweeping robot
controller
block
component
Prior art date
Application number
PCT/CN2020/080482
Other languages
English (en)
Chinese (zh)
Inventor
吴先锋
李桂玉
Original Assignee
李桂玉
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201920397216.4U external-priority patent/CN210582379U/zh
Priority claimed from CN201910236691.8A external-priority patent/CN109730594A/zh
Application filed by 李桂玉 filed Critical 李桂玉
Publication of WO2020192590A1 publication Critical patent/WO2020192590A1/fr

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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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • This application relates to the field of smart home technology, and in particular to a sweeping robot.
  • the sweeping robot is an intelligent household appliance that can automatically vacuum the ground. Because it can detect room size, furniture placement, floor cleanliness and other factors, and rely on built-in programs to formulate a reasonable cleaning route, it has a certain degree of intelligence, so it is called a robot.
  • the sweeping robot forms a vacuum in the main machine through the high-speed rotation of the motor, and uses the resulting high-speed airflow to suck in garbage from the suction port. The garbage sucked into the sweeper is accumulated in the bag machine, and the air purified by the filter is discharged from the sweeper while cooling the motor.
  • the sweeping robot is a new type of floor and carpet cleaning appliance designed for modern home environments. It uses a rechargeable battery as a power source and integrates cleaning and vacuuming functions. It is suitable for office buildings, conference rooms, homes and other places.
  • the front obstacle detection of the existing sweeping robot usually uses an infrared plus front bumper collision device to sense the front obstacle and provide a basis for the steering of the machine.
  • the sweeping robot uses infrared detection of obstacles, it will choose to avoid some small and light obstacles, but this kind of smaller and lighter obstacles
  • the object may be placed in the center of the room. After the sweeping robot avoids it, it may cause the small and light obstacles to be cleaned in place. Even if there are many such obstacles, it will eventually lead to low cleaning coverage and low cleaning efficiency.
  • the present application provides a sweeping robot to solve the problem that the existing sweeping robot is easy to avoid obstacles with a small volume and light weight, resulting in poor cleaning, even low cleaning coverage, and low cleaning efficiency.
  • the sweeping robot provided by the present application includes a body; the bottom of the body is provided with a liftable rolling assembly and a creeping assembly, the rolling assembly is used to drive the body to move in a rolling manner, the creeping assembly Used to drive the fuselage to travel in a peristaltic manner;
  • a pressure sensor is provided on the outer wall of the fuselage to detect the pressure generated by the collision and extrusion of the fuselage and obstacles.
  • the sweeping robot further includes a controller, which is respectively connected to the pressure sensor and the rolling assembly. And the peristaltic component, the controller determines the relationship between the pressure value and the preset pressure value by receiving the pressure value detected by the pressure sensor, and controls the lifting of the rolling component and the opening of the peristaltic component, If the pressure value is less than the preset pressure value, the rolling assembly is controlled to raise so that the peristaltic assembly contacts the ground, and the peristaltic assembly is turned on so that the peristaltic assembly drives the fuselage to travel.
  • the initial state is that the rolling assembly drives the fuselage to move in a rolling manner.
  • the outer wall of the fuselage and the obstacle will squeeze.
  • the pressure sensor detects that the pressure is large, and the controller controls the rolling assembly to maintain the original state.
  • the pressure sensor detects that the pressure is small, and the controller controls the rolling component to rise until the peristaltic component touches the ground, and then turns on the peristaltic component so that the peristaltic component drives the fuselage to move. .
  • This application can receive the size and volume of the detected obstacle through a controller, determine whether the obstacle can be pushed away, and accurately determine when it encounters a smaller and lighter obstacle, and adjust the volume Pushing away the smaller and lighter obstacles and cleaning the area around the smaller and lighter obstacles can effectively prevent improper cleaning and significantly improve the cleaning coverage and cleaning efficiency.
  • FIG. 1 is a schematic diagram of the front three-dimensional structure of the sweeping robot of this application.
  • Figure 2 is a schematic diagram of the bottom three-dimensional structure of the sweeping robot of the present application.
  • FIG. 3 is a schematic diagram of the top view structure of the sweeping robot of this application.
  • Figure 4 is a partial enlarged schematic diagram of the A-A section of the sweeping robot of the application.
  • Figure 5 is a schematic diagram of the bottom three-dimensional structure of the sweeping robot according to the application.
  • Figure 6 is a simplified schematic diagram of the creeping process of the sweeping robot according to the application.
  • Fig. 7 is a partial enlarged schematic diagram of the B-B section of the sweeping robot of this application.
  • Fig. 8 is a configuration diagram of the controller of the cleaning robot of the present application.
  • Figures 1 and 2 are schematic diagrams of the structure of a sweeping robot of the present application.
  • the sweeping robot provided by the present application includes a fuselage 1, and the bottom of the fuselage 1 is provided with a rolling assembly 11 and The peristaltic component 12 and the rolling component 11 are symmetrically arranged on both sides of the peristaltic component 12.
  • the rolling assembly 11 is used to drive the fuselage 1 to travel under normal conditions
  • the peristaltic assembly 12 is used to drive the fuselage 1 to travel when encountering obstacles.
  • a pressure sensor 21 is provided on the outer wall of the fuselage 1 to detect the pressure generated by the collision and extrusion of the fuselage and obstacles.
  • the sweeping robot also includes a controller 22 which is respectively connected to the pressure sensor 21, the rolling assembly 11 and the peristaltic assembly 12.
  • the controller 22 determines the relationship between the pressure value and the preset pressure value by receiving the pressure value detected by the pressure sensor 21, and controls the lifting of the rolling assembly 11 and the opening of the peristaltic assembly 12. If the pressure value is less than the preset pressure value, control The rolling assembly 11 is raised to make the peristaltic assembly 12 contact the ground, and the peristaltic assembly 12 is turned on so that the peristaltic assembly 12 drives the fuselage 1 to travel.
  • the initial state is that the rolling assembly 11 drives the fuselage 1 to move in a rolling manner.
  • the outer wall of the fuselage 1 will be squeezed against the obstacle.
  • the pressure sensor 21 detects that the pressure is high, and the controller 22 controls the rolling assembly 11 to maintain the original state.
  • the pressure sensor 21 detects that the pressure is small, and the controller 22 controls the rolling assembly 11 to rise until the peristaltic assembly 12 touches the ground, and turns on the peristaltic assembly 12 to make the peristaltic assembly 12 Drive the fuselage 1 to travel.
  • the fuselage 1 has a cylindrical structure.
  • the bottom of the fuselage is also provided with cleaning devices, charging devices and other components commonly used by sweeping robots (not shown in the drawings).
  • the bottom of the fuselage 1 is provided with a first accommodating slot 13
  • the rolling assembly 11 includes a lifting mechanism 111 and a walking mechanism 112, and the lifting mechanism 111 is provided in the first Inside the accommodating groove 13, the traveling mechanism is arranged outside the first accommodating groove 13, the elevating mechanism 111 is connected to the traveling mechanism 112, and the elevating mechanism 111 can simultaneously drive the traveling mechanism 112 to rise and fall during lifting operation, thereby adjusting the performance of the traveling mechanism 112. height.
  • the walking mechanism 112 may further include a roller and a walking driving device. The walking driving device drives the roller to rotate.
  • the walking mechanism 112 may also include a steering mechanism so that the entire sweeping robot can turn. During normal operation, the roller of the traveling mechanism 112 contacts the bottom surface, and the traveling mechanism 112 drives the body to travel.
  • a pressure sensor 21 is provided on the outer wall of the fuselage 1 to detect the pressure generated by the collision and extrusion of the fuselage 1 with obstacles.
  • the pressure detected by the pressure sensor 21 is relatively large.
  • the pressure sensor 21 transmits the detected pressure to the controller 22, and the internal memory of the controller 22 stores the preset pressure value. After the controller 22 compares the detected pressure value with the preset pressure value and determines that it is greater than the preset pressure value, the controller can control the steering of the steering mechanism to prevent forcibly pushing these large and heavy obstacles.
  • the sweeping robot itself causes damage.
  • the pressure sensor 21 can be a full-circle ring-shaped sensor arranged on the outside of the fuselage.
  • the sweeping robot is prone to turning during the work.
  • the part where the fuselage 1 collides with obstacles may change, so it is installed outside the fuselage.
  • a full circle of the ring-shaped sensor can prevent the pressure sensor 21 from losing the detection effect after the steering occurs.
  • the bottom of the fuselage 1 is further provided with a second accommodating groove
  • the peristaltic assembly 12 is arranged in the second accommodating groove
  • the peristaltic assembly 12 includes a fixed block 121 and a moving block 122
  • the fixed block 121 is fixedly connected with the fuselage 1
  • the bottom of the fuselage is provided with a slideway 14
  • the movable block 122 can slide along the slideway 14.
  • the slideway 14 can be a dovetail slide rail
  • the bottom of the movable block 122 can be provided with a dovetail groove.
  • the moving block 122 can be fixed by the second accommodating groove 15 during the working process.
  • the material of the moving block 122 can be set to shape memory alloy, and a heating device is provided inside the moving block 122.
  • the moving block 122 can be adjusted according to the temperature The volume of the body is changed, so as to realize sliding and fixation in the second receiving groove 15. It is also possible to set the material of the moving block 122 to a magnetic metal material, and an electromagnet is arranged inside the second accommodating groove 15, and the moving block 122 is fixed after the electromagnet is energized.
  • the moving direction of the moving block 122 is parallel to the normal traveling direction of the fuselage 1.
  • a pushing mechanism 123 is arranged between the fixed block 121 and the moving block 122. One end of the pushing mechanism 123 is connected with the fixed block 121, and the other end of the pushing mechanism 123 is connected with the moving block 122.
  • the pushing mechanism 123 is used to push the moving block 122 to move along the slideway 14. At the same time, the pushing mechanism 123 can not only push the moving block 122 to move in the direction opposite to the fixed block 121, but also pull the moving block 122 to the direction opposite to the fixed block 121 mobile.
  • Both the fixed block 121 and the movable block 122 are provided with a suction device 124 at the bottom, and the suction device 124 can suction and fix the cleaning robot on the ground.
  • the distance from the lowest point of the traveling mechanism 112 to the bottom of the fuselage 1 during lifting is greater than the distance from the lowest point of the suction device 124 to the bottom of the fuselage 1, and the distance from the highest point of the traveling mechanism 112 to the bottom of the fuselage 1 is less than that of the suction device 124
  • the distance from the lowest point to the bottom of the fuselage 1, that is, during normal operation, the lowest point of the walking mechanism 112 is in contact with the bottom surface. At this time, the walking mechanism 112 is working.
  • the lifting mechanism 111 drives the walking mechanism 112 toward the bottom surface. Move in opposite directions, so that the adsorption device 124 gradually approaches the ground, and finally makes the adsorption device 124 contact the ground, and the adsorption device 124 starts to work. At this time, the sweeping robot moves forward in a creeping manner while pushing away obstacles.
  • the initial state S1 is: the pushing mechanism 123 is in an extended state, and the fixed block 121 and the moving block 122 are farthest away.
  • the intermediate state S2 is: the pushing mechanism 123 starts to contract after being opened. At this time, the suction device 124 at the bottom of the fixed block 121 stops working, and the suction device 124 at the bottom of the moving block 122 continues to work. At the same time, the moving block 122 and the second containing tank 15 The interior is in a non-fixed state, and the moving block 122 remains adsorbed on the ground. When the pushing mechanism 123 contracts, the fixed block 121 is driven to move. Since the fixed block 121 is fixedly connected to the fuselage 1, it can simultaneously drive the fuselage 1 to move forward.
  • the reduction state S3 is: when the pushing mechanism 123 shrinks to the shortest limit, the suction device 124 at the bottom of the moving block 122 stops working, the suction device 124 at the bottom of the fixed block 121 starts to work, the fixed block 121 is adsorbed on the ground, and the moving block 122 and the first The inside of the two accommodating grooves 15 is in a fixed state, and when the pushing mechanism 123 expands and contracts, the moving block 122 is brought back to the initial position along the slide 14 at the same time.
  • the fuselage 1 completes a complete peristaltic process. Through several cycles of the peristaltic process, the fuselage 1 can move a certain distance, and at the same time, the volume and mass of the body 1 when pushed open Light obstacles.
  • the controller 22 may be a data processing chip that can meet the above-mentioned calculation requirements, such as a single-chip microcomputer, PLC, etc.
  • the controller 22 is respectively connected to the pressure sensor 21, the lifting mechanism 111, the pushing mechanism 123, the suction device 124, and the control device that the moving block 122 is fixed to the second accommodating groove 15.
  • the controller 22 obtains the pressure value generated by the collision between the fuselage and the obstacle measured by the pressure sensor 21, and analyzes the relationship between the pressure value and the preset pressure value.
  • the lifting mechanism 111 is not activated , The pushing mechanism 123, the adsorption device 124, and the control device fixed to the moving block 122 and the second accommodating tank 15. If the pressure value is less than the preset pressure value, the lifting mechanism 111 is first activated to lift the walking mechanism 112 until the adsorption device 124 and The bottom surface is in contact, and then the pushing structure 123 and the suction device 124 are controlled by the internal program to realize the forward creep of the fuselage, thereby pushing away the collision obstacle.
  • the controller 22 includes a signal receiving unit 221, a rolling component control unit 222, and a peristaltic component control unit. 223.
  • the signal receiving unit 221 is configured to receive a pressure signal transmitted by a sensor, such as the pressure sensor 21 of the present application.
  • the rolling assembly control unit 222 is configured to control the rolling assembly 11 according to the received pressure signal, specifically controlling the lifting action of the lifting mechanism 111.
  • the peristaltic component control unit 223 is configured to control the peristaltic component 12 according to the received pressure signal, specifically controlling the pushing action of the pushing mechanism 123 and controlling the opening of the adsorption device 124.
  • the floor of the environment where the sweeping robot is used is usually a relatively smooth ceramic tile or floor. If you directly use the forward thrust of the walking mechanism 112 to push the obstacle, it will often cause slipping. Not only cannot the obstacle be pushed away, but also easily damaged. It is a machine, so the creeping travel method of the present application can not only push away the obstacles well, but also smooth ground such as tiles and floors is more suitable for the use of the adsorption device 124 of the present application.
  • an operation panel can be set on the surface of the sweeping robot, and the preset pressure value can be changed according to the use environment through the operation panel. For example, a room with children at home is prone to have more toys on the ground. Set the preset pressure value for the weight of the sweeping robot. You can also set up an obstacle library inside the sweeping robot. The user can directly select the same or similar obstacles in the obstacle library, and control the entire sweeping through the built-in preset pressure value robot.
  • the bottom of the fuselage 1 is provided with a rolling component 11 and a peristaltic component 12, and the rolling component 11 is symmetrically arranged on both sides of the peristaltic component 12.
  • the rolling assembly 11 includes a lifting mechanism 111 and a walking mechanism 112
  • the peristaltic assembly 12 includes a fixed block 121, a moving block 122, a pushing mechanism 123 and a suction device 124.
  • a pressure sensor 21 is provided on the outside of the fuselage.
  • the pressure sensor 21 detects that the pressure is high, and the controller 22 controls the lifting mechanism 111, the pushing mechanism 123 and the suction device 124 to close. If the obstacle is small in size and light in weight, the pressure sensor 21 detects that the pressure is low, and the controller 22 controls the lifting mechanism 111 to open, and the lifting mechanism 111 lifts the working walking mechanism 112 upwards, and the sweeping robot stops moving forward , Simultaneously turn on the pushing mechanism 123 and the suction device 124.
  • the sweeping robot pushes the obstacle to creep forward.
  • the present application can receive the size and volume of the detected obstacle through a controller 22, and determine whether the obstacle can be pushed away. It can accurately determine when encountering a smaller and lighter obstacle, and Pushing away the smaller and lighter obstacles, while cleaning the area around the smaller and lighter obstacles, can effectively prevent the cleaning from not in place, and significantly improve the cleaning coverage and cleaning efficiency.
  • a height measuring sensor 23 is provided on the top of the fuselage.
  • the height measuring sensor 23 is used to detect the height of the obstacle, and the height measuring sensor 23 is connected to the controller 22.
  • the controller 22 When cleaning robots, they may encounter objects that are large but light in gravity, such as cardboard boxes. The pressure generated by the robots when they collide with such special obstacles is relatively small. Such obstacles are usually not It needs to be pushed away, so if you only use the pressure sensor to determine whether to push such obstacles away, it is easy to cause erroneous operations.
  • the height measuring sensor 23 can be arranged on the top of the sweeping robot, and the height of the obstacle can be obtained through the height measuring sensor 23, and the width of the obstacle can also be obtained, and finally the volume of the obstacle can be obtained.
  • the preset height or volume preset value is preset inside the sweeping robot. If the measured height or volume of the obstacle exceeds the height preset value and the volume preset value, it can be judged not to push the obstacle away .
  • the lifting mechanism 111 includes a gear support block 113 and a rack support block 114 arranged inside the first accommodating groove 13, and the gear support block 113 is connected to a gear 115
  • the drive motor 116 is used to drive the gear 115 to rotate.
  • the rack support block 114 is connected with a rack 117. Two slide rails can be provided on both sides of the rack support block 114.
  • the rack 117 can run along the rack.
  • the sliding rail on the side wall of the support block 114 slides, the gear 115 and the rack 117 mesh with each other, the bottom of the rack 117 is connected to the traveling mechanism 112, and the driving motor 116 is connected to the controller 22 so that the controller 22 controls the driving motor The opening of 116.
  • the controller 22 controls the drive motor 116 to rotate, and the gear 115 rolls relative to the rack 117. As shown in FIG. 4, when the gear 115 rotates clockwise, the gear 115 rotates clockwise. The strip 117 moves to the top of the first accommodating groove 13 and at the same time drives the walking mechanism 112 to move to the top of the first accommodating groove 13, so that the body 1 is lowered as a whole until the suction device 124 contacts the ground.
  • the controller 22 can control the driving motor 116 to rotate in the opposite direction, so that the rack 117 moves away from the top of the first accommodating slot 13, so that the walking mechanism 112 is moved away from the first accommodating slot.
  • the movement of the top of 13 causes the fuselage 1 to rise as a whole, until the suction device 124 is separated from the inside, and the traveling mechanism 112 drives the fuselage 1 to travel again.
  • the rack 117 and the rack support block 114 can be connected by a connecting block 118.
  • a limit block 119 is provided on the side wall of the rack support block 114. The limit block 119 is used to limit the sliding of the rack 117 to prevent the rack from sliding. 117 is disengaged from the gear 115.
  • the pushing mechanism 123 includes a cylinder 125 and a pushing rod 126.
  • One end of the cylinder 125 is connected to the fixed block 121, and the other end of the cylinder 125 is connected to the pushing rod 126.
  • the other end of the pushing rod 126 is connected with the moving block 122, the cylinder 125 is used to push the pushing rod 126, and the cylinder 125 is connected with the controller 22 so that the controller controls the opening of the cylinder 125.
  • the controller 22 controls the progress of the peristaltic device by controlling the opening and closing of the cylinder 125, and the cylinder 125 drives the push rod 126 to reciprocate.
  • the cylinder in the initial state, the cylinder is in a non-compressed state, and the pushing rod 126 is now extended; in the intermediate state, the cylinder is in a compressed state, and the pushing rod 126 is contracted at this time, and the cylinder is in a non-compressed state in the reduction state.
  • the pushing rod 126 In the compressed state, the pushing rod 126 is extended, and the fixed block 121 and the moving block 122 are pushed through the reciprocation of the cylinder to realize the entire process of peristaltic motion.
  • a pushing plate 127 can be provided between the pushing rod 126 and the moving block 122, which can increase the pushing force to a certain extent.
  • the adsorption device 124 includes an adsorption tank 128 arranged at the bottom of the fixed block 121 and the movable block 122, and the adsorption tank 128 is provided with a vacuum pump 129 and a holding tray.
  • the inside of the holding bracket 130 is filled with magnetic metal balls 131.
  • the magnetic metal balls 131 isolate the inside of the adsorption tank 128 from the outside air.
  • the inside of the adsorption tank 128 is also provided with an electromagnetic device 132.
  • a suction cup 133 is provided at the bottom.
  • the suction cup 133 is connected to the adsorption tank 128.
  • the electromagnetic device 132 is used to adsorb the magnetic metal balls 131.
  • the vacuum pump 129 is used to extract air from the suction cup 133 so that the suction cup 133 is fixed on the ground by adsorption.
  • 132 is connected with the controller 22, and the controller 22 is used to control the opening of the electromagnetic device 132 and the vacuum pump 129. In actual use, the controller 22 controls the electromagnetic device 132 to turn on. After the electromagnetic device 132 adsorbs the magnetic metal ball 131, the inside of the adsorption tank 128 is connected to the outside air.
  • the controller 22 controls the vacuum pump 129 to turn on, and the suction cup The internal air of the 133 is drawn out, so that the inside of the suction cup 133 is in a vacuum state, so that the suction cup 133 is tightly combined with the bottom surface, and the suction device 124 fixes the fixed block 121 or the movable block 122 on the ground.
  • a plurality of suction devices 124 may be provided at the bottom of the fixed block 121 and the movable block 122.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot de balayage comprenant un corps d'unité. L'invention concerne également un élément de roulement pouvant être soulevé/abaissé et un élément de glissement. L'élément de roulement est utilisé pour entraîner le corps unitaire à se déplacer par roulement. L'élément de glissement est utilisé pour entraîner le corps unitaire à se déplacer par glissement. Un capteur de pression est disposé sur la paroi externe du corps unitaire pour détecter la pression générée lorsque le corps unitaire entre en collision avec un obstacle et est pressé contre ce dernier. Le robot de balayage comprend également un dispositif de commande. Le dispositif de commande est respectivement connecté au capteur de pression, à l'élément de roulement et à l'élément de glissement. Dans des applications pratiques, le dispositif de commande reçoit la taille et le volume de l'obstacle détecté par le capteur de pression, détecte si oui ou non l'obstacle peut être poussé, ce qui permet de réaliser une détermination précise lors de la rencontre avec un obstacle petit et léger, d'éloigner l'obstacle petit et léger, et en même temps, de nettoyer la zone autour de l'obstacle petit et léger, ce qui permet d'empêcher efficacement la survenue d'un nettoyage inadéquat et d'augmenter considérablement la couverture de nettoyage et l'efficacité de nettoyage.
PCT/CN2020/080482 2019-03-27 2020-03-20 Robot de balayage WO2020192590A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201910236691.8 2019-03-27
CN201920397216.4 2019-03-27
CN201920397216.4U CN210582379U (zh) 2019-03-27 2019-03-27 一种扫地机器人
CN201910236691.8A CN109730594A (zh) 2019-03-27 2019-03-27 一种扫地机器人

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Publication Number Publication Date
WO2020192590A1 true WO2020192590A1 (fr) 2020-10-01

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Application Number Title Priority Date Filing Date
PCT/CN2020/080482 WO2020192590A1 (fr) 2019-03-27 2020-03-20 Robot de balayage

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WO (1) WO2020192590A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN113974498A (zh) * 2021-11-10 2022-01-28 广州市小罗机器人有限公司 清洁机器人、清洁机器人的控制方法及系统

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CN107080499A (zh) * 2017-06-09 2017-08-22 小狗电器互联网科技（北京）股份有限公司 扫地机器人被卡住后的脱困方法及扫地机器人
CN107544495A (zh) * 2017-08-17 2018-01-05 北京小米移动软件有限公司 清扫方法及装置
US20180210445A1 (en) * 2017-01-25 2018-07-26 Lg Electronics Inc. Moving robot and control method thereof
CN108784532A (zh) * 2017-08-17 2018-11-13 孙立民 一种智能扫地机器人的行走机构
CN109730594A (zh) * 2019-03-27 2019-05-10 南京英维尔科技服务有限公司 一种扫地机器人

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Publication number Priority date Publication date Assignee Title
CN106200645A (zh) * 2016-08-24 2016-12-07 北京小米移动软件有限公司 自主机器人、控制装置和控制方法
US20180210445A1 (en) * 2017-01-25 2018-07-26 Lg Electronics Inc. Moving robot and control method thereof
CN107080499A (zh) * 2017-06-09 2017-08-22 小狗电器互联网科技（北京）股份有限公司 扫地机器人被卡住后的脱困方法及扫地机器人
CN107544495A (zh) * 2017-08-17 2018-01-05 北京小米移动软件有限公司 清扫方法及装置
CN108784532A (zh) * 2017-08-17 2018-11-13 孙立民 一种智能扫地机器人的行走机构
CN109730594A (zh) * 2019-03-27 2019-05-10 南京英维尔科技服务有限公司 一种扫地机器人

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113974498A (zh) * 2021-11-10 2022-01-28 广州市小罗机器人有限公司 清洁机器人、清洁机器人的控制方法及系统

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