The present application relates to a base station, a cleaning apparatus, and a self-moving system. The base station comprises: a base station body provided with a parking portion for a self-moving device to park, a camera apparatus being provided at the top of the self-moving device; and a cleaning apparatus provided on the base station body, the cleaning apparatus comprising a driving assembly, a rocker arm, a sliding member matching the rocker arm, and a cleaning assembly provided on the sliding member, wherein the driving assembly is used for driving the rocker arm to rotate and converting the rotating motion of the rocker arm into linear motion of the sliding member, such that the cleaning assembly cleans the camera apparatus. According to the base station, the cleaning apparatus is arranged on the base station body, such that the camera apparatus at the top of the self-moving device can be automatically cleaned when the self-moving device arrives at the base station, thereby improving the working quality of the self-moving device, and facilitating the improvement of user experience.
B08B 1/00 - Cleaning by methods involving the use of tools, brushes, or analogous members
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
Embodiments of the present application provide an intelligent lawn mowing apparatus. The intelligent lawn mowing apparatus comprises: an apparatus body having an actuating mechanism provided thereon, the apparatus body having a front end and a rear end; and a first lens provided at the top front end of the apparatus body, the first lens comprising a light-transmitting region, and the first lens collecting environmental information by means of the light-transmitting region. A first point exists on the first lens, and a second point exists on the top surface of the apparatus body; the first point is a contour point corresponding to the bottom edge of the light-transmitting region towards the front end; the second point is the highest point on the top surface of the apparatus body located in front of the first lens; and the included angle between a line connecting the first point and the second point and a horizontal plane is greater than or equal to a first set acute angle. In this way, a collection region would not be blocked, the collected environmental information can satisfy the working requirements of the apparatus body, and the probability that the first lens is damaged by collision can also be reduced.
A self-moving cleaning robot (1), comprising a main unit (10), and an edge sensor (220) and a laser sensor (30), which are respectively located on opposite sides of the main unit (10). The laser sensor (30) comprises a first transmitting and receiving module (320) and a second transmitting and receiving module (330), wherein a first field-of-view angle (θ1) of the first transmitting and receiving module (320) and a second field-of-view angle (θ2) of the second transmitting and receiving module (330) are connected to or overlapped with each other in a corner area of the main uint (10), thereby eliminating a sensing blind area in the corner area, and thus expanding the sensing range. In addition, the laser sensor (30) can be arranged in the corner area in the main unit (10), thereby saving internal space in the main unit (10), and the thickness of the main unit (10) is reduced since the configuration of a mechanical lifting mechanism is omitted, thereby solving the problems of a complex navigation obstacle avoidance structure and the excessive size of the main unit (10) of an existing self-moving cleaning robot.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
4.
CLEANING DEVICE AND CONTROL METHOD THEREFOR, CLEANING ROBOT, AND RAISING/LOWERING DEVICE
A cleaning device (10) and a control method, a cleaning robot, and a raising/lowering device (80). A cleaning assembly (20) is driven by a driving motor (41) to rotate so as to clean a surface (30) to be cleaned; a raising/lowering mechanism comprising a driving assembly (40), a raising/lowering assembly (50), and a selective transmission member (60) can be suitable for the rotatable cleaning assembly (20); and the cleaning assembly (20) can also be actuated by the driving motor (41) to raise, without additionally providing a mechanism for driving the cleaning assembly (20) to raise/lower, i.e., the raising/lowering mechanism is high in integration level, compact in structure, and small in occupied space. Moreover, a first raising/lowering member (51) is controlled to rotate in a direction (i.e., a preset rotation direction) with respect to a second raising/lowering member (52), so that a moving member (55) sequentially passes through a rising guide rail surface (541) and a resetting guide rail surface (542), thereby reliably and stably driving the cleaning assembly (20) to raise/lower.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
Embodiments of the present application provide an operation boundary generation method, an operation control method, equipment, and a storage medium. In the embodiments of the present application, an outdoor robot is controlled to move along the boundary of an operation area, to obtain an operation boundary of the operation area in an environment map; the outdoor robot is controlled to traverse the operation area along the operation boundary, and acquire environment images of the operation boundary; the operation boundary in the environment map is corrected according to boundary information of the operation area in the environment images to obtain a corrected operation boundary. Compared with an operation boundary generation method in which magnetic strips are laid, the method provided by the present application is simple to operate and high in efficiency, there is no need to lay magnetic strips, and the cost is reduced.
A cleaning device (01), a cleaning host (101) and a control method, capable of automatically attaching and removing a cleaning cloth accessory (102). The cleaning device (01) comprises a cleaning host (101) and a cleaning cloth accessory (102). The cleaning host (101) comprises: a machine body (10) having a cleaning side (12) and a back side (13) arranged opposite to each other in the thickness direction thereof; and a connecting mechanism (20) provided on the machine body (10) and having a movable connecting portion (20a), wherein the connecting portion (20a) moves in the first direction to be connected to the cleaning cloth accessory (102), the connecting portion (20a) moves in a direction opposite to the first direction to be separated from the cleaning cloth accessory (102), and the first direction is a direction close to the cleaning side (12) from the back side (13). The cleaning device (01) can automatically attach or remove the cleaning cloth accessory (102) as needed, and a user does not need to perform a manual operation, thereby improving the automation degree of the cleaning device (01), releasing the labor burden of the user, and increasing the use convenience of the cleaning device (01).
A47L 11/283 - Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
7.
METHOD FOR CONTROLLING SELF-MOVING CLEANING DEVICE, AND CLEANING DEVICE AND READABLE STORAGE MEDIUM
A method for controlling a self-moving cleaning device (100), and a cleaning device (100) and a readable storage medium. During the process of a self-moving cleaning device (100) executing a cleaning task, whether a preset condition is met is detected in real time; and when the preset condition is met, a liquid supply system (13) of the self-moving cleaning device (100) is turned off, and the self-moving cleaning device continues to work while the liquid supply system (13) is in a turned-off state, such that the liquid supply system (13) no longer sprays water to a roller (12). Since the self-moving cleaning device (100) works for a period of time while the liquid supply system (13) is in the turned-off state, water stains on the ground are avoided, thereby improving the cleaning quality. In addition, a complex structural design is avoided, such that the product cost is effectively reduced, and a user has better product experience.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
8.
CLEANING PATH DETERMINATION METHOD AND SYSTEM, AND DEVICE AND STORAGE MEDIUM
A cleaning path determination method and system (900), and a device and a storage medium (1002). The cleaning path determination method comprises: in response to a cleaning instruction for a cleaning robot, controlling the cleaning robot to rotate, on a surface to be cleaned, by a preset angle on the basis of a target rotation direction (S101); during the rotation process of the cleaning robot, monitoring whether the cleaning robot generates a first edge/corner trigger signal (S102); and determining, according to a monitoring result of the first edge/corner trigger signal, an operation path of the cleaning robot on the surface to be cleaned (S103). Therefore, an operation path is automatically determined on the basis of a monitoring result of a first edge/corner trigger signal, and compared with depending on manual selection of an operation path in the prior art, the adaptability of the operation path to a surface to be cleaned can be ensured, such that the normal operation of a cleaning robot is ensured, the work efficiency and the cleaning effect of the cleaning robot are improved, and the reliability of the cleaning robot is improved.
A self-moving cleaning robot, a cleaning system, a control method, and a cleaning method. The self-moving cleaning robot comprises a machine body (1), and a water tank (4) arranged on the machine body (1). The water tank (4) comprises a tank body, wherein an air duct (32) is formed in an inner cavity of the tank body, a fan accommodating cavity (41) extending from the bottom of the tank body to the top of the tank body is arranged in the inner cavity of the tank body, an open end of the fan accommodating cavity (41) faces a lower portion of the tank body, an air duct inlet (320) is provided in a side wall of the tank body, and an air duct outlet (321) is provided at the top of the fan accommodating cavity (41); and the air duct (32), which is formed in the inner cavity of the tank body, and comprises a second channel (322) which is enclosed by an enclosing side wall (410) of the fan accommodating cavity (41) and a side wall of a corresponding portion of the tank body, and a first channel (323) which is located in the inner cavity of the tank body and is between the air duct inlet (320) and the fan accommodating cavity (41). By means of the self-moving cleaning robot, waste water generated during cleaning work can be sucked in the tank body, the waste water and an airflow are separated in the inner cavity of the tank body, the waste water is left in the inner cavity of the tank body, and the airflow is exhausted out of the tank body.
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
A47L 11/29 - Floor-scrubbing machines characterised by means for taking-up dirty liquid
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
Provided in the embodiments of the present application are a structured light module and a self-moving device. In the embodiments of the present application, the structured light module can collect, by means of the mutual collaboration of a first camera and a line laser emitter, a first environment image including laser stripes, which are generated after a line laser encounters an object; and can also collect a visible light image, which does not include the laser stripes, by means of a second environment image, and the first environment image and the second environment image can facilitate the more accurate detection of more abundant environment information, thereby expanding the application range of a laser sensor.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 1/02 - Control of position or course in two dimensions
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/933 - Lidar systems, specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
11.
SELF-MOVING ROBOT CONTROL METHOD AND APPARATUS, DEVICE, AND READABLE STORAGE MEDIUM
A self-moving robot control method and apparatus, a device and a readable storage medium. The method comprises: a self-moving robot determines a sound source direction according to a voice signal from a user (301); determines moving objects around the self-moving robot (302); determines, from the moving objects, a target object located in the sound source direction (303); determines a working area according to the target object (304); and moves to the working area, and executes a task in the working area (305). Using the present solution, since the self-moving robot determines the target object from the moving objects, the moving objects have an accurate spatial position; therefore, the self-moving robot can accurately determine the target object from a plurality of moving objects according to the sound source direction and accurately reach the working area without the help of a client, and the process is simple and flexible. Moreover, the solution is applicable to all laser-based self-moving robots, and is low in cost, has a simple algorithm and requires low computing power.
Disclosed are an air purification device, and a purification assembly and a humidification module thereof. A filter module (210) comprised by the purification assembly (20) surrounds the periphery of the humidification module (220). The humidification module (220) comprises a water tank (222), a humidification layer (2212), and a pump assembly (223), a flow channel (224) also being provided on the humidification module (220). The pump assembly (223) is used to extract the liquid from the water tank (222) into the flow channel (224) to wet the humidification layer (2212). Furthermore, excess liquid may flow back into the water tank (222) through the flow channel (224), thereby forming a water circulation system. After being purified by the filtering module (210), external air can be purified and humidified again by means of the wetted humidifying layer (2212), thereby having the beneficial effects of simultaneous purification and humidification, effectively increasing air quality.
A self-cleaning system, a self-moving device (200), a workstation (100), and a working method therefor. The workstation (100) is additionally provided with the function of dust collection and the function of cleaning a wiping assembly (2012); and when a dust box (51) needs to collect dust, firstly, a dust collection operation of the dust box (51) is performed, and after dust collection is completed, a cleaning operation of the wiping assembly (2012) is then performed. In this way, damp dust can be prevented from blocking a dust collection channel (1017), and damp dust can also be prevented from breeding bacteria in a dust collection bag.
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
14.
ROBOT BASE STATION, ROBOT SYSTEM, BASE MODULE, AND FUNCTIONAL PARTS OF BASE STATION
A robot base station, a robot system, a base module, and functional parts (4, 5, 6) of the base station. The robot base station comprises: a base (1) for parking a robot (100); and a plurality of functional parts (4, 5, 6), each of the functional parts (4, 5, 6) being provided with at least one functional module, and different functional modules providing different services for the robot (100). Any one of the plurality of functional parts (4, 5, 6) can be combined and assembled with the base (1), and at least some of the plurality of functional parts (4, 5, 6) can be combined and assembled and then combined and assembled with the base (1), so as to form base stations having are formed. By modularly designing the robot base station, it is only necessary to combine the functional parts (4, 5, 6) with the base (1) according to actual needs of users to obtain base stations that meet the needs of different users.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
15.
ROBOT BASE STATION, BASE MODULE OF BASE STATION, AND ROBOT SYSTEM
A robot base station (100), a base module of the base station, and a robot system. The robot base station (100) comprises: a base (110) for the docking of a robot (200); a cleaning device for cleaning the robot (200); a water supply device for supplying water to the robot (200) and/or supplying water to the cleaning device; a dust collection device for collecting dust from the robot (200); and a power supply device for charging the robot (200), wherein for connection of the above devices to the robot (200), the base (110) is provided with a docking connection device (111), a charging connection device (112), a dust collection connection device (113), a water supply connection device (114) and a waste water recovery connection device (115). The robot base station (100) integrates multiple functions, and can provide different services for the robot (200).
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
16.
CLEANING DEVICE AND WATER TANK ASSEMBLY FOR CLEANING DEVICE
A cleaning device and a water tank assembly for a cleaning device. The cleaning device comprises a water tank assembly, a drum (8), and an air suction apparatus (10). The water tank assembly comprises a first water tank (1) and a second water tank (2). A top portion of the first water tank (1) is recessed to form a first mounting position (3), so that an upper portion of the first water tank (1) forms a protruding portion (101), the second water tank (2) is mounted in the first mounting position (3) and is used to supply water to the drum (8), and an air suction end of the air suction apparatus (10) communicates with an accommodating space within the first water tank (1). In the cleaning device, the water tank assembly comprises the protruding portion (101) and the first mounting position (3). The protruding portion (101) is disposed on the upper portion of the first water tank (1), so that a lower portion of the first water tank (1) has a relatively large cross-sectional area. During use, with the accumulation of waste water within the first water tank (1), the overall center of gravity can be relatively stable, a sufficient water-vapor separation height can be provided by means of the protrudingly provided protruding portion (101), and the mounting of the second water tank (2) in the first mounting position (3) will not increase the overall height.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
An air purifier and an air quality optimization module. The air quality optimization module (20) is disposed in the main machine (10) of the air purifier, and comprises a body (210), an air purification component (220), and a lifting component (230). The air purification component (220) extends out of the body (210) relative to the body (210) under the drive of the lifting component (230), or is accommodated in the body (210), thereby being applied in different usage scenarios. The timing when the air purification component (220) shifts to the interior or exterior of the body (210) is selected so as to, according to usage requirements, start up or shut down an air purification program, thus helping to solve the problem of managing an indoor environment.
F24F 8/108 - Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by separation, e.g. by filtering using dry filter elements
F24F 8/50 - Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by odorisation
18.
SELF-MOVING DEVICE, AND SYSTEM, MODULES AND CONTROL METHOD
Provided in the embodiments of the present application are a self-moving device, and a system, modules and a control method. In the embodiments of the present application, provided are a device main body, which can autonomously move and has a mounting cavity, and a plurality of functional modules, which can execute different specific operation tasks and can be combined with or separated from the device main body. On the basis of using the same device main body, a self-moving device having different functions can be realized according to application requirements and by means of the mounting cavity of the device main body being combined with different functional modules, such that the aim of enriching and intelligentizing the functions of the self-moving device is achieved; in addition, it is possible to combine whichever functional modules are required, and there is no need to carry relatively more redundant functional modules, thereby facilitating the realization of a lightweight self-moving device, and conveniently improving operation efficiency and saving on the electric quantity of a battery.
A method, device and control terminal for controlling a cleaning robot, and a cleaning robot. The method for controlling a cleaning robot comprises receiving a cleaning mode determined in response to a user operation (202); receiving control information inputted by the user (204); and determining the working means of a cleaning robot according to the determined cleaning mode and the control information inputted by the user (206), thereby achieving an interactive means in which a user can perform an operation according to the actual working environment of a robot so as to select a corresponding cleaning mode; in addition, the user can achieve an unbiased control of the cleaning robot, which conforms with the user's operating habits and provides great convenience to the user.
A47L 11/38 - Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A cleaning apparatus (100) and a cleaning robot system. The cleaning apparatus (100) comprises: a first cleaning component (1); and at least one first convex rib (21) provided on the first cleaning component (1) and used for being in contact with a cleaned part. The arrangement of the at least one first convex rib (21) causes the first cleaning component (1) to be provided with a liquid storage tank (3) and a liquid outlet (4). In the working state, cleaning liquid in the liquid storage tank (3) is maintained at a liquid level where the cleaning liquid can be in contact with the cleaned part, and the cleaning liquid in the liquid storage tank (3) is updated by flowing through the liquid outlet (4). In this liquid, the first convex rib (21) can scrape and squeeze sewage or dirt (such as hair, etc.) on the cleaned part, so as to clean the cleaned part; in addition, in the washing process of the cleaned part, the cleaning liquid in the liquid storage tank (3) can be continuously discharged through the liquid outlet (4), and new cleaning liquid can be injected to implement flowing updating of the cleaning liquid in the liquid storage tank (3), so that the cleaning rate of the cleaned part can be increased.
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method and system for controlling an autonomous mobile robot, and an autonomous mobile robot. The method comprises: when an autonomous mobile robot cleans a current area, identifying information of a wire-type article appearing on a cleaning path, wherein the information at least includes one of posture information of the wire-type article, the length of the wire-type article, and a cross-sectional radius of the wire-type article (S1); and determining, from among preset control policies, a target control policy matching the identified information, and enabling the autonomous mobile robot to execute the target control policy (S2). An autonomous mobile robot can effectively be prevented from being intertwined with a wire-type article.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
22.
INFORMATION COLLECTION METHOD, DEVICE AND STORAGE MEDIUM
An information collection method, a device and a storage medium. An autonomous mobile device can collect environment information by means of a structured light module (30), and can collect, in a supplementary manner, obstacle information within a blind area range of the structured light module (30) by means of executing an omission remediation action, such that the autonomous mobile device detects richer and more accurate environment information during a task execution process, avoids missing information of lower obstacles, and can avoid the obstacles and construct an environment map according to the detected information of the obstacles, thereby providing a foundation for subsequent working task execution and obstacle avoidance.
An autonomous moving device and a control method. The autonomous moving device comprises: a device body (1), on which an advancing assembly (5) is provided to provide an advancing power; a movable connection mechanism (6) provided on the device body (1); and a mopping assembly (2) movably connected to the device body (1) by means of the movable connection mechanism (6), when the autonomous moving device executes a traveling mode, the mopping assembly (2) generating a propelling force for assisting the autonomous moving device in advancing. Provided is a solution for generating, by means of the mopping assembly (2), a propelling force for assisting the autonomous moving device in advancing, thereby improving the capabilities of the autonomous moving device, such as slope climbing and obstacle surmounting.
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
A47L 11/283 - Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
24.
AUTONOMOUS MOBILE ROBOT, AND SYNCHRONOUS BELT AND PREPARATION METHOD THEREFOR
Disclosed are an autonomous mobile robot, and a synchronous belt and a preparation method therefor. The autonomous mobile robot comprises a machine body, with a synchronous belt (1) being arranged at the bottom of the machine body. The synchronous belt (1) comprises an inner ring (2) and an outer ring (3), wherein the outer ring (3) is in rolling contact with a travelling surface; the inner ring (2) and the outer ring (3) are both made of millable polyurethane; the shore hardness of the inner ring (2) is 60A-90A; and the shore hardness of the outer ring (3) is 30A-60A. The synchronous belt of the autonomous mobile robot has a good wear resistance, can maintain high abradability where the hardness is low, can effectively improve the friction force between the autonomous mobile robot and working media such as glass, improves the working efficiency and the range of cleaning of the autonomous mobile robot, and expands the use range of the autonomous mobile robot.
Embodiments of the present application provide a robot and a method for controlling same. In the method for controlling the robot, the robot can acquire posture data of a user in response to a posture interaction wakeup instruction, and determine a target operation region according to the posture data of the user, and can also move to the target operation region to execute a set operation task in the case that the target operation region and a region to which the current position of the robot belongs are different regions, such that the robot achieves mobile operations based on postures of the user without being restricted by region division, thereby further improving the control flexibility of the robot.
A47L 11/00 - Machines for cleaning floors, carpets, furniture, walls, or wall coverings
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
26.
STRUCTURED LIGHT MODULE AND AUTONOMOUS MOVING APPARATUS
A structured light module (100) and an autonomous moving apparatus. The structured light module (100) comprises a camera module (101) and line laser transmitters (102) arranged at two sides of the camera module (101). The line laser transmitter (102) transmits outbound line laser. The camera module (101) captures an environment image according to information detected by the line laser. Since detection performed by using line laser has high precision, more accurate information of the environment ahead can be obtained. Since the line laser transmitters (102) are arranged at two sides of the camera module (101), a line laser sensor implementing such arrangement has a small size and occupies a small space, thereby extending application scenarios for line laser sensors.
G01B 11/25 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. moiré fringes, on the object
A self-moving robot, comprising an upper cover (10), a base (20) and a pressure sensor assembly (30); the upper cover (10) comprises a top plate (110) and a side plate (120) which are integrally provided, a connecting part (130) is formed between the top plate (110) and the side plate (120), and at least a part of the connecting part (130) is higher than the top plate (110); the base (20) is provided below the top plate (110); and the pressure sensor assembly (30) is configured to face the side plate (120). The present invention can avoid the usage of a floating collision plate used in a conventional self-moving robot affecting the positioning accuracy of an optical component, improving the reliability of the self-moving robot in a traveling process.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
An autonomous mobile device (100). An area array laser sensor (106) is inclinedly mounted onto a device body (101) of the autonomous mobile device (100) in a vertical field-of-view direction. The area array laser sensor (106) is inclinedly mounted so as to narrow the observation range for non-rich information area and enlarge the observation range for rich information area, thereby facilitating the collection of richer external environment information at a vertical field-of-view angle and improving the sensing ability and sensing accuracy of the autonomous mobile device (100) to the external environment.
A robot, a robot system, a dust bin (4), and a control method. The robot comprises a body (2) provided with a suction port (3) and a dust bin (4), the suction port (3) being communicated with the dust bin (4). The dust bin (4) is provided with a plurality of dust discharge ports (6) and a dust inlet port (5) communicated with the suction port (3). When the body (2) is in a first operation mode, the plurality of dust discharge ports (6) is closed, and a substance on a surface where the body (2) is located is collected into the dust bin (4) through the suction port (5); and when the body (2) is in a second operation mode, the plurality of dust discharge ports (6) cooperates to discharge the stored substance in the dust pin (4) under the action of a suction airstream. The present invention is used for effectively reducing the amount of residual dust in the dust bin (4).
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
Provided are a self-moving robot and a walking method therefor. The self-moving robot comprises a machine body, a driving wheel assembly and an obstacle crossing assembly, wherein the driving wheel assembly is rotatably arranged on the machine body by means of a first rotary shaft; the driving wheel assembly comprises a driving wheel; and in the process of the driving wheel moving, relative to the machine body, from a first position to a second position, the obstacle crossing assembly applies a force to the driving wheel assembly, and the positive pressure variation amplitude between the driving wheel and a traveling surface is less than or equal to a set threshold. In the technical solution provided in the present application, when a self-moving robot encounters an obstacle, and a machine body thereof is jacked up or the self-moving robot walks to a pit position, a driving wheel assembly is not only subjected to the gravity thereof, but also to an acting force applied by an obstacle crossing assembly; and under the combined action of these forces, the positive pressure variation amplitude between a driving wheel and a traveling surface is less than or equal to a set threshold, such that the friction between the driving wheel and the traveling surface is increased, and the obstacle crossing capability of the self-moving robot is improved.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A surface cleaning robot, comprising: a first cleaning cloth (110) disposed at the bottom of a main body (100); and a second cleaning cloth (120) disposed at one side of the main body (100), the second cleaning cloth (120) rotating under the action of a driving mechanism (200). Compared with the prior art, the surface cleaning robot cleans, by means of the second cleaning cloth (120) at one side of the main body (100), a surface to be cleaned. The driving method for the second cleaning cloth (120) is independent from the walking of the surface cleaning robot, and this is different from the solution in the prior art that cleaning is performed by the bottom of a surface cleaning robot while the surface cleaning robot walks. Therefore, rollers having a large volume are omitted. By driving the second cleaning cloth (120) to rotate, the cleaning effect is better improved.
A dynamic region division and region channel identification method, and a cleaning robot. Wherein, the dynamic region devision method comprising the following steps: obtaining environment information collected by a robot when working in a first region (S101); on the basis of the environment information, when determining that there is a channel for entering into a second region, judging whether the robot has completed work tasks within the first region (S102); when the work tasks have not been completed, adding an additional border at said channel in order to block the channel (S103). The method reduces the likelihood of repeated sweeping or missed sweeping, and has a high cleaning efficiency; in addition, the method relies on environment information collected during work, and does not require the help of historical map data, and has high environment adaptability.
Disclosed is a cleaning robot. The cleaning robot comprises a vacuum source (210) and a ventilating duct (10), the ventilating duct (10) comprising a main air inlet (110) and an air outlet (120) disposed on the cleaning robot; the cleaning robot further comprises a heating element (20) and a heat dissipation device (30), the heating element (20) being connected with the heat dissipation device (30), the heat dissipation device (30) being connected with the ventilating duct (10), and the heat dissipation device (30) dissipating heat of the heating element (20) via the ventilating duct (10). The temperature of the interior of the cleaning robot can be rapidly reduced during operation, thereby improving the use experience of the cleaning robot.
A method for making way, a device and a storage medium. The method for making way comprises: a moving device detecting a moving object existing in the ambient environment of the mobile device and a movement path of the moving object (S101); in conjunction with the detected movement path of the moving object, predicting a target movement direction of the moving object within a certain future time period (S102); and if the self-moving device is located in the target movement direction, indicating that the self-moving device will hinder the movement of the moving object, the self-moving device being able to actively make way for the moving object which is moving towards the self-moving device (S103). The invention improves the working performance and the degree of intelligence of a self-moving device.
Provided are a travel control method, device, and storage medium, said method comprising: a self-moving device collecting three-dimensional environment information of its own travel path during travel (S101); on the basis of the three-dimensional environment information, identifying an obstacle area and type thereof on the travel path of the self-moving device (S102); for different types of areas, the self-moving device adopts different travel controls in a targeted manner (S103). Using the described travel control method improves the obstacle avoidance performance of a self-moving device.
Disclosed are an autonomous movement device, a control method and a storage medium. The autonomous movement device carries out environment sensing based on environment information acquired by an area array laser sensor (103) so as to complete various functions. The environment information acquired by the area array laser sensor (103) includes high-precision and high-resolution direction and distance information and reflectivity information, and environment characteristics with matching and identification values can be acquired therefrom; and the area array laser sensor has relatively strong environment identification capabilities, which is beneficial to improving the spatial understanding of the environment by the autonomous movement device. Compared with a sensing scheme based on an image sensor, the sensing scheme in the present invention can provide more accurate distance and direction information, reduce the complexity of a sensing operation and improve the real-time performance.
Provided in the embodiments of the present application are a robot control method, a robot, and a storage medium. In the embodiments of the present application, on the basis of a re-positioning operation, a robot determines the position at which the robot is located when escaping from hijacking; determines a task execution region according to environment information surrounding the position at which the robot is located when escaping from hijacking; and subsequently, executes a task in the task execution region. As such, the robot may flexibly determine a task execution region according to the environment in which the robot is located when escaping from hijacking without needing to return to the position at which the robot was hijacked, thereby adapting to circumstances and being capable of meeting user demands as much as possible.
A robot localizing method. In a localizing process, a robot can move from a current position to a new position, and during the new movement, more environment information can be obtained, such that comparison is performed on the basis of the obtained environment information and a stored environment map of the robot, thereby facilitating successfully localizing the position and orientation of the robot in the stored environment map; in addition, during mobile localizing of the robot, environment information at different positions is generally different, thereby facilitating distinguishing similar regional environments, so that the problem that the accurate position and orientation cannot be obtained because there may be more than one similar regional environments when the robot stays at the original position for localizing can be overcome. The present application also relates to a robot and a computer readable storage medium.
G01S 5/00 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations
39.
CLEANING ROBOT AND METHOD FOR TRAVELING ALONG EDGE, AND READABLE MEDIUM
A cleaning robot and a method for traveling along an edge, and a readable medium. The cleaning robot comprises a body (100), a rolling brush (101) and a side brush (102) being provided at the bottom of the body (100), the rolling brush (101) and the side brush (102) being arranged transversely at the front end of the cleaning robot, and one end of the rolling brush (101) and the arrangement position of the side brush (102) being respectively close to two side edges of the body (100); and the cleaning robot further comprises a control module and a ground medium identification sensor (103) for detecting the type of a working surface, the ground medium identification sensor (103) sending a detection signal to the control module, the control module controlling, according to the detection signal, the cleaning robot to travel with one side of the body (100) being along an edge. By means of the rolling brush (101) and the side brush (102) arranged transversely at the front end of the bottom of the body (100), and in conjunction with the ground medium identification sensor (103), the cleaning robot can use the side brush (102) and the rolling brush (101) to clean the dirt at the joints between different surfaces and the walls, and compared to a conventional cleaning robot, this cleaning robot has strong cleaning capability, better cleaning effect, and wide application range.
A cleaning robot, comprising a cleaning cloth support (200). Cleaning cloth (300) is provided beneath the cleaning cloth support; the cleaning cloth support is provided at the bottom of a base (100) and able to move vertically by means of an elastic member (110); an upwarping part (220) is connected to the front end of the cleaning cloth support by means of a soft body, and is in contact with the bottom of the base. According to the present invention, by enhancing the height of the upwarping part and providing the soft body between the upwarping part and the cleaning cloth support, the range of application of cleaning robots is improved, the cleaning robots are allowed to overcome higher obstacles, and the cleaning efficiency is improved.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A cleaning robot, comprising a pair of caterpillar tracks (31) arranged opposite to one another, a first drive wheel (321) for driving the rotation of the caterpillar tracks, a plurality of caterpillar track suction cups (33) arranged on the outer surface of the caterpillar tracks (31), and a negative pressure assembly in communication with the caterpillar track suction cups (33); the negative pressure assembly comprises a negative pressure source (341), an output connector (342) in communication with the negative pressure source (341), and a second drive wheel (343) for driving the rotation of the output connector (342); the ratio ρ1 of the linear velocity of the first drive wheel (321) to the second drive wheel (343) is equal to the ratio ρ2 of the caterpillar track length to the circumference of the second drive wheel. The output connector and the caterpillar track suction pads of the present cleaning robot rotate synchronously, avoiding the situation of the connecting tubes connecting the caterpillar track suction cups and the negative pressure assembly becoming intertwined, and ensuring that the negative pressure air supply remains in communication regardless of the position to which the caterpillar track suction cups rotate.
A47L 11/38 - Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
B25J 11/00 - Manipulators not otherwise provided for
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
B08B 5/02 - Cleaning by the force of jets, e.g. blowing-out cavities
B08B 5/04 - Cleaning by suction, with or without auxiliary action
42.
CLEANING ROBOT AND OPERATION CONTROL METHOD THEREFOR
Provided by the present invention is a cleaning robot and an operation control method therefor. Said cleaning robot comprises a main body and a detection device provided on the bottom of said main body and used for detecting a surface edge, clearance or rim to be cleaned. Said detection device comprises a pre-detection component provided close to the front end of said main body. Said pre-detection component has at least two detectors arranged at intervals in the front-to-back direction. Said cleaning robot also has a control device, which conducts real-time detection when starting up operation using the detectors of the pre-detection component and determines if the area in front of the robot is a surface edge, clearance or rim to be cleaned, thereby controlling the cleaning robot to stop or continue moving forward. Employing the cleaning robot and operation control method therefor in the present invention may more accurately detect a surface edge, clearance or rim to be cleaned, thus preventing damage due to falling; and better route planning may be achieved, thereby improving cleaning efficiency.
Provided is a method for controlling a cleaning robot. The cleaning robot contains a top portion and a bottom portion, and further comprises a vacuumizing assembly (11) for extracting air, wherein at least two columns of driving wheels (12) are arranged at the bottom portion of the cleaning robot and are respectively arranged at two sides of the bottom portion of the cleaning robot, and the cleaning robot comprises a cleaning mode for cleaning the driving wheels (12). The control method comprises: a cleaning robot enters a cleaning mode; and after the cleaning robot enters the cleaning mode, a vacuumizing assembly (11) is turned off or kept in a turn-off state, and at least one column of driving wheels (12) is started and rotated. Therefore, after the cleaning robot enters the cleaning mode, the driving wheels (12) can be rotated and the vacuumizing assembly (11) stops working, so as to clean the driving wheels (12), so that the cleaning robot is more convenient, quicker and more humanized to use.
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
122 of the suction module on the working surface when in the working mode. The suction module is suctioned to the working surface by a relatively small suction pressure when in a non-working state, so that the effect of increasing the service life of a fan and the service life of the cleaning robot is achieved, the electricity can be saved on, and the cleaning robot can be more durable and more humanized.
A thermoplastic polyurethane (TPU) elastomer blend, a use of the TPU elastomer blend, and a track preparation method using the same. The blend uses a liquid UV-resistant agent, a liquid heat stabilizer, and at least one of a direct dye and a hardness modifier, thereby ensuring the blend exhibits good anti-yellowing and wear-resistance properties as well as low hardness. The hardness modifier is selected from one or more of a chain extender, a crosslinking agent, and a foaming agent.
A multimedia intelligent cleaning system, comprising: a self-propelled cleaning robot (1) for cleaning a working surface and a safety guard device for connection with the self-propelled cleaning robot (1). The self-propelled cleaning robot (1) and the safety guard device are detachably connected with each other through a securing assembly (3). The securing assembly (3) has a first state in which the safety guard device is connected with the self-propelled cleaning robot (1) and a second state in which the safety guard device is separated from the self-propelled cleaning robot (1). The multimedia intelligent cleaning system further comprises a detection assembly (4) for detecting whether the securing assembly (3) is in the first state or the second state, and a control unit for controlling whether the self-propelled cleaning robot (1) enters a safe activation state depending on a detection signal from the detection assembly (4). A control method thereof.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
H01H 3/02 - Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
47.
MULTI-MEDIA INTELLIGENT CLEANING DEVICE AND CONTROL METHOD
A multi-media intelligent cleaning device and a control method. The multi-media cleaning device is for use in cleaning a working surface and comprises a self-traveling cleaning robot (1), a safety guarding device connected to the self-traveling cleaning robot (1) via a connecting element (3). The safety guarding device comprises a suction element (2) for use on a surface to be sucked on. The multi-media intelligent cleaning device also comprises a bumper element (4) provided on the suction element (2). The bumper element (4) is provided protruding the outer edge of the suction element (2) so as to prevent an external object from hitting the suction element (2). With the bumper element (4) provided on the suction element (2), the probability of the suction element (2) falling off as a result of being hit by an external object is mitigated.
A47L 11/38 - Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
48.
SELF-MOVING ROBOT AND TRAVEL METHOD THEREOF, AND OBSTACLE DISTRIBUTION DISPLAY METHOD
A self-moving robot and a travel method thereof, and an obstacle distribution display method. The self-moving robot comprises a robot body (10) and a control unit disposed on the robot body. The robot body further comprises a multi-layer map information acquisition device (20) for acquiring information about obstacles at different heights in a working environment. The control unit is used for receiving and processing the information about the obstacles at the different heights, and establishing a multi-layer map. The multi-layer map information acquisition device comprises a plurality of distance sensors, and the plurality of distance sensors are at different heights. The multi-layer map acquisition device (20) ensures that a self-moving robot travels smoothly, safely, and efficiently in a complex environment, reduces a storage load and a computation load on the control unit, and reduces production cost while ensuring that obstacles are evaded.
Provided are a self-propelled robot path planning method, a self-propelled robot and a storage medium. The method may include, a self-propelled robot walks in a to-be-operated space to acquire information of obstacles at different heights and generates a multilayer environmental map of the to-be-operated space. The method may also include information in the multilayer environmental map is synthetically processed to obtain synthetically processed data. Additionally, the method may include a walking path for the self-propelled robot is planned according to the synthetically processed data.
Provided are a self-cleaning method for a self-moving cleaning robot, and a self-moving cleaning robot. The self-moving cleaning robot is set with an operation mode and a self-cleaning mode. When self-cleaning is required, the self-moving cleaning robot executes the following steps: step 100: controlling the whole robot to enter a self-cleaning mode; step 200: starting to perform, by the whole robot, a self-cleaning operation; and step 300: after a self-cleaning condition has been satisfied, ending the self-cleaning mode. The above self-cleaning mode enables self-cleaning of a roller, a roller cavity, a water suction port, a dust suction port and a residual stain at an air channel of a self-moving cleaning robot without changing an original operation mode of the self-moving cleaning robot, and prevents residual contaminants from dropping to an operation surface to cause secondary contamination. The present invention can be operated easily and controlled conveniently, and can effectively realize a self-cleaning process of a self-moving cleaning robot.
A hand-held vacuum cleaner (1) comprising a concentric filtration assembly (9) retrievably placed in a cyclone separator (8) for the separation of contaminants from a dirt carrying airstream as it travels around a cyclonic axis. Following the cyclonic separation of dirt and particulates, the filtration assembly (9) provides further filtration of fine dusts and particulate contaminants before the airstream enters the suction fan compartment (6) of the vacuum cleaner (1) thus providing protection to the suction fan and associated electrical components. The filtration assembly (9) can be installed and retrieved directly from the outside of the dust separator for easy maintenance without exposing the user to the dust and containments collected in the dust cup (82) of the cyclone separator (8).
Provided are a rod-shaped cleansing assembly and a vacuum cleaner having the same. The rod-shaped cleansing assembly comprises a rod body (100). The rod body (100) comprises a suction pipe (110) connected to a suction inlet of a floor brush (2000), a dirty water collection container (120) for collecting dirty water, and a liquid container (130) for supplying a detergent liquid. An upper end and a lower end of the rod body (100) are respectively provided with a vacuum cleaner main body connector (200) and a floor brush connector (300). An inner cavity of the suction pipe (110) is provided with one or more partition walls (1101) to divide the inner cavity into two or more cavity air channels. The division of the suction pipe (110) into a plurality of air channels not only increases the area along which water moves but also ensures that respective cavities resulting from dividing the air channel have a uniform airflow speed and do not interfere with each other, thereby improving water suction efficiency of the cleansing assembly and the vacuum cleaner while enhancing appearance and compactness of a product.
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
A47L 7/00 - Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
A47L 5/00 - Structural features of suction cleaners
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
53.
FLOOR BRUSH AND CLEANSING TYPE VACUUM CLEANER HAVING SAME
Provided are a floor brush and a cleansing type vacuum cleaner having the same. The floor brush comprises: a floor brush main body (100) comprising a base (110) and a surface cover (120) connected in a snap-fit connection. The floor brush main body (100) is provided with a rolling brush (130) therein. Air inlets are arranged at the base (110). An air channel is arranged inside the floor brush main body (100). The air channel has a start end facing the air inlet and a distal end connected to an air inlet pipe (140). The air inlets include a front air inlet (111) and a rear air inlet (112) respectively arranged at the front and rear sides of the rolling brush (130). A front air channel (113) and a rear air channel (114) are provided correspondingly. The front air channel (113) and the rear air channel (114) are connected to the air inlet pipe (140) after converging behind the rolling brush (130). The floor brush is provided with double air inlets, double air channels, and an air channel spacer (115), which cooperate with front and rear dust-blocking members (1111, 1121) and side dust-blocking members (1101) to ensure balanced and uniform air flows and suction forces of the front and rear air inlets (111, 112). Such arrangement also prevents water sucked from the front air channel (111) from flowing back to the floor along an inner wall of the rear air channel (114), thereby improving suction performance of the floor brush, and increasing cleaning efficiency.
Disclosed are a lever-type cleaning assembly and a vacuum cleaner having same. The lever-type cleaning assembly comprises a lever body (100), wherein the lever body (100) comprises a suction pipe (110) connected to a suction inlet of a floor brush; an accommodation barrel (120) for accommodating waste water; and a solution barrel (130) for providing clean liquid; and a host connector (200) is provided at an upper end of the lever body (100), and a floor brush connector (300) is provided at a lower end thereof. In the technical solution, by utilizing the feature of a traditional vacuum cleaner needing to cooperate with and use an extending tube, an air passage, a solution barrel and an accommodation barrel are integrated to form a lever-type cleaning assembly which replaces the extending tube and which is mounted at the present position of the extending tube; by utilizing the advantage of the lever-type cleaning assembly being elongated, the capacity of the solution barrel and the accommodation barrel are maximized; and by utilizing a lever-type assembly to cooperate with a handheld vacuum cleaner, the usage function of a traditional lever-type vacuum cleaner is greatly developed, and same has a simple-structure, is light-weight and is convenient to use.
A robotic cleaner comprises a machine body (100) comprising thereat a dust container (200), a water tank (300), and a fan component (500). A vacuum opening (210) connected to the dust container (200) is arranged at a bottom portion of the machine body. A movement direction A of the robotic cleaner is defined as a forward direction. The vacuum opening (210), the dust container (200), the fan component (500), and the water tank (300) are arranged in a front-back order at the machine body (100). Each functional component of the robotic cleaner is relatively independent and is arranged in the machine body (100) in a sequential order without increasing a full machine size. The vacuum opening (210), the dust container (200), the fan component (500), and the water tank (300) are arranged in a reasonable machine layout, achieving a favorable utilization rate of an internal space of the machine body (100), and providing spaces to expand sizes of the dust container (200) or the water tank (300). No pump or drainage system is provided in the water tank (300), decreasing a risk of an occurrence of an abnormality in the water tank (300), increasing water storage capability, and satisfying a water demand in an operating period. An elastic component (700) is arranged between the water tank (300) and a wiping component (400) to ensure a force is uniformly applied to the wiping component (400), resulting in high cleaning efficiency.
A robotic cleaner comprises a machine body (100) comprising: a dust container (200) and a water tank (300) at the machine body (100); and a cleaning unit (400) at a bottom portion of the machine body (100). A water discharging mechanism (310) and water discharging pipes (320, 330) are arranged at the machine body (100). The water discharging mechanism (310) outputs a liquid from the water tank (300) via the water discharging pipes (320, 330). The water discharging pipes (320, 330) are independently arranged outside the water tank (300), and at least a part of the water discharging pipes (320, 330) are arranged directly below the dust container (200). Since the water discharging pipes (320, 330) are arranged independently and outside the water tank (300), the capacity of the water tank (300) is increased, and a frequency of refilling water is decreased, thereby extending an operating period. Furthermore, since at least a part of the water discharging pipes (320, 330) is arranged directly below the dust container (200), a space between the dust container (200) and a machine body bottom wall (102) is fully utilized, achieving a more compact and reasonable layout of various components in the machine body (100). The longer water discharging pipes (320, 330) enable use of a larger corresponding cleaning unit (400), increasing a working area thereof and operating efficiency. The water discharging pipes (320, 330) are arranged internally in the machine body (100), reducing a damage probability and extending a service life.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 11/204 - Floor surfacing or polishing machines combined with vacuum cleaning devices having combined drive for brushes and for vacuum cleaning
57.
SURFACE CLEANING ROBOT AND PROCESS FOR MANUFACTURING TRACK THEREOF
Disclosed are a surface cleaning robot (100) and a process for manufacturing a track (143) thereof. The surface cleaning robot (100) comprises a body (110). The bottom of the body (110) is provided with travelling portions (140). The travelling portion (140) comprises a track (143) and a gear (142) for driving the track (143) to rotate. The track (143) comprises a hard layer (1430) located on an inner ring and engaged with the gear (142), and a soft layer (1433) located on an outer ring and being in contact with a surface to be cleaned. The hard layer (1430) and the soft layer (1433) are combined as a whole in a nested manner. The composite track (143) using a nested combination tightly combines the inner and outer rings of different materials. The process is simple, but improves the integral strength and toughness of the track (143) and solves the problem that the track (143) has a poor running capability on the surface to be cleaned, thereby enhancing the working safety of the surface cleaning robot (100) and reducing the production cost. The surface cleaning robot has a simple structure, is convenient to manufacture, has a wide range of application and also has the advantage of synchronous belts, so that the cleaning efficiency and service life of the surface cleaning robot (100) are increased.
A hand-held vacuum cleaner mainly comprises a main body and cleaning accessories attached thereto. The main body comprises a machine body (2) and a separation device connected to the machine body (2). The separation device is provided with a cleaning tube (1) thereon used for the cleaning accessories to connect to the main body therethrough. The machine body (2) is provided with a motor (3) at a rear side of an upper part thereof, a battery pack (7) for powering the motor (3), and a handle (6) located at one side of the machine body (2). The separation device comprises a primary filter, a secondary filter located downstream of the primary filter and a dust bin (8). The primary filter is in communication with the cleaning tube (1). The secondary filter comprises multiple secondary cyclone cones (10) arranged side by side. An included angle α between a central axis Z of the secondary filter and an air inlet/outlet axis Y of the motor (3) is in a range of 0°≤α＜90°. The vacuum cleaner effectively shortens the air inlet duct before the motor (3), enables smooth air flow, prevents the motor (3) from performance loss due to the air duct, maximizes the performance of the motor (3), and at the same time has compact structure and high efficiency of vacuum cleaning.
A self-propelled floor treatment device and a suction nozzle (1000). The self-propelled floor treatment device comprises a main device body and a suction nozzle (1000) connected thereto. A suction inlet (100) is formed at the bottom of the suction nozzle. In an operation process, the suction nozzle (1000) is arranged to move in a forward direction (A). A front sealing strip (1003) is provided at a front side of the suction inlet (100), and comprises a fixed end (10031) and a free end (10032) extending to a working surface (B). The front sealing strip (1003) is flexible and is configured to deviate from the forward direction, so as to form, in front of a projection of the free end (10032) on the working surface (B), a projection of the fixed end (10031) on the working surface (B). The surrounding sealing at the periphery of the suction inlet (100) of the suction nozzle (1000) enhances vacuum suction of the suction inlet (100), thereby increasing dust removal capability of the self-propelled floor treatment device. The configuration direction, shape, and material of the front sealing strip (1003) ensures effective suctioning of large dust particles, maintaining a high degree of vacuum strength of the suction inlet (100), and providing high dust removal efficiency.
Disclosed are a vacuum dust suction device and a control method therefor, and a self-moving robot. The vacuum dust suction device comprises a main body (100), the main body (100) being provided with dust inlets (110, 120), dust boxes (112, 122), vacuum sources (111, 121) and a cleaning assembly (300), wherein the dust inlets (110, 120) comprise a first dust inlet (110) and a second dust inlet (120); the dust boxes (112, 122) comprise a first dust box (112) and a second dust box (122) respectively corresponding to the first dust inlet (110) and the second dust inlet (120); the vacuum sources (111, 121) comprise a first vacuum source (111) connected to the first dust box (112) and a second vacuum source (121) connected to the second dust box (122); and the cleaning assembly (300) comprises a rolling brush, the rolling brush being arranged in the second dust inlet (120); the first vacuum source (111) provides suction to suck dust into the first dust box (112) through the first dust inlet (110), the second vacuum source (121) provides suction to suck dust into the second dust box (122) through the second dust inlet (120). The vacuum dust suction device can be adapted to the requirements of various working environments, with less dust, thorough cleaning, strong controllability and high dust removal efficiency in a cleaning process.
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
Disclosed is an autonomous mobile robot, comprising an autonomous mobile robot body (1000), and a control unit and a main driving wheel assembly (200) arranged on the body, the main driving wheel assembly comprising a drive motor (100) and a main driving wheel (201). The robot further comprises an auxiliary driving wheel assembly (300) that comprises a link assembly (400) and an auxiliary driving wheel (301) arranged on one end of the link assembly, the link assembly being movably arranged on the body or on the main driving wheel assembly. The robot further comprises a trigger mechanism connected to the auxiliary driving wheel assembly, the trigger mechanism comprising at least a trigger end (401) that, in the forward direction, is located in front of the main driving wheel. The trigger end is elevated when it hits an obstacle, so as to apply a downward acting force to the auxiliary driving wheel, and under the downward acting force, the auxiliary driving wheel moves in a descending motion relative to the body or increase the positive pressure applied thereby to a travelling surface. The inventive autonomous mobile robot can effectively avoid the phenomenon of dead spots, has an adjustable hight to adapt to various complex terrains and over-obstacle requirements, and has a compact structure and reasonable arrangement.
Disclosed is a cleaning robot and a control method therefor. The cleaning robot comprises a robot main body (100). The bottom of the robot main body (100) is provided with a detachable cleaning assembly, and the robot main body (100) is also provided with a sensing unit and a control unit. The sensing unit comprises a cleaning assembly sensor (101) and a floor material sensor (102). According to detection signals of the cleaning assembly sensor (101) and the floor material sensor (102), the control unit controls the leaning robot such that same executes a corresponding operating mode. The floor material sensor (102) capable of detecting a floor material is used for combining floor material information fed back thereby and cleaning assembly information about the cleaning robot, so as to rationally plan an action, thus solving the problem of extensive use of the cleaning assembly in cleaning floors of different materials, and preventing a carpet from being damaged by the cleaning robot.
Disclosed is a safety device for a cleaning robot and a cleaning robot system using the safety device. The safety device comprises a main body (100). One side of the main body (100) is provided with a holding member (11) for adsorbing the safety device onto a fixed surface. The main body is provided with a rotor (4), a safety rope (5) is fixed to and wound around the rotor (4), and a free end of the safety rope (5) is connected to the cleaning robot. The rotor (4) is provided with a stop swing arm (9), and the main body (100) is correspondingly provided with a stop groove (13), with the opening of the stop groove (13) being in opposite direction of the rotating direction of the rotor (4). The rotor (4) is connected to a reset spring (3). The safety device, in a self-locking way, enables locking immediately when a window-cleaning robot falls off, so that the operation safety of the window-cleaning robot is not limited by the length of the safety rope, so that the window-cleaning robot is more reliable, has a simple structure with few components and parts, has low maintenance costs, is flexible in movement, and is effectively optimized in both product costs and operating efficiency.
A62B 35/00 - Safety belts or body harnesses; Similar equipment for limiting displacement of the human body, especially in case of sudden changes of motion
Provided are a cooperative work system formed by a mother robot and a child robot, and an operation method thereof. The system comprises: a mother robot (MR) provided with a control unit and an operation unit; a charging base (1000); and a child robot (CR). The mother robot (MR) is in a wireless communication connection with the child robot (CR). The method comprises: controlling, by means of the control unit, the mother robot (MR) to perform a cleaning operation with respect to an operation area (S), and identifying, in a cleaning process, a cleanable area and an area requiring cleaning assistance (S100); and after completion of cleaning of the cleanable area, controlling, by means of the control unit of the mother robot (MR), the child robot (CR) to cooperatively perform a cleaning operation with respect to the area requiring cleaning assistance (S200). The mother robot (MR) is provided with a child robot position and posture-sensing unit for inputting child robot position and posture information to the control unit. The control unit controls the child robot (CR) to act according to needs. In the invention, the mother robot (MR) effectively positions and controls the child robot (CR) to participate or not participate in a current operation so as to realize reasonable assignment of operations for the mother robot (MR) and the child robot (CR), and overcome a height obstacle in an operating environment. The system has a simple structure and high efficiency.
Provided are a laser ranging device and an installation method for a photosensitive chip thereof. The laser ranging device comprises a line laser transmitter (200) disposed at a fixed base (100) and an image sensor. The image sensor comprises a lens (300) and a circuit board (400). A photosensitive chip assembly (500) is securely disposed at the circuit board (400). The photosensitive chip assembly (500) is formed by joining two identical photosensitive sub-chips (501) in a longitudinal direction. A fitting relationship between the lens (300) and the photosensitive sub-chips (501) is as follows: the lens (300) fits an image sensor measuring 1/n inches, and the photosensitive chip assembly (500) is formed correspondingly by joining two photosensitive sub-chips (501) measuring 1/2n inches. A photosensitive surface between two longitudinal sides of the photosensitive chip assembly (500) covers points B and A at which lines, extending from respective lines connecting preset farthest and closest measurement points with the center, O, of the lens (300), intersect with a plane in which the photosensitive chip assembly (500) is located, such that a ranging scope of the laser ranging device can meet needs of a user.
A combined robot and an assembly method therefor. The combined robot comprises a self-moving robot (100) and functional modules (300) connected to the self-moving robot (100). A control center is arranged on the self-moving robot. The functional modules are in combination connection with an upper portion of the self-moving robot by means of connection members (200). The connection members are detachably connected to the self-moving robot and the functional modules respectively. The control center controls the combined robot to work according to the combination state. By arranging independent connection members, multiple functional modules are integrated in a combined robot, and wide uses and flexible control are achieved, so that operating functions of the self-moving robot are increased, free switching is implemented between the self-moving robot and the functional modules and between the functional modules; the disassembly and assembly are convenient, the interchangeability is good, the structure is simple, and the practicability is high.
A combined robot, comprising an autonomous mobile robot (100) and a function module (200). The function module (200) is detachably combined to the autonomous mobile robot by using a connecting piece (300). Driving wheels (110) and a driven wheel (111) are disposed at the bottom of a body of the autonomous mobile robot. Using the forward direction (A) of the autonomous mobile robot during work as the front, the driving wheels are located at the left and right sides of the bottom of the body, and the driven wheel is located at the front or back of the bottom of the body. A control center is disposed in the combined robot to control the combined robot to work. The end at the bottom of the body of autonomous mobile robot away from the driven wheel is a support end. Floating support mechanisms (120) are disposed at the support end and can perform telescopic support, so that the body can keep parallel to a moving plane when the autonomous mobile robot moves, thereby improving the moving stability of the combined robot.
B25J 5/00 - Manipulators mounted on wheels or on carriages
B25J 11/00 - Manipulators not otherwise provided for
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
68.
AUTONOMOUS MOBILE ROBOT, MAP BUILDING METHOD, AND MAP CALLING METHOD FOR COMBINED ROBOT
An autonomous mobile robot (10), a map building method, and a map calling method for a combined robot. The autonomous mobile robot (10) comprises: a robot body (100) and a control center disposed on the body (100). The body (100) comprises a first distance sensor (101) that is horizontally disposed upwards and used for collecting two-dimensional map information and a second distance sensor (102) that is vertically disposed upwards and used for collecting space height information. When obtaining the two-dimensional map information on a working surface, the control center superposes the space height information to the two-dimensional map information, to obtain three-dimensional map information in a working area. By means of the method, the distance sensors are disposed on the autonomous mobile robot (10), and the space height information is superposed based on a generated two-dimensional map, to generate the three-dimensional map information. In a combined state, the autonomous mobile robot (10) calls the three-dimensional map and plans, based on the three-dimensional map, a moving path in the working area, so as to ensure smooth movement of the combined robot in a complex environment. The method is secure and efficient.
An autonomous mobile robot (100), a control method therefor, and a combined robot thereof. The autonomous mobile robot (100) may be interconnected with a function module (300). The autonomous mobile robot (100) comprises a function module identification mechanism and a control mechanism. The control mechanism adjusts a running parameter or a running mode of the autonomous mobile robot (100) according to the type of the function module (300) identified by the identification mechanism, so that the autonomous mobile robot (100) can adjust a parameter of a sensor, the moving speed of the autonomous mobile robot (100), and the like according to an actual status when different modules are combined together to work, thereby preventing rollover or falling of the autonomous mobile robot (100), and ensuring the safety of a user and the robot.
A combined robot (A) and a cruising path generation method therefor. The combined robot (A) comprises an autonomous mobile robot (10). The cruising path generation method comprises: provide or generate a working map of the autonomous mobile robot (10) (S100); mark a target point in the working map (S200); generate a planning path (D) according to the location of the target point in the working map (S300); the combined robot (A) starts moving according to the planning path (D), and determines whether an obstacle (M) occurs in a moving process (S400); if yes, select different path adjustment manners according to the relative location in which the obstacle (M) occurs, and update the planning path (D) according to a moving path to form an actual path; otherwise, directly move to form an actual path; and store the actual path as a cruising path of the combined robot (A) (S500). By means of the cruising path generation method for the combined robot (A), a final moving path can be generated in a manner of combining multiple paths, so as to ensure more effective, reliable, and facilitated movement of the combined robot (A), thereby improving the working efficiency.
A remote control system for a service robot and a control method of the remote control system. The remote control system for a service robot comprises: a remote operation terminal (300), an autonomous mobile robot (100), and a function module (200) combined with and connected to the autonomous mobile robot. A function unit (2000) and a first electrical connection unit (2009) are disposed on the function module. A control module (1002), a wireless communications module (1003), a sensor module (1004), and a driver module (1006) are disposed on the autonomous mobile robot. A second electrical connection unit (1001) is further disposed on the autonomous mobile robot and corresponding to the first electrical connection unit. The control module is electrically connected to the wireless communications module, the sensor module, the driver module, and the second electrical connection unit. The remote operation terminal communicates with the autonomous mobile robot by using the wireless communications module. The autonomous mobile robot provides electric energy for the function module and communicates with the function module by using the second electrical connection unit.
A combined robot, comprising an autonomous mobile robot (100) and a function module (200). The function module is detachably combined to the autonomous mobile robot by using a connecting piece (300). A control center is disposed in the autonomous mobile robot, and a cleaning cloth component (110) is detachably mounted at the bottom of the autonomous mobile robot. The control center controls, according to a combination state of the function module and the cleaning cloth component, the combined robot to work. By means of the present invention, the combined robot is controlled, according to the combination state of the function module and the cleaning cloth component and by using the control center, to work, thereby ensuring successful implementation of the work of the combined robot.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A combined robot controlling method. A combined robot comprises an autonomous mobile robot and a function module capable of being combined with the autonomous mobile robot to work. The autonomous mobile robot or the function module comprises at least one control center. The control method comprises: obtain/generate a working map of the autonomous mobile robot (S1); divide the working map into multiple sub-areas by means of automatic operation of the control center or manual operation on a client(S2); the control center calculates the size of each sub-area (S3); the control center determines a moving path according to the multiple sub-areas (S4), the moving path passing through at least one sub-area; and the control center determines a working parameter of the combined robot in each sub-area according to the size of the sub-area (S5). The function module is an air quality improvement apparatus and makes air in an entire room uniformly improved.
An anti-static vacuum cleaner comprises a body (100), components of the body comprise a vacuuming portion, a main portion (500), and a dust container. The vacuuming portion is in communication with the dust container of the main portion, and a handle (110) is provided on the main portion. A battery pack (120) is provided within the main portion, and the battery pack supplies power to the anti-static vacuum cleaner via a power supply circuit (400). The components of the body at least form a static electricity-generating portion, the static electricity-generating portion is in electrical conduction with and connected to the handle by means of the power supply circuit, and there is no load between respective connection points of the static electricity-generating portion and the handle to the power supply circuit. The anti-static vacuum cleaner in the present invention enables static electricity removal by means of the power supply circuit of itself without adding an additional electrical path specifically for this purpose, thus reducing manufacturing costs, and achieving the purpose of static electricity removal.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
An anti-static vacuum cleaner comprises a body (100), components of the body (100) comprise a vacuuming portion, a main portion (500), and a dust container. The vacuuming portion is in communication with the dust container of the main portion (500), and a handle (110) is provided on the main portion (500). The components of the body (100) form at least one static electricity-generating portion, and at least one portion of the handle (110) is made from a conductive non-metal material. The handle (110) is connected to the at least one static electricity-generating portion via an electrically conductive component. The anti-static vacuum cleaner has the handle (110) made from a conductive non-metal material to increase a contact area between the handle (110) and a human body without affecting the grip, appearance and safety, thus providing more reliable static electricity-removing efficiency than conventional metal rings.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
Disclosed are a cyclone separator (1000) and a vacuum cleaner thereof. The cyclone separator (1000) comprises a dust bucket (100), a multi-cone filter (200) is arranged in the dust bucket (100), the multi-cone filter (200) comprises a multi-cone body (201) and an internal dust bucket (400) under the multi-cone body, and the internal dust bucket (400) downwardly extends to the bottom of the dust bucket (100); the bottom of a high-efficiency cone (250) is provided with a high-efficiency air inlet (220), a mesh filter (300) is arranged between the dust bucket (100) and the internal dust bucket (400), a secondary air intake passage is formed between the top end of a space, which is sandwiched between an outer wall of the internal dust bucket (400) and an inner wall of the mesh filter (300), and the high-efficiency air inlet (220), a float (110) is arranged circularly in the space sandwiched between the outer wall of the internal dust bucket (400) and the inner wall of the mesh filter (300), and the top of the float (110) is shaped and positioned corresponding to a secondary air inlet of the secondary air intake passage. Since the float (110) is arranged in the dust bucket (100) and the position and shape of the top of the float (110) match those of the secondary air inlet, the secondary air inlet can be blocked effectively, and water can be prevented from overflowing the dust bucket (100). The structure is simple, and the working efficiency is high.
A self-moving robot and a walking mode conversion method and a walking method therefor. The self-moving robot comprises a sensing unit and a control unit, and is further provided with planning navigation and non-planning navigation walking modes. The control unit comprises a processing module and a path planning module connected to the sensing unit. In the planning navigation walking mode, according to received information, the path planning module plans a moving path, and a mobile robot implements the walking of the moving path; and when the walking according to the pre-set moving path planning fails, a processing module converts the walking mode from the planning navigation walking mode to the non-planning navigation walking mode according to the self-moving robot. By means of free conversion between the planning navigation walking mode and the non-planning navigation walking mode, the self-moving robot can also remain in a normal operating state when in a complex environment which is difficult to recognize or cannot be recognized, and the structure is simple, the operation is convenient and free, and the operating efficiency is high.
A steam floor scrubber, comprising a scrubber body (100), a rotating shaft joint assembly (200) and a steam nozzle assembly (300) disposed on the scrubber body (100), the rotating shaft joint assembly (200) comprising a rotating shaft portion (205), and the scrubber body (100) being capable of flipped up or down by rotating about the rotating shaft portion (205); the steam nozzle assembly (300) mainly comprising a base (310), and nozzles (317) formed inside of the base (310) and facing the top and bottom sides of the scrubber body (100) respectively, each nozzle (317) being provided with a flexible switch, such that only the nozzles (317) on the side of the scrubber body (100) that faces the floor blow out steam during operations. By means of the steam nozzles having different operating states, and by virtue of steam pressure, weight of a steel ball (314) and compression spring force of a steel ball spring (315), the direction of flow of the steam may be altered, and the steam may be isolated, such that, when one side is in use, steam leakage from the other side is non-existent or negligible, thereby improving the efficiency of cleaning and at the same time conserving energy.
A gas-liquid separation and collection device, including a collector (100) with a sealed end. The collector (100) is provided with an air intake (110) and also an air-out duct (400) is provided in the collector (100). The air-out duct (400) is in communication with a vacuum source forming a negative pressure. Outside air enters from the air intake (110) into the collector (100) under the effect of the vacuum source, to form a gas-liquid mixed airflow. The air-out duct (400) includes an air inlet end (401), and the periphery of the air inlet end (401) is provided with an isolation cover (500). The isolation cover (500) is provided with a secondary air intake (501) and a water outlet (502). The gas-liquid mixed airflow enters into the collector (100) through the air intake (110), and then enters into the insulating cover (500) through the secondary air intake (501). A separate liquid flow in the gas-liquid mixed airflow is discharged and the gas is discharged from the air-out duct (400).
A cleaning cloth, water tank and cleaning device thereof. The cleaning cloth (10) comprises a cleaning cloth main body (11). The cleaning cloth main body (11) is detachably fixed at the bottom of a device to be attached. The cleaning cloth (10) also comprises a limit member disposed at an edge of the cleaning cloth main body. The limit member is fixed on a front side of the device to be attached and at least a portion thereof is located on an upper surface of the device to be attached. The front side is the side toward which the device to be attached moves when in operation. The cleaning cloth, water tank and cleaning device thereof use the limit member attached and disposed on the device to be attached to prevent the cleaning cloth from coming off from the device to be attached due to increased weight or encounter of small obstacles, thereby ensuring a successful cleaning process.
A self-movable cleaning robot, pertaining to the technical field of intelligent robot. The self-movable cleaning robot comprises a body (1). A water-distributing device and a cleaning unit are provided on the bottom of the body (1). The water-distributing device is used to distribute the cleaning solution to a surface to be cleaned, and it can float along the vertical direction relative to the body (1). When it is working, the water-distributing device naturally contacts the surface to be cleaned by its self-weight. The self-movable cleaning robot can pass over the particulates accumulated by the dust, and can avoid being accumulated and wound by dust or hair. It has higher trafficability and avoids the problem of water clogging caused by accumulation of dust.
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A floor cleaning robot comprises a waste water container and a water spraying portion (400, 400') and a water sucking opening (250) disposed at a bottom portion of the robot. The water spraying portion is located in front of the water sucking opening and is used to distribute a liquid cleaner on the floor, and the water sucking opening is used to collect waste water to the waste water container. A dust collecting opening (240) is further disposed at the bottom portion of the robot between the water spraying portion and water sucking opening. An internal separator (210) separates the dust collecting opening from the water sucking opening, and is provided with a front scraper (220) thereon. A rolling brush (300) is provided in front of the front scraper. The dust collecting opening is sandwiched between the rolling brush and the front scraper. The front scraper and a rear scraper (230) disposed on a rear wall (260) of a dirt sucking channel (200) form the water sucking opening. The front scraper and the rear scraper are slantedly disposed to form a first angle with respect to the floor. The water sucking opening of the floor cleaning robot not only sucks water but also keeps solid waste on the floor in front of the water sucking opening, such that the solid waste can be easily swept in the dust collecting opening by the rolling brush. The present invention has a simple structure and high working efficiency.
Provided is an intelligent lawn maintenance system, comprising a maintenance robot (1) and a base (2), wherein the maintenance robot (1) comprises a machine body (3) and a water tank (4) arranged on the machine body (3); the base (2) comprises an engagement portion (37); the engagement portion (37) is provided with a water filling pipe (7) corresponding to an automatic filler (5) and a charging needle (8) corresponding to a charging interface (6); after the maintenance robot (1) is engaged with the base (2), the maintenance robot (1) can be charged and/or filled with water by the base (2); and the maintenance robot (1) can be engaged with the base (2). The intelligent lawn maintenance system can realize automatic charging and water-filling of the robot, and can realize maintenance work, such as mowing, watering and spraying of chemicals, without being operated by a person, thus saving on labor, preventing the chemicals from being inhaled by people, and realizing a relatively high automation level.
A01D 34/64 - Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
A01G 25/09 - Watering arrangements making use of movable installations on wheels or the like
A self-moving robot and the control method therefor are provided. The control method comprises: getting environmental color information at least once; adjusting detective sensor parameters according to the environment color information at least once, wherein the detective sensor parameters are related with the minimum light intensity; monitoring current light intensity received by the detective sensor when the self-moving robot is walking; if the current light intensity is greater than the minimum light intensity, the self-moving robot keeps the original walking route; and if the current light intensity is less than or equal to the minimum light intensity, the self-moving robot changes the walking direction. This kind of robot and the control method thereof are capable of avoiding the misjudgment of the robot and preventing the robot from falling and/or collision.
A vacuum cleaner ground brush and a vacuum cleaner having same are disclosed. The vacuum cleaner ground brush (B) comprises a casing (100); an air inlet (111) is provided at the bottom surface of the casing; a sealing strip is provided at the periphery of the air inlet, comprising a first sealing strip and a second sealing strip; the first sealing strip is provided with a first opening (310); the first opening can be in the opened or at least partially blocked state by means of the movement of the second sealing strip to adjust the air flow of the air inlet (111). By controlling the movement mode of the sealing strip arranged on the ground brush, the vacuum cleaner ground brush and the vacuum cleaner thereof can effectively adjust the air flow of the air inlet, attain simplification of structure and convenience of operation, adapt to different working surface requirements, and improve the efficiency of dust collection.
A self-moving ground treatment device (A) comprises a machine body base (100) and a water tank (200). A cleaning cloth (210) is attached onto the bottom of the water tank (200), and the water tank (200) is connected onto the bottom surface of the machine body base (100) in an upwards and downwards floating manner. By installing the water tank (200) and the machine body base (100) in the floating manner to leave a certain gap therebetween, the water tank (200) and the cleaning cloth (210) can upwards and downwards float within a certain space range. Because the force that actually acts on the ground is the gravity of the water tank (200) and the cleaning cloth (210) and does not comprise the gravity of the machine, compared with a common product, the friction force between the cleaning cloth (210) and the ground is reduced, the phenomenon that the machine slips on the ground with water can be effectively avoided, the ground cleaning efficiency is improved and the obstacle surmounting capacity of the machine with the water tank (200) is improved.
A method for constructing a map by a self-moving robot and an operating method by using the map. The method for constructing a map by a self-moving robot comprises: step 1: placing the self-moving robot in a to-be-operated space, and establishing a coordinate system corresponding to the to-be-operated space; and step 2: manually controlling and guiding the self-moving robot to move, on a path on which obstacles are avoided, in the to-be-operated space, collecting information about an ambient environment in a walking process, and establishing, in the coordinate system, a preliminary map of the to-be-operated space according to the information about the environment. Accordingly, the self-moving robot not only can be prevented from a collision in a process of constructing the map, but also the map can be updated in real time and operating points can be increased or decreased in an operating process, thereby simply and conveniently improving an operating accurate rate of the self-moving robot and improving operating efficiency.
A guide-type virtual wall system. The system comprises a beacon (11, 44) and a robot (12), wherein a transmission module of the beacon (11, 44) directionally transmits a first signal, and a region covered by the first signal is a beacon signal region (13). The robot (12) comprises a beacon signal receiving module corresponding to the beacon signal transmission module. After the robot (12) enters the beacon signal region (13) and the first signal is detected by the beacon signal receiving module, the robot (12) advances towards the direction of the beacon (11, 44), and then crosses over or exits from the beacon signal region (13) until a second signal is detected by the robot (12). The system can restrict the robot (12) from entering a certain region, and the region where a virtual wall is located is not missed, and at the same time, enables the robot (12) to cross over the virtual wall to enter the restricted region when required.
A method applicable in returning a self-propelled surface traveling robot (1) system to a primary charging base, where the robot (1) system comprises a surface traveling robot (1) and at least two charging bases for charging same, comprising the following steps: S1: the robot establishes an area map; S2: one of the charging bases is set as the primary charging base and the position of the primary charging base is recorded in the area map; and, S3: when finished working, the self-propelled surface traveling robot (1) returns to the primary charging base on the basis of the position of the primary charging base in the area map. The present method has the robot (1) returning to the position of the set primary charging base when finished working, facilitates the robot (1) to be found by a user as accustomed at the position of the primary charging base when the robot (1) is not working, determines the starting point of the robot (1) for each working instance, and, by setting the charging base at an important position that needs to be worked on first as the primary electric base, facilitates arrangement of priority work positions.
A method for multipoint purification by a robotic air purifier, comprising the following steps: S1: establishing a coordinate map of an area to be purified; S2: the robotic air purifier moves within the area to be purified according to a preconfigured movement model, measuring air quality, remembering as level-1 pollution sources those points where a pollution value exceeds a preset threshold, and marking the coordinates of said points on the coordinate map; S3: when having completed its movement through the area to be purified, the robotic air purifier moves to each level-1 pollution source point and performs an initial purification process, while at the same time measuring air quality, continuing in this way until the air quality at all said level-1 pollution sources complies with requirements.
A robot static path planning method, comprising: setting a target point as an end point and establishing an artificial potential field in a range of a map; introducing a particle swarm algorithm and setting m particle swarms at the start point of a robot, the flight speed of the i-th particle at the t-th step being ⃑Vi(t); simulating walking along the path of each particle from the start point to the end point according to the artificial potential field and the particle swarm algorithm, each particle forming a movement trajectory during the walk simulation; most of the particles gradually gather and converge toward one of a plurality of trajectories, thus obtaining an optimal walk path from the start point to the end point within the range of the map; the robot finally moves along the optimal walk path to finish the movement from the start point to the end point. The path planning method combines a potential field method, a grid method and a particle swarm algorithm to directly obtain a potential field distribution on a grid map, so as to obtain a pre-planned path along the direction where the potential field drops fastest from the potential field target point, thus being safe and effective, and ensuring accurate and reliable path planning.
A self-moving robot movement boundary drawing method, comprising: step 100: setting up three or more base stations in a movement area of the self-moving robot and establishing a coordinate system; step 200: artificially planning a movement path in the movement area of the self-moving robot, gathering sample points on the path and determining the coordinates of the sample points in the coordinate system; step 300: drawing a boundary according to the coordinates of the gathered sample points, and specifying whether the self-moving robot is to work inside or outside the boundary. The method draws a movement boundary based on distance measurements and the positioning of fixed base stations, thus improving accuracy and convenience compared to the prior art.
A duster cloth for a cleaning robot and the cleaning robot using the duster cloth. The duster cloth comprises a detachable connection part (21) close to a base of the robot, a wiping cloth (22) close to a cleaned surface, and an elastic sealing layer located between the detachable connection part (21) and the wiping cloth (22). The elastic sealing layer is separately attached to the detachable connection part (21) and the wiping cloth (22). The elastic sealing layer is made from a foamed EPDM material (23), a crust sponge (33) or a common sponge (43), wherein a sealing film (24) is arranged on at least one side of the common sponge (43). The detachable connection part (21) may be a magic tape. With the structure of attaching the elastic sealing layer between the detachable connection part and the wiping cloth, the duster cloth has good elasticity, and the air-tightness of the negative pressure chamber of the cleaning robot is greatly improved.
A self-moving surface walking robot and an image processing method therefor. The method comprises: S1: acquiring, by a robot, an environmental image; S2: carrying out edge binarization processing on the environmental image to obtain a binary image containing edge pixel points and background pixel points; S3: scanning the binary image to obtain two adjacent edge pixel points A and B with a distance therebetween less than or equal to a maximum pixel width threshold value of the edge pixel point; S4: judging whether the pixel points A and B are two adjacent floor edge pixel points; if so, entering S5; otherwise, returning to S3; S5: eliminating the floor edge pixel points A and B in S4; and S6: repeating the steps S3, S4 and S5 until all floor edge pixel points in the binary image are eliminated. The method can effectively remove a floor edge line and can help to improve the accuracy and reliability for identifying an obstacle.
Provided is a suction self-moving device, provided with a base (100), a travel unit (300), and a function unit (200); the bottom of the base comprises a cavity (110); the cavity (110) is in communication with a vacuum source (400); the outer periphery of the cavity (110) is provided with a sealing assembly used for sealing with the suction surface; after sealing between the sealing assembly and the suction surface, a vacuum chamber is formed with the cavity (100); the sealing assembly is connected to the bottom of the base by means of a flexible retractable member (530). In the present invention, a flexible retractable member is disposed between the sealing assembly and the base; thus the vacuum chamber has an improved seal, and the travel of the suction self-moving device is not impeded.
Disclosed is a worm-gear transmission device, comprising a housing, and a worm (300) and a worm gear (700) which are engaged with each other and mounted in an accommodating cavity (120) of the housing, wherein one end of a transmission shaft (200) of the worm (300) is connected to a second driving device; the worm gear (700) is connected to an output device; the accommodating cavity (120) is further provided with an impeller (900); the impeller (900) is connected to a second driving device, and can be driven by the second driving device to rotate; and the housing is provided with an air inlet (111) and an air outlet (101), and under rotation of the impeller (900), air flow enters the housing via the air inlet (111), and is discharged from the air outlet (101). The device has a simple structure and low costs. An air circulation system is formed in the interior of a bottom housing (100) of the transmission device, so as to effectively dispel heat generated from the engaging motion of the worm gear (700) and the worm (300), thereby having a good heat dissipation effect and a high operation efficiency.
An obstacle avoidance walking method of a self-moving robot, comprising: step 1000: a self-moving robot walks along a Y-axis, identifies the position of an obstacle as an obstacle point, and stores the coordinates of the point as a recorded point; step 2000: determining whether a recorded point was previously stored, the coordinates on the Y-axis of the previously stored recorded point being within a numerical value interval formed by the coordinates on the Y-axis of the current obstacle point and a previous obstacle point; step 3000: if yes, then the recorded point is a turning point, and the self-moving robot walks along the X-axis from the current obstacle point toward the turning point to the coordinates on the X-axis of the turning point, deleting the coordinates of the turning point, walking in an area between the point and the current obstacle point, and returning to step 1000; and if not, then the self-moving robot moves a displacement M1 along the X-axis; step 4000: walking in a direction opposite to the original Y-axis walking direction, and returning to step 1000; step 5000: repeating step 1000 to step 4000 until the Y-axis is traversed. The method accurately determines an obstacle position and provides a concise route, and greatly improves the working efficiency of the self-moving robot.
A surface treatment robotic system, comprising a surface treatment robot and a remote control; the surface treatment robot comprises a control unit and a drive unit; the control unit receives a remote control instruction of the remote control and controls the drive unit to execute a corresponding action; the surface treatment robot is provided with a direction sensor for determining a reference direction; the direction sensor is connected to the control unit; and the direction sensor transmits the determined reference direction to the control unit, and the control unit refers to the reference direction and determines the walking direction of the robot according to the remote control instruction inputted by the input end of the remote control. The present invention disposes different direction sensors in different surface treatment robots to determine the direction references of the robot, and then to determine the walking directions of a robot, and to enable the buttons on the remote control to correspond to the walking directions; regardless of the movement state of the robot, the robot will automatically walk in the corresponding direction when any button on the remote control is pressed and released or is pressed and held, thus being easy to operate, and improving working efficiency.
A local obstacle avoidance walking method of a self-moving robot, comprising: step 100: a self-moving robot walks in a first direction, and when an obstacle is detected, translates for a displacement M1 in a second direction perpendicular to the first direction; step 200: after translation, determining whether able to continue to walk in the first direction, if yes, then the self-moving robot continues to walk in the first direction, and if not, then the self-moving robot acts according to a preset instruction. The method enables a robot to accurately avoid a local obstacle, provides a concise route, shortens determination time, and improves the working efficiency of the self-moving robot.
A self-moving apparatus (B) and a movement surface defect detection and control method therefor. The self-moving apparatus (B) comprises a machine body (100). The machine body (100) is provided thereon with a control unit and is also provided with a movement surface defect detection apparatus (A). The apparatus (A) comprises a probe rod (200) movably provided on the machine body (100) of the self-moving apparatus (B). An airflow channel (230) is provided within the probe rod (200). The bottom extremity of the probe rod (200) is a free extremity. A cavity (220) is provided within the free extremity. The airflow channel (230) is in communication with the cavity (220) to form a small suction cup structure. A spring (300) is provided on the probe rod (200). The spring (300) is positioned between the machine body (100) and the free extremity. The cavity (220) is connected to an extremity of a vacuum sensing apparatus (600) via a tube (800). The vacuum sensing apparatus (600) is connected to a vacuuming apparatus (700) via the tube (800). The vacuum sensing apparatus (600) is connected to the control unit. The self-moving apparatus (B) is structurally simple and provides sensitive detection, allows for detection even with a gap, a projection, or a frameless border, and has stable performance and high accuracy.
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