CN1250148C - 自动清洁器及其系统和控制方法 - Google Patents
自动清洁器及其系统和控制方法 Download PDFInfo
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Abstract
一种自动清洁器及其系统和控制方法。该自动清洁器系统包括一个用于执行清洁操作同时与一外部装置进行无线通信的自动清洁器,该自动清洁器具有在主体下部设置成一行的多个接近度开关,和一个设置在工作区的地板上的导向片,在该导向片上以预定样式形成了多条金属线,这些金属线可被接近度开关检测到。由于对于一个工作区来说位置识别和移动路线的确定变得容易了,因此,改善了自动清洁器的性能,同时减轻了运算负担。
Description
技术领域
本发明涉及一种自动清洁器(robot cleaner)及其系统和控制方法,更具体地说,本发明涉及一种能够通过获得目标工作区的地理信息来容易地控制自动清洁器移动到目标位置的自动清洁器及其系统和控制方法。
背景技术
一般来说,无需用户的操纵,一个自动清洁器自动地沿目标清洁区内的清洁表面移动,同时从清洁表面吸入外部的物质例如污物或灰尘。
在清洁过程中,自动清洁器探测距障碍物例如家具、墙等的距离,并根据探测到的信息进行控制以避免与障碍物相撞。
为了确保自动清洁器经过整个工作区,要求自动清洁器识别其相对于工作区的位置。
尽管人们已经做出了很多努力来研究一种让自动清洁器能借助存储通过装设在其上的照相机拍摄的环境图象来识别相对位置的方法,但由于图象识别处理所需的计算量很大以及由周围环境的变化造成位置识别误差的可能性很大,未能提高图象识别处理的精确度,因而也未能实现商业化。
发明内容
本发明旨在解决上述相关技术的问题,因此,本发明的一个目的是提供一种不但能够精确地识别其位置而且能够减轻位置识别的运算负担的自动清洁器及其系统和控制方法。
根据本发明的一方面,提供一种用于执行清洁操作同时与外部装置进行无线通信的自动清洁器,包括:
一个驱动部分,用于驱动安装在自动清洁器主体上的多个轮子;
一个安装在主体上的灰尘收集部分,用于从工作区内的一个地板表面收集灰尘;
多个接近度开关,以预定间距设置在与地板表面相对的主体的下表面上,所述多个接近度开关用于沿地板的表面方向检测金属线的存在;和
一个通信单元,用于与外部装置进行通信,以控制清洁操作;
存储器装置,用于存储通过使用来自多个接近度开关的输出信号所产生金属线的地理信息;
一个控制部分,其分别连接到通信单元、灰尘收集部分、多个接近度开关以及驱动部分;处理通过通信单元接收的信号;以及控制灰尘收集部分和驱动部分;其中控制部分通过利用在移动期间来自接近度开关的输出信号以及存储在存储器装置中的金属线的地理信息来计算移动距离和移动路线,并控制驱动部分,使得驱动部分利用计算出来的路线执行指定的工作。
接近度开关包括:一个振荡器,通过一个检测线圈振荡;一个波形检测器,用于检测来自检测线圈的振荡的幅度;和一个积分器,用于对通过波形检测电路输出的信号进行积分和输出。
接近度开关沿着一条连接彼此相对的轮子的轴的直线设置成一行。
接近度开关设置成奇数个,以便将一个接近度开关放置在轴连接直线的中间,其余的接近度开关以对称方式依次放置在中间的接近度开关的两边。
根据本发明的另一方面,提供一种自动清洁器系统,包括:一个用于执行清洁操作同时与一外部装置进行无线通信的自动清洁器,包括:
一个驱动部分,用于驱动安装在自动清洁器主体上的多个轮子;
一个安装在主体上的灰尘收集部分,用于从工作区内的一个地板表面收集灰尘;
多个接近度开关,以预定间距设置在与地板表面相对的主体的下表面上,所述多个接近度开关用于沿地板的表面方向检测金属线的存在;和
一个通信单元,用于与外部装置进行通信,以控制清洁操作;
一个存储器装置,用于存储通过使用来自多个接近度开关的输出信号所产生金属线的地理信息;
一个控制部分,其分别连接到通信单元、灰尘收集部分、多个接近度开关以及驱动部分;处理通过通信单元接收的信号;以及控制灰尘收集部分和驱动部分;其中控制部分通过利用在移动期间来自接近度开关的输出信号以及存储在存储器装置中的金属线的地理信息来计算移动距离和移动路线,并控制驱动部分,使得驱动部分利用计算出来的路线执行指定的工作;和
一个设置在工作区的地板上的导向片,在该导向片上以预定样式形成了多条金属线,这些金属线可被接近度开关检测到。
金属线形成在导向片的下表面上。
根据本发明的又一方面,提供一种用于控制自动清洁器的方法,该自动清洁器通过利用以预定间距设置在主体的下表面上的多个接近度开关从以预定样式形成在工作区地板的下部的金属线检测到的检测信号来识别移动位置,该控制方法包括以下步骤:在工作区内移动自动清洁器的同时,产生并存储金属线的样式图;当输入操作请求信号时,通过对样式图和接近度开关检测到的检测信号进行比较来识别自动清洁器的位置,并计算从所识别的位置到目标位置的移动路径;以及沿计算出来的移动路径移动自动清洁器。
在本发明的一个实施例中,其中接近度开关的数目至少为三个,沿着连接自动清洁器的彼此相对的轮子的轴的一条直线以对称的方式设置成一行,该控制方法包括下列步骤:当在移动过程中从最靠外的接近度开关接收到检测信号时,暂时停止移动,并计算设置在中间的接近度开关进行金属线检测所需的包括方向的改变和径直移动距离的路线调整坐标;根据路线调整坐标移动自动清洁器;以及当中间的接近度开关检测到金属线时,继续工作。
附图说明
通过参照附图详细描述本发明的优选实施例,本发明的上述目的和特征将会变得更明显,附图中:
图1是根据本发明的自动清洁器的立体图,其中把盖子摘掉了;
图2是图1的自动清洁器的仰视图;
图3是采用图1的自动清洁器的自动清洁器系统的方框图;
图4中的方框图示出了图3的接近度传感器的一个例子;
图5中的方框图示出了图3的中央控制单元;
图6A至6D示出了用在图1的自动清洁器中的金属线的例子;
图7表示沿金属线调整图1的自动清洁器的路线的过程;以及
图8是流程图,表示在图1的自动清洁器的清洁操作期间的轨迹调整过程。
具体实施方式
下面将参照附图详细描述根据本发明优选实施例的自动清洁器及其系统和控制方法。
图1是根据本发明优选实施例的自动清洁器的立体图,其中把盖子摘掉了。图2是图1的自动清洁器的仰视图,图3是采用图1的自动清洁器的自动清洁器系统的方框图。
自动清洁器10包括一个灰尘收集部分11,一个传感器部分12,一个前部的照相机13,一个驱动部分15,一个存储器装置16,一个收发部分17,一个控制部分,和一个电池19。
灰尘收集部分11安装在主体10a上,用来从清洁表面收集的灰尘,同时吸入外界的空气。可以用公知的方法以很多方式构成灰尘收集部分11。例如,灰尘收集部分11可以包括一个吸入马达(未示出)和一个用来收集在驱动吸入马达期间通过吸入端口或吸入管吸入的灰尘的灰尘收集室。吸入端口或吸入管与清洁表面相对。
传感器部分12包括以预定间距形成在主体表面上、用于发射信号和接收反射信号的障碍物传感器12a,用于探测移动距离的移动距离传感器12b,和接近度开关12c。
障碍物传感器12a包括发射光线的光发射元件12a1和接收反射光线的光接收元件12a2,元件12a1和元件12a2以预定间距沿障碍物传感器12a的外周设置并设置成竖直的列。或者,障碍物传感器12a可以是一个发射超声波并接收反射的超声波的超声波传感器。障碍物传感器12a还用来测量距障碍物或墙的距离。
距离传感器12b可以是一个探测轮子15a至15d的每分钟转数(RPM)的RPM传感器。例如,RPM传感器可以是一个检测马达15e和15f的RPM的编码器。
如图2所示,在主体10a的下表面上设置了多个接近度开关12c,与工作区的表面相对。
最好,接近度开关12c沿着连接两个轮子15c和15d的中心的假想直线15e、即沿着轮子15c和15d的轴线15e以预定间距对称设置。更好的是,将接近度开关12c设置为奇数个,其中将一个接近度开关12c放置在轴线15e的中心点15f,其余的接近度开关12c以对称方式放置在中间的接近度开关12c的旁边。最好有五个接近度开关12c。
一旦如上所述将接近度开关12c放置在轮子15c和15d的轴线15e上,就可以根据来自接近度开关12c的信号容易地调整自动清洁器10的路线,调整的单位由直角转动/直线运动/直角转动构成。
最好,将接近度开关12c用于间接地沿工作区的清洁表面方向检测预定探测距离内的金属材料的公知装置中。
例如,接近度开关12c可以是一个振荡型开关,该开关通过产生预定频率的振荡信号、并检测由金属材料与振荡产生的磁场之间的相互作用引起的振荡幅度变化来确定金属材料的存在,接近度开关12c也可以是一个电容型开关,该开关通过检测取决于检测电极与被检测目标之间的距离的电容变化来确定被检测目标的存在。
在本实施例中,接近度开关12c是振荡型开关。
如图4所示,振荡型开关12c的大致结构包括一个振荡器12ck,一个波形检测器12cl,和一个积分器12cm。另外可以根据信号探测能力设置一个放大器。
振荡器12ck通过一个设置在检测表面附近的检测线圈产生一个高频振荡信号。
波形检测器12cl检测并输出振荡器12ck的检测线圈的振荡幅度。
积分器12cm对通过波形检测器12cl输出的信号进行积分,并通过放大器12cn将积分的结果输出至控制部分18。
当一被检测目标、即金属材料接近从检测线圈产生的高频磁场时,由电磁感应在被检测目标(金属材料)中产生涡流电流。所产生的涡流电流与在检测线圈处产生的磁通的变化相反,振荡器12ck的内部振荡电路的振荡幅度减小或停止振荡。振荡型接近度开关12c通过利用这样一种相互作用来检测目标(金属材料)的存在。
最好将可被接近度开关12c检测到的金属线镶嵌在地板的下部。
例如,如图6A至6D所示,在导向片60上按预定样式形成金属线61、63、65、67。这些金属线61、63、65、67设置成其间的宽度与接近度开关12c的检测区相对应。
更好的是,金属线61、63、65、67按图6A至6D的示例性样式形成在导向片60、也就是所谓的地板片下面,从而可以不暴露在外面。更好的是,除了金属线61、63、65、67之外,导向片60由柔性绝缘材料制成。
导向片60的厚度被确定在自动清洁器10的接近度开关12c的探测范围内。例如,导向片60的厚度最好小于5cm。
图6A示出了镶嵌在导向片60中的矩阵型金属线61。在这种情况下,当接近度开关12c接近金属线61的交点(intersection)时,所有的接近度开关12c1至12c5都输出检测信号。因此可以容易地检测交点,从而,可以更准确地识别自动清洁器10的位置。
前部的照相机13安装在主体10a上,用于拍摄前方的物体并将所拍摄的图象输出给控制部分18。
驱动部分15包括安装在前部两侧的一对前轮15a、15b,安装在后部两侧的一对后轮15c、15d,用于驱动后轮对15c、15d的一对马达15e、15f,和一根用来将从后轮对15c、15d产生的驱动力传送到前轮对15a、15b的同步带15g。驱动部分15根据来自控制部分18的控制信号驱动马达对15e、15f,使得马达对15e、15f彼此独立地转动。马达对15e、15f中的每个马达均可双向转动。为了改变自动清洁器10的前进方向,驱动部分15以不同的RPM驱动马达对15e、15f。
收发部分17将要发射的数据发送至天线17a,并将从天线17a接收到的信号发射至控制部分18。
电池19安装在主体10a上,以便由一个充电端子(未示出)充电。充电端子设置在主体10a的外表面上,以便与外部充电装置30进行可拆卸地连接。
一个电池充电程度检测部分20检测电池19的充电程度,并在确定所检测到的充电程度达到一个预定的下限时产生一个充电请求信号。
控制部分18处理通过收发部分17接收的信号,并控制相应的部分。当将一个具有多个键、用于对清洁器10的功能进行选择的键输入装置(未示出)设置在主体10a或遥控器40上时,控制部分18处理从键输入装置输入的键信号。
控制部分18最好控制相应的部分,使得在非使用期间自动清洁器10与外部充电装置30保持连接。通过在非使用期间与外部充电装置30保持连接,可以将电池19的充电程度保持在一个足够的范围内。
在从外部充电装置30分离以执行一指定操作后,控制部分18通过使用接近度开关12c在自动清洁器的移动过程中获得的路线信息将自动清洁器10返回到外部充电装置30。控制部分18也可以将存储在照相机13中的图象信息用作辅助信息来执行返回或指定操作。
这里,“指定操作”包括清洁操作或通过照相机13的监视操作。
当完成指定操作时,或在操作中从电池充电程度检测部分20输入了充电请求信号时,自动清洁器10的控制部分18通过使用在从外部充电装置30分离时存储在其中的路线信息来计算一个返回外部充电装置30的路线,并控制驱动部分15沿计算出来的返回路线移动,同时通过使用从接近度开关12c输入的信号防止从该路线偏移。
最好,将自动清洁器系统构建为在外部对自动清洁器10进行操作控制,并对照相机13拍摄的图象进行处理和分析。
因此,将自动清洁器10构建成:将照相机13拍摄的图象无线地发射到外部,并根据从外部接收的控制信号进行操作。遥控器40针对一系列操作例如清洁操作、返回操作等无线地控制自动清洁器10。
遥控器40包括一个无线转发单元41和一个中央控制单元50。
无线转发单元41处理从自动清洁器10接收到的无线信号并将处理后的信号通过导线传送至中央控制单元50,并将从中央控制单元50接收到的信号通过天线42发送至自动清洁器41。
中央控制单元50由一个通用计算机构成,图5示出了一个例子。如图5所示,中央控制单元50包括一个中央处理单元(51;CPU),一个只读存储器(52;ROM),一个随机存取存储器(53;RAM),一个显示单元54,一个输入单元55,一个存储器单元56,和一个通信单元57。
存储器单元56具有一个内置的自动清洁器驱动器56a,用于控制自动清洁器10并处理从自动清洁器10发射的信号。
一经操作,自动清洁器驱动器56a便通过显示单元54提供一个菜单,用于设定对自动清洁器10的控制,并处理一系列工作,使得自动清洁器10执行用户选择的菜单。菜单包括清洁操作和监视操作的目录,并具有采用本发明的产品所支持的菜单的子目录,例如工作区选项、操作方法等的列表。
最好,自动清洁器驱动器56a上设有一个地理信息识别模式菜单,当选择了地理信息识别模式时,自动清洁器10便从外部充电装置30分离以沿着目标工作区移动,并利用从接近度开关12c检测并发射的信号产生和存储关于金属线样式的地理信息。地理信息的产生和存储也可以在自动清洁器10中进行。
自动清洁器驱动器56a控制自动清洁器10在预定的操作时间或在接收到用户通过输入装置55输入的操作指令信号时执行指定的工作。
自动清洁器10的控制部分18根据通过无线转发单元41从自动清洁器驱动器56a接收到的控制信息控制驱动部分15和/或灰尘收集部分11。控制部分18还通过无线转发单元41将照相机13拍摄的图象发射给中央控制单元50。
在操作控制期间,当通过无线转发单元41接收到来自自动清洁器10的电池充电请求信号或操作完成信号时,自动清洁器驱动器56a通过利用存储在存储器单元56中的金属线的地理信息来计算返回充电装置30的路线,并控制自动清洁器10沿着该计算出来的路线返回外部充电装置30。
下面将参照图7和8更详细地描述控制自动清洁器10的过程。
首先,产生并存储金属线的样式图(步骤S100)。
样式图是当用户设定自动清洁器10以便使用的时候或当用户在更新地理信息的过程中选择了地理信息识别模式的时候产生的。另外,也可以在自动清洁器10每次从充电装置30分离的时候产生样式图。
接着,确定是否接收到了操作请求信号(步骤S110)。
如果确定已经接收到了操作请求信号,则通过利用所存储的金属线的地理信息来计算执行指定工作的移动路径(步骤S120)。
接着,自动清洁器10沿着计算出来的移动路径移动(步骤S130)。
这样来确定移动路径,即,位于中间的接近度开关12c3与金属线65相对。沿正常路径移动的自动清洁器10在图7中用假想的圆圈“A”示出。
接着,确定是否仅从最靠外的接近度开关12c1,12c5中的一个输入了金属线检测信号(步骤S140)。
如果是,即,如果自动清洁器10从正常移动路径偏离到图7中的假想圆圈“B”和“C”所示的位置,则确定自动清洁器10到达了移动路线的一个可接受的限度。因此,暂时停止自动清洁器10,并计算路线调整坐标,以使自动清洁器10能返回到正常的移动路线。
更具体地说,如果自动清洁器10位于圆圈“B”,则暂时停止的自动清洁器10向左转90°,径直向前移动一段与中间的接近度开关12c3和一个最靠外的接近度开关12c1之间的距离相应的距离,然后向右转90°回到正常的前进方向(如箭头所示)。因此,中间的接近度开关12c3与金属线相对。在步骤S150中计算自动清洁器10的方向改变和径直向前移动的距离所对应的路线调整坐标。
在自动清洁器10位于图7的圆圈“C”的情况下,则暂时停止的自动清洁器10向右转90°,径直向前移动一段与中间的接近度开关12c3与另一个最靠外的接近度开关12c5之间的距离相应的距离,然后向左转90°。因此,中间的接近度开关12c3与金属线61相对,在步骤S150中计算方向改变和径直向前移动的距离所对应的路线调整坐标。
接着,根据计算出来的路线调整坐标,控制自动清洁器10的驱动部分15以驱动自动清洁器10返回到正常的移动路线以及下一个目标区。
同时,在自动清洁器10位于图7的圆圈“D”和“E”的情况下、即在只有位于最靠外的接近度开关12c1、12c5与中间的接近度开关12c3之间的接近度开关12c2、12c4接收到金属线检测信号的情况下,通过分别改变左、右轮的转动速度来调整路线。
在上述移动处理之后,确定操作是否完成(步骤S170),并由此结束操作。
如上所述,根据本发明的自动清洁器10及其系统和控制方法,识别自动清洁器10的位置和自动清洁器10在工作区内的移动路线变得容易了。结果,改善了自动清洁器10的性能,同时减轻了运算负担。
尽管已经描述了本发明的优选实施例,但本领域的技术人员能够理解,本发明不应限于所描述的优选实施例,可以在所附权利要求书限定的本发明的精神和范围内做出各种改变和修正。
Claims (13)
1、一种用于执行清洁操作同时与外部装置进行无线通信的自动清洁器,包括:
一个驱动部分,用于驱动安装在自动清洁器主体上的多个轮子;
一个安装在主体上的灰尘收集部分,用于从工作区内的一个地板表面收集灰尘;
多个接近度开关,以预定间距设置在与地板表面相对的主体的下表面上,所述多个接近度开关用于沿地板的表面方向检测金属线的存在;和
一个通信单元,用于与外部装置进行通信,以控制清洁操作;
存储器装置,用于存储通过使用来自多个接近度开关的输出信号所产生的金属线的地理信息;
一个控制部分,其分别连接到通信单元、灰尘收集部分、多个接近度开关以及驱动部分;处理通过通信单元接收的信号;以及控制灰尘收集部分和驱动部分;其中控制部分通过利用在移动期间来自接近度开关的输出信号以及存储在存储器装置中的金属线的地理信息来计算移动距离和移动路线,并控制驱动部分,使得驱动部分利用计算出来的路线执行指定的工作。
2、根据权利要求1所述的自动清洁器,其中,接近度开关包括:
一个振荡器,通过一个检测线圈振荡;
一个波形检测器,用于检测来自检测线圈的振荡的幅度;和
一个积分器,用于对通过波形检测器输出的信号进行积分和输出。
3、根据权利要求1所述的自动清洁器,其中,接近度开关沿着一条连接彼此相对的轮子的轴的直线设置成一行。
4、根据权利要求3所述的自动清洁器,其中,接近度开关设置成奇数个,以便将一个接近度开关放置在轴连接直线的中间,其余的接近度开关以对称方式依次放置在中间的接近度开关的两边。
5、根据权利要求4所述的自动清洁器,其中,接近度开关的数目为五个。
6、一种自动清洁器系统,包括:
一个用于执行清洁操作同时与一外部装置进行无线通信的自动清洁器,该自动清洁器包括:
一个驱动部分,用于驱动安装在自动清洁器主体上的多个轮子;
一个安装在主体上的灰尘收集部分,用于从工作区内的一个地板表面收集灰尘;
多个接近度开关,以预定间距设置在与地板表面相对的主体的下表面上,所述多个接近度开关用于沿地板的表面方向检测金属线的存在;
一个通信单元,用于与外部装置进行通信,以控制清洁操作;
存储器装置,用于存储通过使用来自多个接近度开关的输出信号所产生的金属线的地理信息;以及
一个控制部分,其分别连接到通信单元、灰尘收集部分、多个接近度开关以及驱动部分;处理通过通信单元接收的信号;以及控制灰尘收集部分和驱动部分;其中控制部分通过利用在移动期间来自接近度开关的输出信号以及存储在存储器装置中的金属线的地理信息来计算移动距离和移动路线,并控制驱动部分,使得驱动部分利用计算出来的路线执行指定的工作;和
一个设置在工作区地板之下部的导向片,在该导向片上以预定样式形成了多条金属线,这些金属线可被接近度开关检测到。
7、根据权利要求6所述的自动清洁器系统,其中,金属线形成在导向片的下表面上。
8、根据权利要求6所述的自动清洁器系统,其中,接近度开关沿着一条连接自动清洁器的对称地相对的轮子的轴的直线设置成一行。
9、根据权利要求8所述的自动清洁器系统,其中,在轴连接直线上设置奇数个接近度开关,以便将一个接近度开关放置在轴连接直线的中间,其余的接近度开关以对称方式依次放置在中间的接近度开关的两边。
10、根据权利要求9所述的自动清洁器系统,其中,接近度开关的数目为五个。
11、根据权利要求6所述的自动清洁器系统,其中,金属线设置成其间的宽度与每个接近度开关的可检测区相对应。
12、一种用于控制自动清洁器的方法,该自动清洁器通过利用以预定间距设置在主体的下表面上的多个接近度开关从以预定样式形成在工作区地板的下部的金属线检测到的检测信号来识别移动位置,该控制方法包括以下步骤:
在工作区内移动自动清洁器的同时,产生并存储金属线的样式图;
当输入操作请求信号时,通过对样式图和接近度开关检测到的检测信号进行比较来识别自动清洁器的位置,并计算从所识别的位置到目标位置的移动路径;以及
沿计算出来的移动路径移动自动清洁器。
13、根据权利要求12所述的方法,其中,接近度开关的数目至少为三个,沿着连接自动清洁器的彼此相对的轮子的轴的一条直线以对称的方式设置成一行,
该控制方法包括下列步骤:
当在移动过程中从最靠外的接近度开关接收到检测信号时,暂时停止移动,并计算设置在中间的接近度开关进行金属线检测所需的包括方向的改变和径直移动距离的路线调整坐标;
根据路线调整坐标移动自动清洁器;以及
当中间的接近度开关检测到金属线时,继续工作。
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- 2001-11-21 DE DE10157016A patent/DE10157016B4/de not_active Expired - Fee Related
- 2001-11-30 JP JP2001367323A patent/JP2003052596A/ja active Pending
- 2001-12-25 CN CNB011447834A patent/CN1250148C/zh not_active Expired - Fee Related
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2002
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- 2002-03-26 SE SE0200900A patent/SE524488C2/sv not_active IP Right Cessation
- 2002-03-29 RU RU2002107954/12A patent/RU2236814C2/ru active
- 2002-04-16 FR FR0204724A patent/FR2828427B1/fr not_active Expired - Fee Related
- 2002-07-22 GB GB0217006A patent/GB2380563B/en not_active Expired - Fee Related
Cited By (5)
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CN101972129A (zh) * | 2009-06-19 | 2011-02-16 | 三星电子株式会社 | 机器人清洁器及其控制方法、对接站、包括该机器人清洁器和该对接站的机器人清洁器系统 |
CN101972129B (zh) * | 2009-06-19 | 2015-02-04 | 三星电子株式会社 | 机器人清洁器及其控制方法、对接站、包括该机器人清洁器和该对接站的机器人清洁器系统 |
CN102987989A (zh) * | 2011-09-09 | 2013-03-27 | 戴森技术有限公司 | 自主表面处理器具 |
CN102987989B (zh) * | 2011-09-09 | 2016-06-29 | 戴森技术有限公司 | 自主表面处理器具 |
CN110946513B (zh) * | 2018-09-27 | 2021-08-06 | 广东美的生活电器制造有限公司 | 扫地机器人的控制方法及装置 |
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KR100420171B1 (ko) | 2004-03-02 |
CN1401289A (zh) | 2003-03-12 |
RU2236814C2 (ru) | 2004-09-27 |
US20030028993A1 (en) | 2003-02-13 |
FR2828427A1 (fr) | 2003-02-14 |
KR20030013099A (ko) | 2003-02-14 |
SE0200900D0 (sv) | 2002-03-26 |
US6841963B2 (en) | 2005-01-11 |
FR2828427B1 (fr) | 2005-04-15 |
GB2380563B (en) | 2003-10-08 |
DE10157016A1 (de) | 2003-03-27 |
DE10157016B4 (de) | 2006-12-21 |
SE524488C2 (sv) | 2004-08-17 |
GB2380563A (en) | 2003-04-09 |
SE0200900L (sv) | 2003-02-08 |
JP2003052596A (ja) | 2003-02-25 |
GB0217006D0 (en) | 2002-08-28 |
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