CN110811436B - Dust collection method and device, electrical equipment and computer readable storage medium - Google Patents
Dust collection method and device, electrical equipment and computer readable storage medium Download PDFInfo
- Publication number
- CN110811436B CN110811436B CN201911082826.6A CN201911082826A CN110811436B CN 110811436 B CN110811436 B CN 110811436B CN 201911082826 A CN201911082826 A CN 201911082826A CN 110811436 B CN110811436 B CN 110811436B
- Authority
- CN
- China
- Prior art keywords
- dust collecting
- dust
- threshold value
- dust collection
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000428 dust Substances 0.000 title claims abstract description 234
- 238000000034 method Methods 0.000 title claims abstract description 39
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 60
- 230000015654 memory Effects 0.000 claims description 21
- 238000010408 sweeping Methods 0.000 abstract description 10
- 238000004140 cleaning Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4025—Means for emptying
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a dust collection method, a device, electric equipment and a computer readable storage medium, wherein the dust collection method comprises the following steps: obtaining the amount of garbage passing through the dust collecting channel; judging whether the garbage amount is smaller than a preset first threshold value or not; and when the garbage amount is smaller than the first threshold value, finishing dust collection. According to the embodiment of the invention, whether the garbage in the dust box of the sweeping robot is emptied or not can be judged through the garbage amount of the dust collecting channel, and when the garbage amount passing through the dust collecting channel is smaller than the first threshold value, dust collection is finished, so that the dust collecting time can be accurately determined, and the problem that the time value of a device capable of automatically emptying the dust box is difficult to determine when the device is controlled in a fixed working time mode is solved.
Description
Technical Field
The invention relates to the technical field of smart home, in particular to a dust collection method, a dust collection device, electrical equipment and a computer readable storage medium.
Background
At present, a partial sweeping robot is provided with an automatic dust collecting system which integrates a charging seat and a device capable of automatically emptying a dust collecting box. When the device capable of automatically emptying the dust collecting box works, garbage in the dust collecting box of the sweeping robot can be sucked into the dust collecting bag of the automatic dust collecting system. But the device capable of automatically emptying the dust collecting box has large motor power which can reach more than 1000 watts at most and has larger working noise.
When the device capable of automatically emptying the dust collecting box works, the time value is difficult to select when the device is controlled by adopting a fixed working time mode, the selected working time is too short, and when the dust collecting box is full of garbage, the dust collecting box is not completely emptied; when the working time of selection is too long, when rubbish is less in the dirt box, the dust absorption motor still continues to work under the condition that the dirt box has been emptied, can produce the noise and cause the power extravagant, and user experience is not good.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a dust collecting method, device, electrical equipment and computer readable storage medium to solve the problem that the time value of a device capable of automatically emptying a dust collecting box is difficult to determine when the device is controlled in a fixed working time manner.
According to a first aspect, embodiments of the present invention provide a dust collecting method, including the steps of:
obtaining the amount of garbage passing through the dust collecting channel;
judging whether the garbage amount is smaller than a preset first threshold value or not;
and when the garbage amount is smaller than the first threshold value, finishing dust collection.
According to the embodiment of the invention, the garbage amount passing through the dust collecting channel is obtained, whether the garbage amount of the dust collecting channel is smaller than a preset first threshold value or not is judged, whether the garbage in the sweeping robot dust box is emptied or not can be judged through the garbage amount of the dust collecting channel, and when the garbage amount passing through the dust collecting channel is smaller than the first threshold value, dust collection is finished, so that the dust collecting time can be accurately determined, and the problem that the time value of a device capable of automatically emptying the dust collecting box is difficult to determine when the device is controlled in a fixed working time mode is solved.
With reference to the first aspect, in a first embodiment of the first aspect, before obtaining the amount of the garbage passing through the dust collecting passage, the method further includes:
acquiring dust collection time of dust collection equipment;
judging whether the dust collecting time meets a preset condition or not;
and when the dust collection time meets the preset condition, sending an instruction for acquiring the amount of the garbage passing through the dust collection channel.
With reference to the first embodiment of the first aspect, in the second embodiment of the first aspect, the determining whether the dust collecting time meets a preset condition includes:
judging whether the dust collection time is greater than a preset second threshold value or not;
when the dust collection time is greater than the second threshold value, continuously judging whether the dust collection time is less than a preset third threshold value, wherein the third threshold value is greater than the second threshold value;
and when the dust collection time is smaller than the third threshold value, judging that the dust collection time meets a preset condition.
With reference to the second embodiment of the first aspect, in a third embodiment of the first aspect, the dust collecting method further comprises the steps of:
when the garbage amount is larger than the first threshold value or when the dust collection time is smaller than the second threshold value, dust collection is continued.
With reference to the second embodiment of the first aspect, in a fourth embodiment of the first aspect, the dust collecting method further comprises the steps of:
and when the dust collection time is greater than the third threshold value, finishing dust collection.
With reference to the second to fourth embodiments of the first aspect, in a fifth embodiment of the first aspect, the second threshold is a shortest dust collecting time of the dust collecting device, and the second threshold is a longest dust collecting time of the dust collecting device.
With reference to the first embodiment of the first aspect, in a sixth embodiment of the first aspect, before obtaining the dust collecting time of the dust collecting apparatus, the method further includes:
judging whether the dust collecting equipment is in a dust collecting state or not;
when the dust collecting device is in a dust collecting state, the dust collecting time of the dust collecting device is started to be measured.
According to a second aspect, an embodiment of the present invention provides a dust collecting apparatus, including:
the acquisition module is used for acquiring the garbage amount passing through the dust collection channel;
the judging module is used for judging whether the garbage amount is smaller than a preset first threshold value or not;
and the processing module is used for finishing dust collection when the garbage amount is smaller than the first threshold value.
According to a third aspect, an embodiment of the present invention provides an electrical apparatus, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing therein computer instructions, and the processor executing the computer instructions to perform the dust collecting method according to the first aspect or any one of the embodiments of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the dust collection method of the first aspect or any one of the implementation manners of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a schematic flow chart showing a dust collecting method in example 1 of the present invention;
FIG. 2 is a schematic flow chart showing a dust collecting method in example 2 of the present invention;
fig. 3 is a schematic structural view of a dust collecting apparatus in embodiment 3 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment 1 of the invention provides a dust collection method. Fig. 1 is a schematic flow chart of a dust collecting method in embodiment 1 of the present invention, and as shown in fig. 1, the dust collecting method in embodiment 1 of the present invention includes the following steps:
s101: the amount of the garbage passing through the dust collecting passage is acquired.
In an embodiment of the present invention, the dust collection passage is established between a cleaning apparatus (e.g., a sweeping robot) and a dust collection apparatus (e.g., a device that can automatically empty a dust collection box); for example between a dust bin of the sweeping robot and a dust bag of a device that can automatically empty the dust bin. The garbage in the sweeping device can be transferred to the dust collecting device through the dust collecting channel.
As a specific embodiment, the amount of waste passing through the collecting channel is understood to be the amount of real-time waste passing through a section of the collecting channel. The amount of the garbage passing through the dust collecting channel can adopt any technical scheme in the prior art, the invention is not limited, and for example, the amount of the garbage passing through the dust collecting channel can be obtained by adopting an infrared detection technology.
S102: and judging whether the garbage amount is smaller than a preset first threshold value.
In the embodiment of the present invention, the first threshold may be set according to a priori experience.
S103: and when the garbage amount is smaller than the first threshold value, finishing dust collection.
When the amount of the garbage passing through the dust collecting channel is smaller than the first threshold value, the garbage in the cleaning equipment is emptied or basically emptied, the condition of finishing the dust collecting work is reached, and the dust collection can be finished.
In embodiment 1 of the invention, whether the amount of garbage passing through the dust collecting channel is smaller than a preset first threshold is judged by obtaining the amount of garbage passing through the dust collecting channel, whether the garbage in the dust box of the sweeping robot is emptied or almost emptied is judged according to a comparison result of the amount of garbage passing through the dust collecting channel and the first threshold, and when the amount of garbage passing through the dust collecting channel is smaller than the first threshold, a condition of finishing dust collecting work is reached, and dust collection is finished, so that dust collecting time can be accurately determined, and the problem that the time value of a device capable of automatically emptying the dust box is difficult to determine when the device is controlled in a fixed working time mode is solved.
Example 2
Embodiment 2 of the invention provides a dust collecting method. Fig. 2 is a schematic flow chart of a dust collecting method in embodiment 1 of the present invention, and as shown in fig. 2, the dust collecting method in embodiment 2 of the present invention includes the following steps:
s201: it is judged whether or not the dust collecting device is in a dust collecting state.
S202: when the dust collecting device is in the dust collecting state, the dust collecting time of the dust collecting device is started to be measured. And when the dust collecting device is not in a dust collecting state, clearing the dust collecting time of the dust collecting device.
S203: and acquiring the dust collecting time of the dust collecting equipment.
S204: it is judged whether or not the dust collecting time is longer than the shortest dust collecting time Tmin.
In embodiment 2 of the present invention, the second threshold value is set to the shortest dust collecting time Tmin of the dust collecting device.
S205: when the dust collecting time is longer than the shortest dust collecting time Tmin, it is judged whether or not the dust collecting time is shorter than the longest dust collecting time Tmax. And when the dust collection time is less than the shortest dust collection time Tmin, continuing to collect dust and returning to the step of acquiring the next dust collection time.
In embodiment 3 of the present invention, the third threshold value is set to the maximum dust collecting time Tmax of the dust collecting device.
In embodiment 2 of the present invention, the purpose of step S204 and step S205 is to determine whether the dust collection time satisfies a preset condition. Alternatively, it is also possible to judge whether the dust collecting time is less than the longest dust collecting time Tmax first, and when the dust collecting time is less than the longest dust collecting time Tmax, to judge whether the dust collecting time is more than the shortest dust collecting time Tmin continuously.
In embodiment 2 of the present invention, by setting the minimum time Tmin and the maximum time Tmax of the dust collecting operation, it is ensured that the dust collecting operation can be reliably completed even when there is an abnormality in the real-time detection of the amount of the garbage passing through the dust collecting passage.
S206: when the dust collecting time is less than the maximum dust collecting time Tmax, the amount of the garbage passing through the dust collecting passage is acquired. When the dust collecting time is longer than the maximum dust collecting time Tmax, the dust collection is finished.
S206: and judging whether the garbage amount is smaller than a preset first threshold value.
S207: when the garbage amount is smaller than the first threshold value, finishing dust collection; and when the garbage amount is larger than the first threshold value, continuing to collect the dust, and returning to the step of acquiring the next dust collecting time.
In embodiment 2 of the invention, whether the dust in the dust box of the sweeping robot is emptied or almost emptied is judged according to the comparison result of the amount of the dust passing through the dust collecting channel and the first threshold, and then the comparison result of the dust collecting working time t1, the shortest dust collecting time Tmin and the longest dust collecting time Tmax is used as one of the conditions for finishing dust collection, so that whether the dust collecting work is finished or dust collection is continued is determined, the dust collecting time can be accurately controlled, and the problem that the time value is difficult to determine when the control is performed in a fixed working time mode is solved.
Example 3
Corresponding to method example 1, the present invention example 3 provides a dust collecting apparatus. Fig. 3 is a schematic structural diagram of a dust collecting device in embodiment 3 of the present invention, and as shown in fig. 3, the dust collecting device in embodiment 3 of the present invention includes an obtaining module 30, a determining module 32, and a processing module 34.
Wherein, the obtaining module 30 is used for obtaining the garbage amount passing through the dust collecting channel.
And the judging module 32 is configured to judge whether the garbage amount is smaller than a preset first threshold.
And the processing module 34 is used for finishing dust collection when the garbage amount is smaller than the first threshold value.
In embodiment 3 of the present invention, by obtaining the amount of garbage passing through the dust collecting channel, it is determined whether the amount of garbage passing through the dust collecting channel is smaller than a preset first threshold, and according to a comparison result between the amount of garbage passing through the dust collecting channel and the first threshold, it is determined whether the garbage in the dust box of the sweeping robot is empty or substantially empty, and when the amount of garbage passing through the dust collecting channel is smaller than the first threshold, a condition of ending dust collecting work is reached, and dust collection is ended, so that dust collecting time can be accurately determined, and a problem that a time value of a device capable of automatically emptying the dust box is difficult to determine when the device is controlled in a fixed working time manner is solved.
The dust collecting device in embodiment 3 of the present invention can also implement the dust collecting method in embodiment 2 of the present invention, and can achieve the same technical effects, which are not described herein again.
As a specific embodiment, the dust collecting device of the present invention may be disposed in a dust collecting apparatus as well as a cleaning apparatus.
Example 4
The embodiment of the invention also provides an electric device which can comprise a processor and a memory, wherein the processor and the memory can be connected through a bus or in other manners.
The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or a combination thereof.
The memory, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules (e.g., the acquiring module 30, the determining module 32, and the processing module 34 shown in fig. 3) corresponding to the key shielding method of the in-vehicle display device in the embodiment of the present invention. The processor executes various functional applications and data processing of the processor by executing the non-transitory software programs, instructions and modules stored in the memory, that is, implements the dust collection method in the above method embodiments.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory and, when executed by the processor, perform a dust collection method as in the embodiment of fig. 1-2.
The specific details of the electrical apparatus may be understood by referring to the corresponding related descriptions and effects in the embodiments shown in fig. 1 to fig. 2, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (8)
1. A method of collecting dust, comprising:
obtaining the amount of garbage passing through the dust collecting channel;
judging whether the garbage amount is smaller than a preset first threshold value or not;
when the garbage amount is smaller than the first threshold value, ending dust collection;
before the amount of the garbage passing through the dust collecting passage is obtained, the method further comprises the following steps:
acquiring dust collection time of dust collection equipment;
judging whether the dust collecting time meets a preset condition or not;
when the dust collection time meets the preset condition, sending an instruction for acquiring the amount of the garbage passing through a dust collection channel;
the judging whether the dust collecting time meets a preset condition comprises the following steps:
judging whether the dust collection time is greater than a preset second threshold value or not;
when the dust collection time is greater than the second threshold value, continuously judging whether the dust collection time is less than a preset third threshold value, wherein the third threshold value is greater than the second threshold value;
and when the dust collection time is smaller than the third threshold value, judging that the dust collection time meets the preset condition.
2. The dust collecting method according to claim 1, further comprising:
and when the garbage amount is larger than the first threshold value or when the dust collection time is smaller than the second threshold value, continuing collecting dust, and returning to the step of acquiring the next dust collection time of the dust collection equipment.
3. The dust collecting method according to claim 1, further comprising:
and when the dust collection time is greater than the third threshold value, finishing dust collection.
4. A dust collecting method according to any one of claims 1 to 3, characterized in that: the second threshold value is the shortest dust collecting time of the dust collecting device, and the third threshold value is the longest dust collecting time of the dust collecting device.
5. The dust collecting method according to claim 1, further comprising, before acquiring the dust collecting time of the dust collecting apparatus:
judging whether the dust collecting equipment is in a dust collecting state or not;
when the dust collecting device is in a dust collecting state, the dust collecting time of the dust collecting device is started to be measured.
6. A dust collecting apparatus, comprising:
the acquisition module is used for acquiring the garbage amount passing through the dust collection channel;
the judging module is used for judging whether the garbage amount is smaller than a preset first threshold value or not;
the processing module is used for finishing dust collection when the garbage amount is smaller than the first threshold value;
before the garbage amount passing through the dust collecting channel is obtained, the obtaining module is also used for obtaining the dust collecting time of the dust collecting equipment;
the judging module is also used for judging whether the dust collecting time is greater than a preset second threshold value; when the dust collection time is greater than the second threshold value, continuously judging whether the dust collection time is less than a preset third threshold value, wherein the third threshold value is greater than the second threshold value; when the dust collection time is smaller than the third threshold value, judging that the dust collection time meets a preset condition;
the processing module is also used for sending an instruction for acquiring the garbage amount passing through the dust collecting channel when the dust collecting time meets the preset condition.
7. An electrical device, comprising:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the dust collection method of any one of claims 1-5.
8. A computer-readable storage medium storing computer instructions for causing a computer to execute the dust collection method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911082826.6A CN110811436B (en) | 2019-11-07 | 2019-11-07 | Dust collection method and device, electrical equipment and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911082826.6A CN110811436B (en) | 2019-11-07 | 2019-11-07 | Dust collection method and device, electrical equipment and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110811436A CN110811436A (en) | 2020-02-21 |
| CN110811436B true CN110811436B (en) | 2020-12-25 |
Family
ID=69553273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911082826.6A Active CN110811436B (en) | 2019-11-07 | 2019-11-07 | Dust collection method and device, electrical equipment and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110811436B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114931342B (en) * | 2022-05-18 | 2024-03-22 | 安克创新科技股份有限公司 | Dust box dust fullness detection method and device, dust collection device and automatic cleaning equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2494900B1 (en) * | 2011-03-04 | 2014-04-09 | Samsung Electronics Co., Ltd. | Debris detecting unit and robot cleaning device having the same |
| CN104490356B (en) * | 2015-01-07 | 2017-03-08 | 佛山市顺德区美的洗涤电器制造有限公司 | A kind of dish-washing machine and its control method of washing and device |
| US9462920B1 (en) * | 2015-06-25 | 2016-10-11 | Irobot Corporation | Evacuation station |
| CN108464775A (en) * | 2018-04-04 | 2018-08-31 | 宛敏玖 | A kind of sweeping robot component |
-
2019
- 2019-11-07 CN CN201911082826.6A patent/CN110811436B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110811436A (en) | 2020-02-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110859550A (en) | Dust collection method, device, dust collection system and readable storage medium | |
| EP4154789A1 (en) | Method and apparatus for determining dirt level of cleaning mechanism, and storage medium | |
| CN111020988A (en) | Cleaning equipment, sweeping equipment, control method and cleaning system | |
| CN110811437A (en) | Dust collection method, dust collection device, cleaning system and readable storage medium | |
| CN104035769A (en) | Processing method and device for space shortage | |
| CN110811436B (en) | Dust collection method and device, electrical equipment and computer readable storage medium | |
| CN109508002B (en) | Method and device for cleaning ground by robot and robot | |
| CN111466831B (en) | Dust box state detection method and device of sweeping robot, dust box and sweeping robot | |
| CN111920346A (en) | Method, device, equipment and medium for controlling dust collection of cleaning robot | |
| CN113143123A (en) | Cleaning robot system and cleaning control method | |
| CN112254782A (en) | Method and device for identifying garbage capacity in dust box of sweeper and computer equipment | |
| CN111358359B (en) | Line avoiding method and device for robot, chip and sweeping robot | |
| CN112006613B (en) | Dust box cleaning control method and device of sweeping robot and storage medium | |
| CN111493741B (en) | Dust box detection method and device, electronic equipment and computer readable storage medium | |
| CN106319838A (en) | Drainage control method of washing machine | |
| CN105155209A (en) | Rinsing control method for washing machine | |
| CN111813111B (en) | Multi-robot cooperative working method | |
| CN105222195A (en) | Automatic range hood cleaning and control method thereof | |
| CN113974489A (en) | Sweeper control method and system, sweeper and computer readable storage medium | |
| CN109945949A (en) | Water-level detecting device, method and system | |
| CN113832653A (en) | Self-cleaning method and device of cleaning equipment and cleaning equipment | |
| CN114073458B (en) | Cleaning system, cleaning control method, cleaning base station, storage medium, and product program | |
| CN111358364B (en) | Dead angle cleaning method and device based on visual robot, chip and robot | |
| CN113598656A (en) | Cleaning method and device for mobile robot, storage medium and electronic device | |
| CN112690702B (en) | Cleaning reminding method and device for dust collector, handheld dust collector and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |