CN114481919A - Switching method and system for brush head of unmanned sweeper and vehicle - Google Patents
Switching method and system for brush head of unmanned sweeper and vehicle Download PDFInfo
- Publication number
- CN114481919A CN114481919A CN202111569716.XA CN202111569716A CN114481919A CN 114481919 A CN114481919 A CN 114481919A CN 202111569716 A CN202111569716 A CN 202111569716A CN 114481919 A CN114481919 A CN 114481919A
- Authority
- CN
- China
- Prior art keywords
- light
- brush
- current intensity
- intensity value
- switching
- 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.)
- Pending
Links
- 241001417527 Pempheridae Species 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000010408 sweeping Methods 0.000 claims abstract description 14
- 230000003287 optical effect Effects 0.000 claims description 31
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000004140 cleaning Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
- E01H1/053—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes having vertical axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a switching operation method of a brush head of an unmanned sweeper. The invention mainly aims to avoid misjudgment of road surface evenness caused by weather and light factors by using the light reflection principle to identify the ground instead of a point cloud image identification form. Meanwhile, the method for intelligently switching the brush heads of the sweeper is provided, the sweeping is more efficient and clean by switching the brush heads, and the service life of the brush body is prolonged.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a brush head control method and device of an unmanned sweeper and the unmanned sweeper.
Background
The brush head of a general unmanned sweeper is simple in structure, so that the sweeper can only sweep a flat surface and cannot sweep a ground with a complex terrain or uneven terrain. The conventional CN113250121A technology is to control the deformation of the brush head by determining the ground flatness of the front preset region according to the point cloud image, so as to improve the cleaning effect.
The technical disadvantages are as follows:
the point cloud image is influenced by factors such as weather and light, and misjudgment on the road flatness is easily caused;
for various road surfaces with different planeness, the sweeper can only use a single brush head, the cleaning is not thorough, and the brush head is easy to damage.
Disclosure of Invention
The invention mainly aims to replace a point cloud image identification form by identifying the ground by utilizing a light reflection principle, so that misjudgment on the road flatness caused by weather and light factors is avoided; meanwhile, the method for intelligently switching the brush heads of the sweeper is provided, the sweeping is more efficient and clean by switching the brush heads, and the service life of the brush is prolonged. The specific technical scheme is as follows.
As a first aspect, the present invention provides a method of switching a brush head of an unmanned sweeping vehicle, the method comprising:
s1, the light sensor receives the light reflected by the target object in real time and converts the reflection intensity of the light into a corresponding real-time current intensity value k;
s2, when the real-time current intensity value k reaches the starting current intensity value k for starting the brush head of the unmanned sweeper0Judging the leveling state of the target object according to the real-time current intensity value k, and performing decision execution in step S3 or S4 according to the judgment result;
s3, if the real-time current intensity value k compared by the controller is smaller than the preset current intensity value k1If the state of the target object is judged to be non-flat, the controller sends an instruction to select a preset brush body I;
s4, if the real-time current intensity value k is larger than the preset current intensity value k1And the controller judges that the state of the target object is flat and selects a second preset brush body.
Preferably, the following steps are performed before the step S2 is performed:
the optical sensor judges whether the acquired real-time current intensity value k reaches the starting current intensity value k0If yes, go to step S2; if not, the controller sends an instruction to start the standby light source for light compensation until the real-time current intensity valuek reaches the starting current intensity value k0Then, step S2 is executed.
Preferably, the starting current strength value k is0The setting method comprises the following steps: repeatedly identifying the minimum light intensity reflected by the surface of the preselected rough object, and testing the critical value of the real-time current intensity value of the identifiable target object of the light-emitting sensor, which is respectively marked as ka，kb，kc，···，knWherein n is not less than 5, k0Taking the maximum value: k is a radical of0=max（ka，kb，kc，···，kn) So that the controller can accurately start and start the brush head of the unmanned sweeper.
Preset current strength value k1The setting method comprises the following steps: according to the current intensity values corresponding to the light intensity reflected by the surfaces of n groups of different types of target objects, respectively marking as kⅠ，kⅡ，kⅢ，···，knWherein n is not less than 5, k1Taking the average value: k is a radical of formula1=（kⅠ+kⅡ+kⅢ+…+kn）/n。
As a second aspect, the present invention discloses a computer readable storage medium storing one or more programs, the computer readable storage medium storing one or more program instructions, which when executed by a processor, perform any of the methods described above. The memory may be configured solely for use with a processor or used in conjunction with a processor of the vehicle.
As a third aspect, the present invention provides a switching system for a brush head of an unmanned sweeping vehicle, the system comprising a brush body switching device, an optical assembly, and an optical sensor, wherein:
the brush body switching device is used for switching the brush body according to a control command sent by the optical sensor;
and the optical sensor is used for receiving the reflection intensity of the light reflected by the ground and sending a switching instruction to the brush body switching device according to a preset switching strategy.
The optical assembly is composed of a light inlet located at the top of the unmanned sweeper, a light outlet located at the bottom of the unmanned sweeper, at least one convex lens and a light channel located inside the unmanned sweeper, wherein the convex lens is located at the light inlet, a reflector is arranged below the convex lens and reflects natural light to the road surface through the light channel, a reflected light inlet is arranged on the other side of the bottom of the unmanned sweeper, a light sensor is installed at the reflected light inlet, and an LED standby light source which emits to the focus direction of the convex lens is arranged around the lower side of the convex lens.
Preferably, the brush body switching device comprises a controller, a speed reduction motor, a brush motor, a first brush body and a second brush body, wherein:
the optical sensor is electrically connected with the controller, the controller is electrically connected with the LED standby light source and the speed reducing motor respectively, the first brush body and the second brush body are installed at two ends of an output shaft of the brush motor, and the center of the brush motor is installed at the outer end of a rotating shaft of the speed reducing motor.
As a fourth aspect, the present invention provides an unmanned sweeping vehicle fitted with a switching system for a brushhead of any one of the above-described unmanned sweeping vehicles.
The invention has the beneficial effects that:
1. the ground flatness is judged by using the light reflection principle, and the device has stable performance and is easy to popularize;
2. the hairbrushes with different hardness are used for sweeping the ground with different flatness, so that the sweeping efficiency is improved;
3. different brushes are intelligently switched, so that the service life of the brush can be prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a control flow diagram of the present invention;
FIG. 2 is a schematic view of the reflection effect of light on a flat ground;
FIG. 3 is a schematic view of the reflection effect of light on the depressed ground;
FIG. 4 is a schematic illustration of the vehicle configuration of the present invention;
FIG. 5 is a block diagram of the system of the present invention;
fig. 6 is a schematic view of the brush head structure of the present invention.
The attached drawings are as follows: the LED light source comprises a light sensor 1, a controller 2, a speed reducing motor 3, a brush motor 4, a brush body I5, a brush body II 6, an optical assembly 7, an LED standby light source 8, a light inlet 9, a light outlet 10, a convex lens 11, a reflector 12 and a reflected light inlet 13.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. It is obvious that the described embodiments are only some of the embodiments of the invention.
Example 1
As shown in fig. 1, the present invention provides a method for switching a brush head of an unmanned sweeping vehicle, the method comprising:
s1, the optical sensor 1 receives the light reflected by the optical assembly 7 composed of the convex lens and the reflector, which guides the natural light to the ground in real time, and converts the reflected light intensity into a corresponding real-time current intensity value k. When the optical sensor 1 determines that the obtained real-time current intensity value k does not reach the starting current intensity value k0If so, the optical sensor 1 sends an instruction to the LED standby light source 8 through the controller 2, and the LED standby light source 8 is turned on to perform light compensation until the real-time current intensity value k reaches the start-up current intensity value k0. The weather is clear in the same day. When the sunlight intensity is sufficient, the real-time current intensity value k of the natural light reflected to the light sensor 1 through the optical component 7 can be easily started0Thereby starting the control routine. However, when the sun is not strong enough, the light intensity needs to be compensated additionally to ensure the starting condition.
The control program can be started only when the light intensity reaches a certain value, and the control program is not simply started. Because, the flatness of the ground can be judged more accurately only by the sufficient light intensity, and the reliability of the control is further ensured.
S2, when the real-timeThe current intensity value k reaches the starting current intensity value k0Then, the target object leveling state is determined by the real-time current intensity value k, and step S3 or step S4 is executed according to the determination result.
The starting current strength value k0The setting method comprises the following steps: repeatedly identifying the minimum light intensity reflected by the surface of the preselected rough object, and testing the critical value of the real-time current intensity value of the identifiable target object of the light-emitting sensor, which is respectively marked as ka，kb，kc，···，knWherein n is not less than 5, k0Taking the maximum value: k is a radical of0=max（ka，kb，kc，···，kn) So that the controller can accurately start and start the brush head of the unmanned sweeper.
S3, if the real-time current intensity value k is smaller than the preset current intensity value k1If the ground is judged to be uneven, the optical sensor 1 sends an instruction to the speed reducing motor 3 through the controller 2, and the speed reducing motor 3 rotates to select the preset brush body one 5.
Preset current strength value k1The setting method comprises the following steps: according to the current intensity values corresponding to the light intensity reflected by the surfaces of n groups of different types of target objects, respectively marking as kⅠ，kⅡ，kⅢ，···，knWherein n is not less than 5, k1Taking the average value: k is a radical of1=（kⅠ+kⅡ+kⅢ+…+kn）/n。
S4, if the real-time current intensity value k is larger than the preset current intensity value k1If the controller 2 judges that the ground is flat, the optical sensor 1 sends an instruction to the speed reducing motor 3 through the controller 2, and the speed reducing motor 3 rotates to select the second preset brush body 6.
The invention utilizes the relationship between the ground flatness and the light reflection. As shown in fig. 2, when the ground is very flat, natural light or compensating light is reflected by the ground to enable the light sensor 1 to receive more light. As shown in fig. 3, when the ground is not flat enough, even a hollow, the natural light or the compensating light is reflected by the ground, and then a part of the light is reflected at different angles due to the reflection angle, so that the light received by the optical sensor 1 is reduced. Therefore, the flatness of the ground can be judged according to the real-time current intensity value k received by the optical sensor 1. The light compensation described in S1 is also to switch to the wrong brush body for cleaning in order to avoid the light sensor 1 misjudging that the floor is uneven due to insufficient natural light.
Example 2
As shown in fig. 4, the present invention provides a switching system for a brush head of an unmanned sweeping vehicle, the device includes an optical sensor 1, a controller 2, a speed reduction motor 3, a brush motor 4, a first brush body 5, a second brush body 6, an optical assembly 7, and an LED standby light source 8. Wherein:
as shown in fig. 5, the optical sensor 1 is electrically connected to the controller 2, and the controller 2 is electrically connected to the LED backup light source 8 and the reduction motor 3, respectively. Therefore, the operation of the speed reducing motor 3 is controlled by collecting the reflection intensity of the light. The light sensor 1 is preferably mounted at the bottom of the vehicle, and the optical assembly 7 or the LED backup light source 8 is mounted at a position such that the emitted light is reflected by the road surface and received by the sensing area of the light sensor 1.
As shown in fig. 6, the first brush body 5 and the second brush body 6 are respectively installed at two axial ends of the brush motor 4, the center of the brush motor 4 is installed at the outer end of the rotating shaft of the reduction motor 3, and the controller 2 is electrically connected with the brush motor 4. The rotation of the rotating shaft of the gear motor 3 drives the brush motor 4 and the brush bodies at the two ends of the brush motor 4 to rotate perpendicular to the ground, so that the switching between the brush bodies is completed. The brush body I5 is a soft brush and is suitable for leveling a road surface; the second brush body 6 is a hard brush and is suitable for rough road surfaces. In a similar way, the brush body can be replaced by cleaning tools such as a dust collector, a scraper and the like according to different requirements.
The optical assembly 7 is composed of a light inlet 9 at the top of the unmanned sweeper, a light outlet 10 at the bottom of the unmanned sweeper, at least one convex lens 11 and a light channel inside the unmanned sweeper, wherein the convex lens is positioned at the light inlet, a reflector 12 is arranged below the convex lens, the reflector reflects natural light to the road surface through the light channel, a reflected light inlet 13 is arranged on the other side of the bottom of the unmanned sweeper, a light sensor 1 is installed at the reflected light inlet 13, and an LED standby light source 8 which emits to the focal direction of the convex lens is arranged around the lower side of the convex lens. As shown in fig. 5, natural light irradiates the convex lens, is refracted to the reflector, is reflected to the ground through the reflector, and light is reflected to the sensing area of the optical sensor 1 through the ground.
Similarly, the combination mode of the optical component 7 can be various, and mainly rotates in combination with the vehicle body structure. For example, the light guide plate can be arranged in the vehicle body or at a gap to guide the natural light of the roof to the bottom of the vehicle. Or may be mounted on the outside of the vehicle. As long as the natural light can be guided to the ground and reflected and then received by the sensing area of the optical sensor 1.
The LED backup light source 8 may be directly electrically connected to the controller 2 to enable control of the LED backup light source 8.
As shown in fig. 5, in the initial state, both pins of the reduction motor 3 are grounded, and the reduction motor 3 does not operate when not energized; when the controller 2 receives the information that the intensity of the light reflected by the sensor is strong, the road surface is judged to be flat, the soft brush head is needed to be used, an instruction is given to enable the relay to be continuously electrified, the grounding of the speed reducing motor 3pin is changed into the connection with the positive pole, the speed reducing motor 3 is driven to be electrified and rotate forwardly, and the brush body I5 is used.
When the controller 2 judges that the road surface is rough, the hard brush head needs to be used, an instruction is given to enable the relay to be continuously electrified, and then the grounding of the speed reducing motor 3pin is changed into 12v, namely the positive pole. The speed reducing motor 3 is driven to be electrified and reversely rotated for 180 degrees, and the brush body II 6 is used.
The gear motor 3 selected in the embodiment can realize positive and negative rotation, can also control the motor to rotate in a single direction, and realizes the switching of the brush body by rotating 180 degrees. Wherein, the controller 1 is a 32-bit MCU.
It should be understood that the above examples are only for illustrating the present invention and are not intended to limit the scope of the present invention. It should also be understood that various changes and modifications can be made by one skilled in the art after reading the disclosure of the present invention, and equivalents fall within the scope of the invention as defined by the appended claims.
Claims (7)
1. A method for switching brush heads of an unmanned sweeper, the method comprising:
s1, the light sensor receives the light reflected by the target object in real time and converts the reflection intensity of the light into a corresponding real-time current intensity value k;
s2, when the real-time current intensity value k reaches the starting current intensity value k for starting the brush head of the unmanned sweeper0Judging the leveling state of the target object according to the real-time current intensity value k, and performing decision execution in step S3 or S4 according to the judgment result;
s3, if the real-time current intensity value k compared by the controller is smaller than the preset current intensity value k1If the state of the target object is judged to be non-flat, the controller sends an instruction to select a preset brush body I;
s4, if the real-time current intensity value k is larger than the preset current intensity value k1And the controller judges that the state of the target object is flat and selects a second preset brush body.
2. The method for switching the brush head of the unmanned sweeping vehicle according to claim 1, wherein the following steps are performed before the step S2 is performed:
the optical sensor judges whether the acquired real-time current intensity value k reaches the starting current intensity value k0If yes, go to step S2; if not, the controller sends an instruction to start the standby light source for light compensation until the real-time current intensity value k reaches the starting current intensity value k0Then, step S2 is executed.
3. The method for switching the brush head of the unmanned sweeping vehicle according to claim 1 or 2,
the starting current strength value k0The setting method comprises the following steps: repeatedly identifying the minimum light intensity reflected by the surface of the preselected rough object, and testing the critical value of the real-time current intensity value of the identifiable target object of the light-emitting sensor, which is respectively marked as ka，kb，kc，···，knWherein n is not less than 5, k0Taking the maximum value: k is a radical of0=max（ka，kb，kc，···，kn）；
Preset current strength value k1The setting method comprises the following steps: according to the current intensity values corresponding to the light intensity reflected by the surfaces of n groups of different types of target objects, respectively marking as kⅠ，kⅡ，kⅢ，···，knWherein n is not less than 5, k1Taking the average value: k is a radical of1=（kⅠ+kⅡ+kⅢ+…+kn）/n。
4. A computer readable storage medium storing one or more programs, the computer readable storage medium storing one or more program instructions, which when executed by a processor, perform the method of any of claims 1 to 3.
5. The utility model provides a switching system of unmanned motor sweeper brush head which characterized in that, the system includes brush body auto-change over device, optical assembly, light sensor, wherein:
the brush body switching device is used for switching the brush body according to a control command sent by the optical sensor;
the optical sensor is used for receiving the reflection intensity of light reflected by the ground and sending a switching instruction to the brush body switching device according to a preset switching strategy;
the optical assembly is composed of a light inlet located at the top of the unmanned sweeper, a light outlet located at the bottom of the unmanned sweeper, at least one convex lens and a light channel located inside the unmanned sweeper, wherein the convex lens is located at the light inlet, a reflector is arranged below the convex lens and reflects natural light to the road surface through the light channel, a reflected light inlet is arranged on the other side of the bottom of the unmanned sweeper, a light sensor is installed at the reflected light inlet, and an LED standby light source which emits towards the focus direction of the convex lens is arranged around the lower side of the convex lens.
6. The system of claim 5, wherein the brush switching device comprises a controller, a speed reduction motor, a brush motor, a first brush and a second brush, wherein:
the optical sensor is electrically connected with the controller, the controller is electrically connected with the LED standby light source and the speed reducing motor respectively, the first brush body and the second brush body are installed at two ends of an output shaft of the brush motor, and the center of the brush motor is installed at the outer end of a rotating shaft of the speed reducing motor.
7. An unmanned sweeping vehicle, characterized in that the vehicle is equipped with a switching system of the unmanned sweeping vehicle brush head of claim 5 or 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111569716.XA CN114481919A (en) | 2021-12-21 | 2021-12-21 | Switching method and system for brush head of unmanned sweeper and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111569716.XA CN114481919A (en) | 2021-12-21 | 2021-12-21 | Switching method and system for brush head of unmanned sweeper and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114481919A true CN114481919A (en) | 2022-05-13 |
Family
ID=81494668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111569716.XA Pending CN114481919A (en) | 2021-12-21 | 2021-12-21 | Switching method and system for brush head of unmanned sweeper and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114481919A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116447954A (en) * | 2023-06-09 | 2023-07-18 | 山东博奥电气有限公司 | Insulation column detection device for transformer |
| CN116921882A (en) * | 2023-08-01 | 2023-10-24 | 广州市博泰光学科技有限公司 | High-definition lens cutting preprocessing system and processing mode thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012171580A1 (en) * | 2011-06-17 | 2012-12-20 | Alfred Kärcher Gmbh & Co. Kg | Sweeping vehicle |
| CN108852170A (en) * | 2018-08-31 | 2018-11-23 | 江苏美的清洁电器股份有限公司 | Roller brush assembly, brush assemblies and floor cleaner |
| CN111685662A (en) * | 2020-05-19 | 2020-09-22 | 湖北如新电子有限公司 | Sweeping method and device, sweeping robot and storage medium |
| CN113040645A (en) * | 2019-12-26 | 2021-06-29 | 江苏美的清洁电器股份有限公司 | Cleaning equipment, cleaning equipment control method and device |
| CN113250121A (en) * | 2021-06-04 | 2021-08-13 | 九天创新(广东)智能科技有限公司 | Brush head control method and device of unmanned sweeper and unmanned sweeper |
-
2021
- 2021-12-21 CN CN202111569716.XA patent/CN114481919A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012171580A1 (en) * | 2011-06-17 | 2012-12-20 | Alfred Kärcher Gmbh & Co. Kg | Sweeping vehicle |
| CN108852170A (en) * | 2018-08-31 | 2018-11-23 | 江苏美的清洁电器股份有限公司 | Roller brush assembly, brush assemblies and floor cleaner |
| CN113040645A (en) * | 2019-12-26 | 2021-06-29 | 江苏美的清洁电器股份有限公司 | Cleaning equipment, cleaning equipment control method and device |
| CN111685662A (en) * | 2020-05-19 | 2020-09-22 | 湖北如新电子有限公司 | Sweeping method and device, sweeping robot and storage medium |
| CN113250121A (en) * | 2021-06-04 | 2021-08-13 | 九天创新(广东)智能科技有限公司 | Brush head control method and device of unmanned sweeper and unmanned sweeper |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116447954A (en) * | 2023-06-09 | 2023-07-18 | 山东博奥电气有限公司 | Insulation column detection device for transformer |
| CN116447954B (en) * | 2023-06-09 | 2023-08-18 | 山东博奥电气有限公司 | Insulation column detection device for transformer |
| CN116921882A (en) * | 2023-08-01 | 2023-10-24 | 广州市博泰光学科技有限公司 | High-definition lens cutting preprocessing system and processing mode thereof |
| CN116921882B (en) * | 2023-08-01 | 2024-07-16 | 广州市博泰光学科技有限公司 | High-definition lens cutting preprocessing system and processing mode thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114481919A (en) | Switching method and system for brush head of unmanned sweeper and vehicle | |
| US7185396B2 (en) | Brush of cleaner | |
| RU2262881C1 (en) | Method and device for automatic cleaning | |
| GB2595115A (en) | Method, device, and apparatus for controlling mopping robot, and storage medium | |
| CN108425327B (en) | Rotation type road reflector with self-cleaning function | |
| WO2021072804A1 (en) | Sweeping mode switching system of sweeping robot and use method for system | |
| CN108330795B (en) | Road marking removing device | |
| CN112022024B (en) | Self-moving cleaning device and self-moving cleaning device control method | |
| CN110780673A (en) | Heliostat night cleaning system based on guidance of searchlight | |
| JP2015132892A (en) | Self-propelled machine | |
| EP4059404A1 (en) | Intelligent vacuum cleaning and dust collecting apparatus | |
| US20220063438A1 (en) | Electric vehicle charging device with information output unit using light | |
| CN109484366A (en) | A kind of self-service wisdom carwash platform of portable | |
| WO2024087785A1 (en) | Operation area surface detection apparatus and cleaning robot | |
| CN110967703A (en) | Indoor navigation method and indoor navigation device using laser radar and camera | |
| CN111513630B (en) | Edgewise sweeping method of sweeping robot | |
| JP2014212960A (en) | Vacuum cleaner | |
| CN217096149U (en) | Automatic brushing machine of laser head | |
| CN111868456A (en) | Self-powered and timer-based solar panel cleaning system | |
| CN112108426A (en) | Tunnel lamp cleaning device | |
| JP6633152B2 (en) | Self-propelled equipment | |
| CN106627377A (en) | Vehicle reflector rain and snow removing device and rain and snow removing method thereof | |
| CN111002954A (en) | Wheel hub cleaning device on full-automatic car washer | |
| CN213804783U (en) | Asphalt road crack detection device | |
| CN112641369A (en) | Control system of household glass cleaning robot |
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 |