JPH0377519A - Floor surface discriminator - Google Patents
Floor surface discriminatorInfo
- Publication number
- JPH0377519A JPH0377519A JP21335689A JP21335689A JPH0377519A JP H0377519 A JPH0377519 A JP H0377519A JP 21335689 A JP21335689 A JP 21335689A JP 21335689 A JP21335689 A JP 21335689A JP H0377519 A JPH0377519 A JP H0377519A
- Authority
- JP
- Japan
- Prior art keywords
- floor surface
- floor
- ultrasonic
- horn
- cleaned
- 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
- 239000000463 material Substances 0.000 claims abstract description 13
- 238000004140 cleaning Methods 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 description 7
- 239000000428 dust Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000002592 echocardiography Methods 0.000 description 3
- 238000009408 flooring Methods 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、吸引式電気掃除機の床ノズル内に搭載する床
面判別装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a floor surface discriminating device mounted in a floor nozzle of a suction type vacuum cleaner.
従来の技術
従来、この種の超音波を用いた床面判別装置は、超音波
マイクロホンを送信用と受信用の２つの超音波マイクロ
ホンを対にして用い、その第１番目の反射波の受信強度
の強弱を測定し、床面の判別をしていた。Conventional technology Conventionally, this type of floor surface discrimination device using ultrasonic waves uses a pair of ultrasonic microphones, one for transmitting and one for receiving, and calculates the received intensity of the first reflected wave. The floor surface was determined by measuring the strength and weakness of the floor.
発明が解決しようとする課題
従来のこの方式では、超音波マイクロホンが２つ必要な
上、送信用の超音波マイクロホンから送信された超音波
の受信用超音波マイクロホンへの回り込みが発生するの
を防ぐため、送信用と受信用の超音波マイクロホンを離
して構成する必要があり、これらのため床ノズル内への
装着が困難であり、床ノズルが大きくならざるをえなか
った。Problems to be Solved by the Invention This conventional method requires two ultrasonic microphones, and also prevents the ultrasonic waves transmitted from the transmitting ultrasonic microphone from going around to the receiving ultrasonic microphone. Therefore, it is necessary to configure the transmitting and receiving ultrasonic microphones to be separated from each other, which makes it difficult to install them inside the floor nozzle, and the floor nozzle has to be large.
課題を解決するための手段
これらの課題を解決する本発明の第１の技術手段は、吸
引式電気掃除機の床ノズル内部で対象床面側に構成した
ホーンと、このホーン上部に緩衝材を介して設けた超音
波マイクロホンと、この超音波マイクロホンを用いて清
掃対象床面に向かって超音波を送信する送信手段と、清
掃対象床面からのこの超音波の反射波を受信する受信手
段と、この受信手段で受信した反射波の受信信号の継続
時間を計測する計測手段と、この計測手段の計測時間か
ら床面の種類を判別する判別手段とで構成したものであ
る。Means for Solving the Problems The first technical means of the present invention to solve these problems is to provide a horn configured on the target floor surface side inside the floor nozzle of a suction vacuum cleaner, and a cushioning material on the top of the horn. an ultrasonic microphone provided through the ultrasonic microphone, a transmitting means for transmitting ultrasonic waves toward the floor surface to be cleaned using the ultrasonic microphone, and a receiving means for receiving reflected waves of the ultrasonic waves from the floor surface to be cleaned. , a measuring means for measuring the duration of the received signal of the reflected wave received by the receiving means, and a determining means for determining the type of floor surface from the measurement time of the measuring means.
第２の技術手段は、吸引式電気掃除機の床ノズル内部で
対象床面側に構成したホーンと、このホーン上部に設け
た反射板と、このホーンの中心軸をこの反射板の垂線に
対称に折り返した位置に設けた導波路と、この導波路の
終端に緩衝材を介して設けた超音波マイクロホンと、こ
の超音波マイクロホンを用いて清掃対象床面に向かって
超音波を送信する送信手段と、清掃対象床面からのこの
超音波の反射波を受信する受信手段と、この受信手段で
受信した反射波の受信信号の継続時間を計測する計測手
段と、この計測手段の計測時間から床面の種類を判別す
る判別手段とで構成したものである。The second technical means consists of a horn configured on the target floor side inside the floor nozzle of a suction vacuum cleaner, a reflector provided on the top of this horn, and a central axis of this horn symmetrical to the perpendicular line of this reflector. A waveguide provided at a folded position, an ultrasonic microphone provided at the end of the waveguide via a cushioning material, and a transmitting means for transmitting ultrasonic waves toward the floor surface to be cleaned using the ultrasonic microphone. a receiving means for receiving the reflected wave of the ultrasonic wave from the floor surface to be cleaned; a measuring means for measuring the duration of the received signal of the reflected wave received by the receiving means; and a discriminating means for discriminating the type of surface.
又、第３の技術手段は、上記第１並びに第２の技術手段
に加えて、前記ホーンの清掃対象床面側の開口部に着脱
自在な超音波が通過する開口率の防塵ネットを設けたも
のである。In addition to the first and second technical means, a third technical means includes providing a removable dustproof net with an opening ratio through which ultrasonic waves can pass through the opening of the horn on the floor surface to be cleaned. It is something.
作用
上記第１の技術手段によれば、送信手段により超音波マ
イクロホンで超音波を対象床面に向かって発射すると、
超音波マイクロホンと対象床面との間、でエコーとして
複数回の反射を繰り返す。送信用と受信用を兼用した超
音波マイクロホンは、送信直後は自らの送信振動が残っ
ており（これを以下残響と呼ぶ）、このため上記エコー
は残響が続く間はこの残響に隠れて受信できない。しか
しながら、床ノズル底面に直接ホーンを構成し対象床面
との距離を短くしているので、対象床面が木の床や畳な
どではエコーは数１０回繰り返し残響時間を越えて長く
繰り返し、あたかも残響時間が伸びたかのような受信波
形となる。又、じゅうたんでは反射が弱いためエコーは
残響に隠れてしまう。この超音波マイクロホンの受信信
号を受信手段で検出し、超音波の送信開始時点から残響
の継続時間を計測手段で計測することにより、この計測
時間を判別手段で所定の時間と比較して対象床面の種類
を判別するものである。Effect According to the first technical means, when the transmitting means emits ultrasonic waves from the ultrasonic microphone toward the target floor surface,
It is reflected multiple times as an echo between the ultrasonic microphone and the target floor surface. Ultrasonic microphones that are used for both transmission and reception have their own transmission vibrations remaining immediately after transmission (hereinafter referred to as reverberation), and for this reason, the echoes mentioned above are hidden by this reverberation and cannot be received while the reverberation continues. . However, since the horn is configured directly on the bottom of the floor nozzle to shorten the distance from the target floor surface, if the target floor surface is a wooden floor or tatami mat, the echo will be repeated several dozen times and will repeat for a long time beyond the reverberation time. The received waveform appears as if time has been extended. Also, since carpets have weak reflections, echoes are hidden in reverberation. The reception signal of this ultrasonic microphone is detected by the receiving means, and the duration of reverberation is measured by the measuring means from the time when the transmission of ultrasonic waves starts, and this measured time is compared with a predetermined time by the discriminating means. This is used to determine the type of surface.
第２の技術手段によれば、送信手段により超音波マイク
ロホンで超音波を反射板に向かって発射すると、反射板
で対象床面に向けられる。対象床面からの反射波は、同
経路を戻り、上記と同様に超音波マイクロホンと対象床
面との間でエコーとして複数回の反射を繰り返す。反射
板により超音波マイクロホンを床ノズル底面からは直接
見えない位置に配置することにより、清掃中に物が当た
っても超音波マイクロホンを壊されないようにしたもの
である。According to the second technical means, when the transmitting means emits ultrasonic waves from the ultrasonic microphone toward the reflecting plate, the ultrasonic waves are directed toward the target floor surface by the reflecting plate. The reflected wave from the target floor surface returns along the same path and is reflected multiple times as an echo between the ultrasonic microphone and the target floor surface in the same way as above. By placing the ultrasonic microphone in a position where it cannot be seen directly from the bottom of the floor nozzle using a reflector plate, the ultrasonic microphone is prevented from being damaged even if it is hit by an object during cleaning.
第３の技術手段によれば、上記第１並びに第２の技術手
段に加えて、前記ホーンの清掃対象床面傷の開口部に着
脱自在な超音波が通過する開口率の防塵ネットを設けた
ものであり、この防塵ネットでホーンから超音波マイク
ロホンに至る空間にゴミが挟まるのを防ぐものである。According to a third technical means, in addition to the first and second technical means, a removable dustproof net having an aperture ratio through which ultrasonic waves can pass is provided in the opening of the floor scratch to be cleaned by the horn. This dustproof net prevents dust from getting caught in the space between the horn and the ultrasonic microphone.
この床面判別器の応用としては、例えば吸引式電気掃除
機の自動制御であり、清掃対象床面の床材質を判別して
床ノズルやファンモータの電力制御をするものである。An application of this floor surface discriminator is, for example, automatic control of a suction type vacuum cleaner, in which the floor material of the floor to be cleaned is discriminated and the power of the floor nozzle and fan motor is controlled.
すなわち、じゅうたんと判別すれば床ノズル内のアジテ
ータを回転させファンモータを強い電力で回転させ、木
の床やＰタイルと判別すればアジテータは回さずファン
モータを弱い電力で回転させたりし、対象床面に最適な
清掃条件で自動制御できることになる。In other words, if it determines that it is a carpet, the agitator in the floor nozzle is rotated and the fan motor is rotated with strong power; if it is determined that it is a wooden floor or P-tile, the agitator is not turned and the fan motor is rotated with weak power. This means that cleaning conditions that are optimal for the floor surface can be automatically controlled.
実施例
以下、本発明の実施例を第１図〜第４図を基に説明する
。EXAMPLE Hereinafter, an example of the present invention will be explained based on FIGS. 1 to 4.
第１図に於て、対象床面ｌに向かい合った床ノズル底面
２に形成されたホーン３に、ゴム等の材料で構成される
緩衝材４を介して防滴型の超音波マイクロホン５が取り
付けられている。この超音波マイクロホン５は、送信手
段６と接続されると共に受信手段７とも接続されている
。又、送信手段６と受信手段７は、共に計測手段８と接
続され、計測手段８は判別手段９と接続されている。In FIG. 1, a drip-proof ultrasonic microphone 5 is attached to a horn 3 formed on the bottom surface 2 of the floor nozzle facing the target floor surface l via a cushioning material 4 made of a material such as rubber. It is being This ultrasonic microphone 5 is connected to a transmitting means 6 and also to a receiving means 7. Further, both the transmitting means 6 and the receiving means 7 are connected to a measuring means 8, and the measuring means 8 is connected to a determining means 9.
次に、この構成による動作を第４図も参照しながら説明
する。送信手段６により超音波マイクロホン５で超音波
１０を対象床面１に向かって発射すると、超音波マイク
ロホン５と対象床面１との間でエコー１１として複数佃
の反射を繰り返す。Next, the operation of this configuration will be explained with reference to FIG. 4 as well. When the ultrasonic microphone 5 emits ultrasonic waves 10 toward the target floor surface 1 by the transmitting means 6, a plurality of echoes 11 are repeatedly reflected between the ultrasonic microphone 5 and the target floor surface 1.
送信波形１２は第４図に示すとおりである。送信用と受
信用を兼用した超音波マイクロホン５は、送信直後は残
響が残るのでエコー１１はこの残響に隠れて受信できな
いが、床ノズル底面２に直接にホーン３を形成し対象床
面１との距離を短くしているので、対象床面１が木の床
や畳などではエコーは数１０回繰り返し残響時間を越え
て長く繰り返し、あたかも残響時間が伸びたかのような
受信波形１３となる。受信波形１３に於ては、弱くなっ
た部分にエコー１１がみられる。又、じゅうたんでは反
射が弱いためエコーは残響に隠れてしまい、受信波形１
４のようになる。この超音波マイクロホン５の受信信号
１３・１４を受信手段７で検出、検波し出力波形１５・
１６として計測手段８に出力する。計測手段８では受信
手段７の出力波形１５・１６を受けて、これを一定のス
レッシュレベル１７と比較して、超音波の送信開始時点
から残響の継続時間ｔｏ・ｔｌを計測することにより、
この計測時間を判別手段９で所定の時間と比較して対象
床面ｌのＮ類を判別するものである。超音波マイクロホ
ン５として、当社のＥＦＲ−ＲＱＢ４０に３２を用いた
場合の計測時間を以下に述べる。The transmitted waveform 12 is as shown in FIG. The ultrasonic microphone 5, which is used for both transmission and reception, leaves reverberation immediately after transmission, so the echo 11 is hidden by this reverberation and cannot be received. Since the distance is shortened, if the target floor 1 is a wooden floor or tatami mat, the echo repeats several tens of times and continues longer than the reverberation time, resulting in a received waveform 13 that looks as if the reverberation time has been extended. In the received waveform 13, an echo 11 is seen in a weakened portion. Also, since the carpet has weak reflection, the echo is hidden by the reverberation, and the received waveform 1
It will be like 4. The received signals 13 and 14 of the ultrasonic microphone 5 are detected and detected by the receiving means 7, and output waveforms 15 and 14 are detected.
16 to the measuring means 8. The measuring means 8 receives the output waveforms 15 and 16 of the receiving means 7, compares them with a certain threshold level 17, and measures the reverberation duration to.tl from the time of starting transmission of the ultrasonic wave.
This measured time is compared with a predetermined time by the determining means 9 to determine the N class of the target floor surface l. The measurement time when using our EFR-RQB40 32 as the ultrasonic microphone 5 will be described below.
第２図は、床ノズル底面２に構成したホーン５の上部に
反射板１８を設け、このホーン５の中心軸をこの反射板
１８の垂線に対称に折り返した位置に導波路１９を設け
、この導波路１９の終端にゴム等の材料で構成される緩
衝材４を介して横向きに超音波マイクロホン５を構成し
たものである。In FIG. 2, a reflecting plate 18 is provided on the top of a horn 5 formed on the bottom surface 2 of the floor nozzle, and a waveguide 19 is provided at a position where the central axis of this horn 5 is folded back symmetrically to the perpendicular line of this reflecting plate 18. An ultrasonic microphone 5 is arranged horizontally at the end of the waveguide 19 with a cushioning material 4 made of a material such as rubber interposed therebetween.
この構成による動作は、超音波マイクロホン５で超音波
１０を反射板１８に向かって発射すると、反射板１８で
対象床面１に向けられる。対象床面１からの反射波２０
は同経路を戻り、超音波マイクロホン５と対象床面１と
の間でエコーとして複数回の反射を繰り返す。反射板１
８により超音波マイクロホン５を床ノズル底面２からは
直接見えない位置に配置することにより、清掃中に物が
当たっても超音波マイクロホンを壊されない構成にした
ものである。The operation of this configuration is such that when the ultrasonic microphone 5 emits ultrasonic waves 10 toward the reflecting plate 18, the ultrasonic waves 10 are directed toward the target floor surface 1 by the reflecting plate 18. Reflected wave 20 from target floor surface 1
returns along the same route and is reflected multiple times as an echo between the ultrasonic microphone 5 and the target floor surface 1. Reflector 1
By arranging the ultrasonic microphone 5 at a position where it cannot be directly seen from the bottom surface 2 of the floor nozzle, the ultrasonic microphone 5 is constructed so that it will not be damaged even if it is hit by an object during cleaning.
次に、第３図は、ホーン５の清掃の対象床面１例の開口
部に着脱自在な超音波１０が通過する開口率の防塵ネッ
ト２１を設けたものである。Next, FIG. 3 shows a case in which a removable dustproof net 21 having an aperture ratio through which the ultrasonic wave 10 passes is provided in the opening of one example of the floor surface to be cleaned by the horn 5.
この防塵ネット２１でホーン５から超音波マイクロホン
５に至る空間にゴミが挾まるのを防ぐものである。又超
音波１０を通過させるため、綿ゴミのような細かいゴミ
はこの中にたまることがあるので定期的に外して掃除す
る必要があり、着脱自在な構成としている。This dustproof net 21 prevents dust from getting caught in the space from the horn 5 to the ultrasonic microphone 5. In addition, since the ultrasonic wave 10 is passed through, fine dust such as cotton dust may accumulate inside, so it is necessary to periodically remove and clean it, so it is designed to be detachable.
発明の効果
以上のように、本発明によれば、超音波マイクロホンが
１つで済み、床ノズル底面に直接ホーンを構成し対象床
面との距離を短く構成できるので、床ノズル内に小さな
スペースで収納でき対象床面の種類を判別するものであ
る。データからもわかるように、じゅうたん・木の床・
畳の３種類の床材を判別できるので、吸引式電気掃除機
の自動制御に応用すれば、清掃対象床面の床材質を３種
類に判別して床ノズルやファンモータを最適な清掃条件
で自動制御できることになる。Effects of the Invention As described above, according to the present invention, only one ultrasonic microphone is required, and the horn can be configured directly on the bottom of the floor nozzle to shorten the distance from the target floor surface, so a small space is required within the floor nozzle. It is a device that can be stored and used to determine the type of target floor surface. As you can see from the data, carpets, wooden floors,
Since it is possible to distinguish three types of tatami flooring materials, if it is applied to the automatic control of a suction-type vacuum cleaner, it will be possible to distinguish between three types of flooring materials of the floor to be cleaned and adjust the floor nozzle and fan motor to the optimal cleaning conditions. This means that it can be controlled automatically.
又、超音波マイクロホンを床ノズル底面からは直接見え
ない位置に配置することにより、清掃中に物が当たって
も超音波マイクロホンを壊されないようにすることもで
きる。Furthermore, by arranging the ultrasonic microphone in a position where it cannot be seen directly from the bottom of the floor nozzle, it is possible to prevent the ultrasonic microphone from being damaged even if it is hit by an object during cleaning.
更に、ホーンの清掃対象床面側の開口部に着脱自在の超
音波が通過する開口率の防塵ネットを設はゴミが挟まる
のを防ぐこともでき産業上有用なものである。Furthermore, a removable dustproof net with an aperture ratio through which ultrasonic waves can pass is provided in the opening of the horn on the floor surface side to be cleaned, which is industrially useful because it can prevent dust from getting caught.
第１図は本発明の第１の技術手段を示す構成図、第２図
は本発明の第２の技術手段を示す構成図、第３図は本発
明の第３の技術手段を示す構成図、第４図は超音波の計
測波形図である。
３・・・ホーン、４・・・緩衝材、５・・・超音波マイ
クロホン、６・・・送信手段、７・・・受信手段、８・
・・計測手段、９・・・判別手段、１８・・・反射板、
１９・・・導波路、２１・・・防塵ネット。Fig. 1 is a block diagram showing a first technical means of the present invention, Fig. 2 is a block diagram showing a second technical means of the present invention, and Fig. 3 is a block diagram showing a third technical means of the present invention. , FIG. 4 is a diagram of measured waveforms of ultrasonic waves. 3... Horn, 4... Buffer material, 5... Ultrasonic microphone, 6... Transmitting means, 7... Receiving means, 8...
...Measurement means, 9.Discrimination means, 18.Reflection plate,
19... Waveguide, 21... Dustproof net.
Claims (3)
構成したホーンと、このホーン上部に緩衝材を介して設
けた超音波マイクロホンと、この超音波マイクロホンを
用いて清掃対象床面に向かって超音波を送信する送信手
段と、清掃対象床面からのこの超音波の反射波を受信す
る受信手段と、この受信手段で受信した反射波の受信信
号の継続時間を計測する計測手段と、この計測手段の計
測時間から床面の種類を判別する判別手段とで構成され
る床面判別装置。(1) A horn configured on the target floor side inside the floor nozzle of a suction vacuum cleaner, an ultrasonic microphone installed above the horn via a cushioning material, and the ultrasonic microphone used to clean the floor surface to be cleaned. a transmitting means for transmitting ultrasonic waves toward the object, a receiving means for receiving the reflected waves of the ultrasonic waves from the floor surface to be cleaned, and a measuring means for measuring the duration time of the received signal of the reflected waves received by the receiving means. and a determining means for determining the type of floor surface from the measurement time of the measuring means.
構成したホーンと、このホーン上部に設けた反射板と、
このホーンの中心軸をこの反射板の垂線に対称に折り返
した位置に設けた導波路と、この導波路の終端に緩衝材
を介して設けた超音波マイクロホンと、この超音波マイ
クロホンを用いて清掃対象床面に向かって超音波を送信
する送信手段と、清掃対象床面からのこの超音波の反射
波を受信する受信手段と、この受信手段で受信した反射
波の受信信号の継続時間を計測する計測手段と、この計
測手段の計測時間から床面の種類を判別する判別手段と
で構成された床面判別装置。(2) A horn configured on the target floor side inside the floor nozzle of the suction type vacuum cleaner, and a reflective plate provided on the top of the horn,
A waveguide is installed at a position where the center axis of this horn is folded symmetrically to the perpendicular line of this reflector, and an ultrasonic microphone is installed at the end of this waveguide via a cushioning material, and this ultrasonic microphone is used for cleaning. A transmitting means for transmitting ultrasonic waves toward the floor surface to be cleaned, a receiving means for receiving the reflected waves of the ultrasonic waves from the floor surface to be cleaned, and a duration time of the received signal of the reflected waves received by the receiving means. A floor surface discriminating device comprising: a measuring means for measuring a floor surface; and a discriminating means for discriminating a type of floor surface from the measurement time of the measuring means.
音波が通過する開口率の防塵ネットを設けた請求項１叉
は２記載の床面判別装置。(3) The floor surface discriminating device according to claim 1 or 2, wherein a removable dustproof net having an aperture ratio through which ultrasonic waves pass is provided in the opening of the horn on the floor surface side to be cleaned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21335689A JPH0377519A (en) | 1989-08-18 | 1989-08-18 | Floor surface discriminator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21335689A JPH0377519A (en) | 1989-08-18 | 1989-08-18 | Floor surface discriminator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0377519A true JPH0377519A (en) | 1991-04-03 |
Family
ID=16637818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21335689A Pending JPH0377519A (en) | 1989-08-18 | 1989-08-18 | Floor surface discriminator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0377519A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7349091B2 (en) | 2004-06-04 | 2008-03-25 | Sharp Kabushiki Kaisha | Optical object discriminating device |
| JP2009050710A (en) * | 1997-08-25 | 2009-03-12 | Koninkl Philips Electronics Nv | Electrical surface treatment device with acoustic surface-type detector |
| KR20140109173A (en) * | 2013-03-05 | 2014-09-15 | 엘지전자 주식회사 | Robot cleaner |
| WO2021169328A1 (en) * | 2020-02-27 | 2021-09-02 | 北京石头世纪科技股份有限公司 | Carpet recognition method for robot cleaner |
| JP2022514798A (en) * | 2019-01-30 | 2022-02-15 | 美智縦横科技有限責任公司 | Robot vacuum, control method and storage medium |
-
1989
- 1989-08-18 JP JP21335689A patent/JPH0377519A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009050710A (en) * | 1997-08-25 | 2009-03-12 | Koninkl Philips Electronics Nv | Electrical surface treatment device with acoustic surface-type detector |
| EP0939598B2 (en) † | 1997-08-25 | 2013-03-20 | Koninklijke Philips Electronics N.V. | Electrical surface treatment device with an acoustic surface type detector |
| US7349091B2 (en) | 2004-06-04 | 2008-03-25 | Sharp Kabushiki Kaisha | Optical object discriminating device |
| KR20140109173A (en) * | 2013-03-05 | 2014-09-15 | 엘지전자 주식회사 | Robot cleaner |
| JP2022514798A (en) * | 2019-01-30 | 2022-02-15 | 美智縦横科技有限責任公司 | Robot vacuum, control method and storage medium |
| WO2021169328A1 (en) * | 2020-02-27 | 2021-09-02 | 北京石头世纪科技股份有限公司 | Carpet recognition method for robot cleaner |
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