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Automatic cleaning equipment and anti-jamming handling method and device for automatic cleaning equipment

An automatic cleaning and anti-jamming technology, which is applied to cleaning equipment, cleaning devices, and automatic control of moving movements, etc., can solve problems such as automatic cleaning equipment stuck, unable to complete cleaning work smoothly, and difficult for users to find

Active Publication Date: 2016-10-05
XIAOMI INC +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, during the working process of automatic cleaning equipment, especially for furniture with a small height from the ground such as sofas and cabinets, the bottom gap and the height of the automatic cleaning equipment are often about 10 cm, which makes the automatic cleaning equipment likely to be used. Stuck at the bottom of the furniture, the cleaning work cannot be completed smoothly, and it may be difficult for users to find

Method used

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  • Automatic cleaning equipment and anti-jamming handling method and device for automatic cleaning equipment
  • Automatic cleaning equipment and anti-jamming handling method and device for automatic cleaning equipment
  • Automatic cleaning equipment and anti-jamming handling method and device for automatic cleaning equipment

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Embodiment 1

[0149] In an exemplary embodiment, based on Image 6 In the illustrated embodiment, that is, the attitude information of the automatic cleaning device 100 obtained in step 402, when the automatic cleaning device 100 is in a tilted state, it can be directly determined that the automatic cleaning device 100 is blocked by the obstacle 2 above, and there is a risk of jamming .

Embodiment 2

[0151] Figure 7 According to an exemplary embodiment, it is a schematic diagram of an automatic cleaning device 100 tilting when it passes over a stepped ground. like Figure 7 As shown, when the automatic cleaning device 100 passes by steps, thresholds, etc. where there is a change in terrain, it may also cause the automatic cleaning device 100 to tilt upwards or downwards.

[0152] Therefore, when measuring with devices such as accelerometers and gyroscopes, although the inclination of the automatic cleaning device 100 can be accurately known, the inclination of the automatic cleaning device 100 actually has nothing to do with the risk of jamming caused by obstacles 2 above. There is no necessary relationship between them. Therefore, the present disclosure further proposes a more accurate method for judging the risk of jamming, including: acquiring the walking state of the walking part of the automatic cleaning device 100; wherein, when the automatic cleaning device 100 i...

Embodiment approach 1

[0156] Figure 8 is a flow chart for judging whether the automatic cleaning device 100 has a risk of being stuck according to an exemplary embodiment, as shown in Figure 8 As shown, the following steps can be used to determine whether the automatic cleaning device 100 has a risk of being stuck:

[0157] In step 802, the attitude of the body of the automatic cleaning device 100 is acquired.

[0158] In step 804, when the automatic cleaning device 100 is in a state of tilting the fuselage, go to step 806A and step 806B respectively.

[0159] In this embodiment, for the process of acquiring and judging the posture of the automatic cleaning device 100, reference may be made to the above-mentioned Image 6 The illustrated embodiment will not be repeated here.

[0160] In step 806A, acceleration data of the automatic cleaning device 100 is collected.

[0161] In this embodiment, the acceleration data can be the acceleration component of the automatic cleaning device 100 in the ...

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Abstract

The invention discloses automatic cleaning equipment and an anti-jamming handling method and device for the automatic cleaning equipment. A protrusion structure with preset function is arranged at the top of the automatic cleaning equipment. The anti-jamming handling method includes acquiring body attitude of the automatic cleaning equipment in a working mode; judging whether the body of the automatic cleaning equipment is inclined or not according to the body attitude so as to judge whether the automatic cleaning equipment is blocked by an obstacle above or not during advancing; if the automatic cleaning equipment is blocked by the obstacle above during advancing, then carrying out an anti-jamming handling procedure preset. According to the technical scheme, the attitude of the automatic cleaning equipment can be recognized accurately, and thus, the risk that the automatic cleaning equipment is jammed can be discovered and eliminated in time.

Description

technical field [0001] The present disclosure relates to the technical field of automatic cleaning, and in particular to an anti-jamming treatment method and device for automatic cleaning equipment, and automatic cleaning equipment. Background technique [0002] Automatic cleaning equipment such as sweeping robots and mopping robots have been widely used in people's daily lives, bringing more convenience to people's lives. [0003] However, during the working process of the automatic cleaning equipment, especially for furniture with a small height from the ground such as sofas and cabinets, the bottom gap and the height of the automatic cleaning equipment are often about 10 cm, which makes the automatic cleaning equipment likely to be used. Stuck at the bottom of the furniture, the cleaning work cannot be completed smoothly, and it may be difficult for users to find. Contents of the invention [0004] The present disclosure provides an anti-jamming processing method and d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/4061A47L2201/00A47L2201/04
Inventor 彭松温长江何扬夏勇峰
Owner XIAOMI INC
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