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    • 5. 发明授权
    • Apparatus and method for recognizing carpets and stairs by cleaning robot
    • 通过清洁机器人识别地毯和楼梯的装置和方法
    • US5307273A
    • 1994-04-26
    • US750403
    • 1991-08-27
    • Ki Tae OhJin Seong Hwang
    • Ki Tae OhJin Seong Hwang
    • A47L9/28A47L11/40G01B17/00G01N29/04G01N29/07G01N29/11G01S7/539G01V1/00G05D1/02G06F13/10G06G7/161
    • A47L11/4011A47L11/4061G01N29/07G01N29/11G01S7/539G05D1/0214G05D1/0255A47L2201/04G01N2291/02854G01N2291/044G05D2201/0203Y10S367/903
    • Apparatus and method for determining the condition of the floor to be cleaned by a cleaning robot. The apparatus comprises an ultrasonic wave signal transmitting circuit for transmitting an ultrasonic wave signal to an ultrasonic wave signal transmitter under the control of a microcomputer, a receiving amplifying unit for amplifying the ultrasonic wave signal transmitted from the ultrasonic wave signal transmitter and received in a ultrasonic wave signal receiver, a receiving demodulating unit for smoothing the output signal from the receiving amplifying unit to demodulate it and then apply it to the microcomputer. According to the control of the microcomputer, the ultrasonic wave signal is transmitted for a predetermined period. The period from the time when the ultrasonic wave signal is transmitted to the time when the ultrasonic wave signal is received in the ultrasonic wave signal receiver is measured. Then, the distance between the position of the ultrasonic wave signal receiver and the floor to be cleaned is calculated from the measured period. Accordingly, it can be determined whether the floor to be cleaned is a normal floor, a floor covered with a carpet, or stairs, thereby enabling correct recognition of the condition of the floor to be cleaned, without being adversely affected from environment.
    • 用于确定由清洁机器人清洁的地板的状况的装置和方法。 该装置包括:超声波信号发送电路,用于在微计算机的控制下向超声波信号发送器发送超声波信号;接收放大单元,用于放大从超声波信号发送器发送的超声波信号,并以超声波 波信号接收机,用于平滑来自接收放大单元的输出信号进行解调,然后将其应用于微计算机的接收解调单元。 根据微型计算机的控制,超声波信号被传送一段预定的时间。 测量从超声波信号发送时到超声波信号接收机中接收超声波信号时的时间。 然后,根据测量周期计算超声波信号接收器的位置与要清洁的地板之间的距离。 因此,可以确定要清洁的地板是否为普通地板,地毯被地毯覆盖或楼梯,从而能够正确识别要清洁的地板的状况,而不会受到环境的不利影响。