U.S. patent application number 16/662471 was filed with the patent office on 2021-02-18 for method for cleaning robot applying fluid and cleaning robot.
The applicant listed for this patent is SHENZHEN SILVER STAR INTELLIGENT TECHNOLOGY CO., LTD.. Invention is credited to Wenzhi XIE.
Application Number | 20210045612 16/662471 |
Document ID | / |
Family ID | 1000004510759 |
Filed Date | 2021-02-18 |
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United States Patent
Application |
20210045612 |
Kind Code |
A1 |
XIE; Wenzhi |
February 18, 2021 |
METHOD FOR CLEANING ROBOT APPLYING FLUID AND CLEANING ROBOT
Abstract
In embodiments of the present disclosure, the cleaning robot
includes a main body, a driving part for driving the cleaning robot
to move on a surface to be cleaned, a liquid storage tank storing a
fluid, a cleaning part connected with the liquid storage tank and a
controller. When the cleaning robot enters different working modes,
the liquid storage tank is controlled to apply the fluid to the
cleaning part in different liquid supply manners or the liquid
storage tank is controlled to stop applying the fluid to the
cleaning part. Using the present disclosure, a fluid quantity
applied to the cleaning part can be effectively controlled,
improving the cleaning effect, and enhancing the users'
experience.
Inventors: |
XIE; Wenzhi; (Shenzhen,
CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SHENZHEN SILVER STAR INTELLIGENT TECHNOLOGY CO., LTD. |
Shenzhen |
|
CN |
|
|
Family ID: |
1000004510759 |
Appl. No.: |
16/662471 |
Filed: |
October 24, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A47L 11/4083 20130101;
A47L 11/4011 20130101; A47L 2201/00 20130101; A47L 11/4066
20130101 |
International
Class: |
A47L 11/40 20060101
A47L011/40 |
Foreign Application Data
Date |
Code |
Application Number |
Aug 14, 2019 |
CN |
201910749506.5 |
Claims
1. A cleaning robot, comprising: a main body; a driving part,
configured to drive the cleaning robot to move on a surface to be
cleaned; a liquid storage tank, configured to store a fluid; a
cleaning part, configured to cooperate with the fluid in the liquid
storage tank to clean the surface to be cleaned; and a controller,
mounted on the main body, wherein the controller is configured to:
control the cleaning robot to enter a first working mode, such that
the liquid storage tank applies the fluid to the cleaning part in a
first liquid supply manner; and control the cleaning robot to enter
a second working mode, such that the liquid storage tank applies
the fluid to the cleaning part in a second liquid supply manner,
wherein a fluid quantity applied to the cleaning part in the first
liquid supply manner is different from a fluid quantity applied to
the cleaning part in the second liquid supply manner.
2. The cleaning robot according to claim 1, wherein the first
liquid supply manner is that the liquid storage tank applies the
fluid to the cleaning part repeatedly with a break of a first
period of time therebetween, and the breaks during which the liquid
storage tank does not apply the fluid to the cleaning part have a
second period of time therebetween; and the second liquid supply
manner is that the liquid storage tank applies the fluid to the
cleaning part repeatedly with a break of a third period of time
therebetween, and the breaks during which the liquid storage tank
does not apply the fluid to the cleaning part have a fourth period
of time therebetween.
3. The cleaning robot according to claim 2, wherein the first
period of time is shorter than the third period of time, and the
second period of time is longer than the fourth period of time.
4. The cleaning robot according to claim 2, wherein the first
period of time is shorter than the second period of time, and the
third period of time is longer than the fourth period of time.
5. The cleaning robot according to claim 1, wherein in both the
first liquid supply manner and the second liquid supply manner, the
liquid storage tank is opened to apply the fluid to the cleaning
part and closed, in a cyclical manner.
6. The cleaning robot according to claim 1, wherein the cleaning
robot entering the first working mode is performed in a way that
the cleaning robot, when detecting that the liquid storage tank is
connected with the cleaning part, applies the fluid to the cleaning
part in the first liquid supply manner for a predetermined period
of time; and the cleaning robot entering the second working mode is
performed in a way that after the first working mode is ended, the
fluid is applied to the cleaning part in the second liquid supply
manner.
7. The cleaning robot according to claim 1, wherein the controller
is further configured to control the cleaning robot to enter a
third working mode, such that the liquid storage tank stops
applying the fluid to the cleaning part.
8. The cleaning robot according to claim 7, wherein the cleaning
robot enters the third working mode in at least one of following
conditions of: the cleaning robot walking onto a soft surface to be
cleaned; an electric quantity of the cleaning robot being less than
a predetermined electric quantity or the cleaning robot being in a
charging state; and the cleaning robot being in an abnormal working
state; and a user sending to the cleaning robot an instruction of
stopping applying the fluid to the cleaning part.
9. The cleaning robot according to claim 1, wherein during a same
period of time, the fluid quantity that is applied to the cleaning
part in the first liquid supply manner is greater than the fluid
quantity that is applied to the cleaning part in the second liquid
supply manner.
10. The cleaning robot according to claim 1, wherein a speed of
applying the fluid in the first liquid supply manner is same as a
speed of applying the fluid in the second liquid supply manner.
11. A method for a cleaning robot applying fluid, comprising:
carrying out a first working mode, to apply a fluid to a cleaning
part in a first liquid supply manner; carrying out a second working
mode, to apply the fluid to the cleaning part in a second liquid
supply manner; and carrying out a third working mode, to stop
applying the fluid to the cleaning part, wherein during a same
period of time, a fluid quantity that is applied to the cleaning
part in the first liquid supply manner is controlled to be greater
than a fluid quantity that is applied to the cleaning part in the
second liquid supply manner.
12. The method for a cleaning robot applying fluid according to
claim 11, wherein the first liquid supply manner is that a liquid
storage tank applies the fluid to the cleaning part repeatedly with
a break of a first period of time therebetween, and the breaks
during which the liquid storage tank does not apply the fluid to
the cleaning part has a second period of time therebetween; and the
second liquid supply manner is that the liquid storage tank applies
the fluid to the cleaning part repeatedly with a break of a third
period of time therebetween, and the breaks during which the liquid
storage tank does not apply the fluid to the cleaning part have a
fourth period of time therebetween.
13. The method for a cleaning robot applying fluid according to
claim 12, wherein the first period of time is shorter than the
third period of time, and the second period of time is longer than
the fourth period of time.
14. The method for a cleaning robot applying fluid according to
claim 12, wherein the first period of time is shorter than the
second period of time, and the third period of time is longer than
the fourth period of time.
15. A cleaning robot, comprising: a main body; a driving part,
configured to drive the cleaning robot to move on a surface to be
cleaned; a liquid storage tank, configured to store a fluid; a
cleaning part, configured to cooperate with the fluid to clean the
surface to be cleaned; and a power unit, configured to provide
power to control the fluid in the liquid storage tank to flow or
stop of, such that the liquid storage tank applies the fluid
outward in a first liquid supply manner.
16. The cleaning robot according to claim 2, wherein in both the
first liquid supply manner and the second liquid supply manner, the
liquid storage tank is opened to apply the fluid to the cleaning
part and closed, in a cyclical manner.
17. The cleaning robot according to claim 3, wherein in both the
first liquid supply manner and the second liquid supply manner, the
liquid storage tank is opened to apply the fluid to the cleaning
part and closed, in a cyclical manner.
18. The cleaning robot according to claim 4, wherein in both the
first liquid supply manner and the second liquid supply manner, the
liquid storage tank is opened to apply the fluid to the cleaning
part and closed, in a cyclical manner.
19. The cleaning robot according to claim 6, wherein the controller
is further configured to control the cleaning robot to enter a
third working mode, such that the liquid storage tank stops
applying the fluid to the cleaning part.
20. The cleaning robot according to claim 6, wherein during a same
period of time, the fluid quantity that is applied to the cleaning
part in the first liquid supply manner is greater than the fluid
quantity that is applied to the cleaning part in the second liquid
supply manner.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] The present disclosure claims the priority to the Chinese
Patent Application with the filing No. 201910749506.5, filed on
Aug. 14, 2019 with the State Intellectual Property Office of China,
entitled "Method for Cleaning Robot Applying Fluid and Cleaning
Robot", the contents of which are incorporated herein by reference
in entirety.
FIELD
[0002] The present disclosure relates to the field of intelligent
robots, in particular to a method for a cleaning robot applying
fluid and a cleaning robot.
BACKGROUND
[0003] Cleaning robots are mainly used for cleaning work in home
environment to replace manual labor. The cleaning robots are
integration of automatic cleaning technology and humanized
intelligent design. In the current market, with the development of
intelligent cleaning robots, in order to further meet users'
cleaning requirements, and reduce users' burdensome labors of
sweeping and mopping to a greater extent, the intelligent cleaning
robots gradually realize multi-functional development from dust
collection and sweeping to floor washing and mopping, mainly by
providing a water tank inside the intelligent cleaning robot, and
users only need to fill up the water tank with water, place the
water tank inside the intelligent cleaning robot, and start a
corresponding working mode, then the intelligent cleaning robot can
realize the function of floor washing or mopping. It mainly
involves the technology of water supply of waterways therein. A
water supply mode of the existing cleaning robots is unitary, and
after entering a water supply process, a water flow will flow out
continuously, resulting in flow-out of too much water, and poor
cleaning effect, thus being hardly to meet users' use
requirements.
SUMMARY
[0004] An embodiment of the present disclosure adopts the following
technical solutions:
[0005] In a first aspect, the present disclosure provides a
cleaning robot, including:
[0006] a main body;
[0007] a driving part, configured to drive the cleaning robot to
move on a surface to be cleaned;
[0008] a liquid storage tank, configured to store a fluid;
[0009] a cleaning part, configured to cooperate with the fluid in
the liquid storage tank to clean the surface to be cleaned; and
[0010] a controller, mounted on the main body, wherein the
controller is configured to:
[0011] control the cleaning robot to enter a first working mode,
such that the liquid storage tank applies the fluid to the cleaning
part in a first liquid supply manner; and
[0012] control the cleaning robot to enter a second working mode,
such that the liquid storage tank applies the fluid to the cleaning
part in a second liquid supply manner,
[0013] wherein a fluid quantity applied to the cleaning part in the
first liquid supply manner is different from a fluid quantity
applied to the cleaning part in the second liquid supply
manner.
[0014] In a second aspect, the present disclosure provides a method
for a cleaning robot applying fluid, comprising:
[0015] carrying out a first working mode, to apply a fluid to a
cleaning part in a first liquid supply manner;
[0016] carrying out a second working mode, to apply the fluid to
the cleaning part in a second liquid supply manner; and
[0017] carrying out a third working mode, to stop applying the
fluid to the cleaning part, wherein
[0018] during the same period of time, a fluid quantity applied to
the cleaning part in the first liquid supply manner is controlled
to be greater than a fluid quantity applied to the cleaning part in
the second liquid supply manner.
[0019] In a third aspect, the present disclosure provides a
cleaning robot, including:
[0020] a main body;
[0021] a driving part, configured to drive the cleaning robot to
move on a surface to be cleaned;
[0022] a liquid storage tank, configured to store a fluid;
[0023] a cleaning part, configured to cooperate with the fluid to
clean the surface to be cleaned; and
[0024] a power unit, configured to provide power to control the
fluid in the liquid storage tank to flow or stop of, such that the
fluid is applied from the liquid storage tank in a first liquid
supply manner, or the fluid is applied from the liquid storage tank
in a second liquid supply manner.
BRIEF DESCRIPTION OF THE DRAWINGS
[0025] In order to more clearly illustrate technical solutions in
embodiments of the present disclosure or the prior art,
accompanying drawings which are needed for description of the
embodiments or the prior art will be introduced briefly below.
Apparently, the accompanying drawings in the description below
merely show some embodiments of the present disclosure. A person
ordinarily skilled in the art still can obtain other variants in
light of these accompanying drawings, without inventive effort.
[0026] FIG. 1 is a perspective view of a cleaning robot in an
embodiment of the present disclosure;
[0027] FIG. 2 is a bottom view of the cleaning robot in an
embodiment of the present disclosure;
[0028] FIG. 3 is a perspective view of a liquid storage tank in an
embodiment of the present disclosure;
[0029] FIG. 4 is a disassembling schematic diagram of a cleaning
part in an embodiment of the present disclosure;
[0030] FIG. 5 is a flowchart of method steps executed by a
controller;
[0031] FIG. 6 is a flowchart of applying a fluid to the cleaning
part in a first liquid supply manner in an embodiment of the
present disclosure;
[0032] FIG. 7 is a flowchart of applying the fluid to the cleaning
part in a second liquid supply manner in an embodiment of the
present disclosure;
[0033] FIG. 8 is a schematic diagram of conditions for the cleaning
robot to enter a third working mode in an embodiment of the present
disclosure; and
[0034] FIG. 9 is a block diagram of a sensor system in an
embodiment of the present disclosure.
DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS
[0035] The technical solutions in the embodiments of the present
disclosure will be described clearly below in conjunction with the
accompanying drawings in the embodiments of the present disclosure,
apparently, some but not all embodiments of the present disclosure
are described. Based on the embodiments of the present disclosure,
all other embodiments, obtained by those ordinarily skilled in the
art without inventive effort, shall fall into the scope of
protection of the present disclosure.
[0036] In the text, all location terms such as "front", "back",
"left", and "right" take an advancing direction of the cleaning
robot as a reference direction, and all of "top", "bottom",
"upper", "lower", "horizontal", and "perpendicular" in the text
take a normal working state of the cleaning robot as reference.
[0037] The present disclosure is exemplarily described with the
cleaning robot being mainly used for cleaning floor in a home
environment, and in other environments, the cleaning robot further
can clean other indoor or outdoor environments, for example,
cleaning environments in restaurants, stations, airports and so
on.
[0038] A technical problem to be solved by the present disclosure
is to provide a method for a cleaning robot applying fluid and a
cleaning robot, wherein the cleaning robot, when in different
working modes, intelligently controls a liquid storage tank to
apply a fluid to a cleaning part in different liquid supply
manners, or controls the liquid storage tank to stop applying the
fluid to the cleaning part, moreover, the cleaning robot can
effectively control a fluid quantity applied to the cleaning part,
thus improving the cleaning effect, and enhancing users'
experience.
[0039] In order to solve the above technical problems, an
embodiment of the present disclosure adopts following technical
solutions:
[0040] In a first aspect, the present disclosure provides a
cleaning robot, including:
[0041] a main body;
a driving part, configured to drive the cleaning robot to move on a
surface to be cleaned;
[0042] a liquid storage tank, configured to store a fluid;
a cleaning part, configured to cooperate with the fluid in the
liquid storage tank to clean the surface to be cleaned; and a
controller, mounted on the main body, wherein the controller is
configured to: control the cleaning robot to enter a first working
mode, such that the liquid storage tank applies the fluid to the
cleaning part in a first liquid supply manner; and control the
cleaning robot to enter a second working mode, such that the liquid
storage tank applies the fluid to the cleaning part in a second
liquid supply manner, wherein a fluid quantity applied to the
cleaning part in the first liquid supply manner is different from a
fluid quantity applied to the cleaning part in the second liquid
supply manner.
[0043] In an embodiment of the present disclosure, the first liquid
supply manner is that the liquid storage tank applies the fluid to
the cleaning part repeatedly with a break of a first period of time
therebetween, and the breaks during which the liquid storage tank
does not apply the fluid to the cleaning part have a second period
of time therebetween; and
[0044] the second liquid supply manner is that the liquid storage
tank applies the fluid to the cleaning part repeatedly with a break
of a third period of time therebetween, and the breaks during which
the liquid storage tank does not apply the fluid to the cleaning
part have a fourth period of time therebetween.
[0045] In an embodiment of the present disclosure, the first period
of time is shorter than the third period of time, and the second
period of time is longer than the fourth period of time.
[0046] In an embodiment of the present disclosure, the first period
of time is shorter than the second period of time, and the third
period of time is longer than the fourth period of time.
[0047] In an embodiment of the present disclosure, in both the
first liquid supply manner and the second liquid supply manner, the
liquid storage tank is opened to apply the fluid to the cleaning
part and closed, in a cyclical manner.
[0048] In an embodiment of the present disclosure, the cleaning
robot entering the first working mode is performed in a way that
the cleaning robot, when detecting the liquid storage tank being
connected with the cleaning part, applies the fluid to the cleaning
part in the first liquid supply manner for a predetermined period
of time; and
[0049] the cleaning robot entering the second working mode is
performed in a way that after the first working mode is ended, the
fluid is applied to the cleaning part in the second liquid supply
manner.
[0050] In an embodiment of the present disclosure, the controller
is further configured to control the cleaning robot to enter the
third working mode, such that the liquid storage tank stops
applying the fluid to the cleaning part.
[0051] In an embodiment of the present disclosure, the cleaning
robot enters the third working mode in at least one of following
conditions of:
[0052] the cleaning robot walking onto a soft surface to be
cleaned;
[0053] an electric quantity of the cleaning robot being less than a
predetermined electric quantity or the cleaning robot being in a
charging state; and
[0054] the cleaning robot being in an abnormal working state.
[0055] In an embodiment of the present disclosure, during the same
period of time, a fluid quantity applied to the cleaning part in
the first liquid supply manner is greater than a fluid quantity
applied to the cleaning part in the second liquid supply
manner.
[0056] In an embodiment of the present disclosure, a speed of
applying the fluid in the first liquid supply manner is the same as
a speed of applying the fluid in the second liquid supply
manner.
[0057] In a second aspect, the present disclosure provides a method
for a cleaning robot applying fluid, comprising:
[0058] carrying out a first working mode, to apply a fluid to a
cleaning part in a first liquid supply manner;
[0059] carrying out a second working mode, to apply the fluid to
the cleaning part in a second liquid supply manner; and
[0060] carrying out a third working mode, to stop applying the
fluid to the cleaning part, wherein
[0061] during the same period of time, a fluid quantity applied to
the cleaning part in the first liquid supply manner is controlled
to be greater than a fluid quantity applied to the cleaning part in
the second liquid supply manner.
[0062] In an embodiment of the present disclosure, the first liquid
supply manner is that the liquid storage tank applies the fluid to
the cleaning part repeatedly with a break of a first period of time
therebetween and the breaks during which the liquid storage tank
does not apply the fluid to the cleaning part have a second period
of time therebetween; and
[0063] the second liquid supply manner is that the liquid storage
tank applies the fluid to the cleaning part repeatedly with a break
of a third period of time therebetween, and the breaks during which
the liquid storage tank does not apply the fluid to the cleaning
part have a fourth period of time therebetween.
[0064] In an embodiment of the present disclosure, the first period
of time is shorter than the third period of time, and the second
period of time is longer than the fourth period of time.
[0065] In an embodiment of the present disclosure, the first period
of time is shorter than the second period of time, and the third
period of time is longer than the fourth period of time.
[0066] In a third aspect, the present disclosure provides a
cleaning robot, comprising:
[0067] a main body;
[0068] a driving part, configured to drive the cleaning robot to
move on a surface to be cleaned;
[0069] a liquid storage tank, configured to store a fluid;
[0070] a cleaning part, configured to cooperate with the fluid to
clean the surface to be cleaned; and
[0071] a controller, mounted on the main body, wherein the
controller is configured to:
[0072] control the cleaning robot to enter a first working mode,
such that the fluid is applied from the liquid storage tank in a
first liquid supply manner; and
[0073] control the cleaning robot to enter a second working mode,
such that the fluid is applied from the liquid storage tank in a
second liquid supply manner.
[0074] In a fourth aspect, the present disclosure provides a
cleaning robot, including:
[0075] a main body;
[0076] a driving part, configured to drive the cleaning robot to
move on a surface to be cleaned;
[0077] a liquid storage tank, configured to store a fluid;
[0078] a cleaning part, configured to cooperate with the fluid to
clean the surface to be cleaned; and
[0079] a power unit, configured to provide power to control the
fluid in the liquid storage tank to flow or stop of, such that the
fluid is applied from the liquid storage tank in a first liquid
supply manner, or the fluid is applied from the liquid storage tank
in a second liquid supply manner.
[0080] In a fifth aspect, the present disclosure provides a
cleaning robot, including:
[0081] a main body;
[0082] a driving part, configured to drive the cleaning robot to
move on a surface to be cleaned;
[0083] a liquid storage tank, configured to store a fluid;
[0084] a cleaning part, configured to cooperate with the fluid in
the liquid storage tank to clean the surface to be cleaned; and
[0085] a controller, mounted on the main body, wherein the
controller is configured to:
[0086] control the liquid storage tank to apply the fluid to the
cleaning part in an intermittent liquid supply manner, wherein in
the intermittent liquid supply manner, the liquid storage tank is
opened to apply the fluid to the cleaning part and closed,
cyclically.
[0087] In an embodiment of the present disclosure, the intermittent
liquid supply manner includes a first liquid supply manner and a
second liquid supply manner, and during the same period of time, a
fluid quantity applied to the cleaning part in the first liquid
supply manner is greater than a fluid quantity applied to the
cleaning part in the second liquid supply manner.
[0088] Compared with the prior art, technical solutions of the
embodiments of the present disclosure at least have the following
beneficial effects:
[0089] In the embodiments of the present disclosure, the cleaning
robot includes the main body, the driving part for driving the
cleaning robot to move on the surface to be cleaned, the liquid
storage tank storing the fluid, the cleaning part connected with
the liquid storage tank and the controller, when the cleaning robot
enters different working modes, the liquid storage tank is
controlled to apply the fluid to the cleaning part in different
liquid supply manners or the liquid storage tank is controlled to
stop applying the fluid to the cleaning part, moreover, the fluid
quantity applied to the cleaning part can be effectively
controlled, thus improving the cleaning effect, and enhancing the
users' experience.
[0090] With reference to FIG. 1 and FIG. 2, FIG. 1 is a perspective
view of a cleaning robot in an embodiment of the present
disclosure, and FIG. 2 is a bottom view of the cleaning robot in an
embodiment of the present disclosure. The cleaning robot in the
present disclosure includes: a main body 10, a driving part 20
driving the cleaning robot to move on a surface to be cleaned, a
liquid storage tank 30 configured to store a fluid, a cleaning part
40 cooperating with the fluid in the liquid storage tank 30 to
clean the surface to be cleaned and a controller 50 mounted inside
the main body 10.
[0091] In the present embodiment, the main body has a profile
substantially in a round shape, and in other embodiments, the
profile of the main body 10 may be substantially in an elliptical
shape, a triangular shape, a D shape or other shapes. The top
portion of the main body 10 is provided with a concave portion 13,
the liquid storage tank 30 is mounted in the concave portion 13,
and the liquid storage tank 30 can be provided with a snap-fit
assembly to lock the liquid storage tank 30 in the concave portion
13.
[0092] A driving wheel assembly 20 includes left and right driving
wheels 21 and an omnidirectional wheel 22, wherein the left and
right driving wheels 21 are mounted at both left and right sides of
a bottom portion of the main body 10, the bottom portion is a face
of the main body 10 facing towards the surface to be cleaned, and
the driving wheel assembly 20 is configured to carry the cleaning
robot and drive the cleaning robot to move on the surface to be
cleaned. The surface to be cleaned may be a relatively smooth floor
surface, a surface laid with a carpet and other surfaces that need
to be cleaned. The left and right driving wheels 21 are configured
to be capable of at least partially extending beyond and retracting
into the bottom portion of the main body 10. The omnidirectional
wheel 22 is mounted at a front position of the bottom portion of
the main body 10, and the omnidirectional wheel 22 is a movable
castor, and can rotate horizontally at 360 degrees, such that the
cleaning robot can turn round flexibly. The omnidirectional wheel
22 further may be mounted at a rear position of the bottom portion
of the main body 10, and the left and right driving wheels 21 and
the omnidirectional wheel 22 are mounted in a triangular shape, so
as to improve walking stability of the cleaning robot.
[0093] In an embodiment of the present disclosure, the controller
50 is mounted on the main body 10. There may be a plurality of
controllers 50, respectively controlling various parts, and further
only one controller may be provided to control all parts. For
example, the controller 50 may include a main controller provided
on the main body 10, for sensing speed information of the driving
part 20 and controlling the driving part 20 so as to adjust the
controller of the driving part driving the cleaning robot to move.
A controller of each part transfers respective information to the
main controller, and the main controller performs processing
according to information of each part and respectively feeds back
corresponding control instruction to each part. The various parts
take the main controller as a center, to communicate and transfer
signals with each other. The controller 50 may be a micro control
unit such as single chip, FPGA, ASIC, and DSP.
[0094] The cleaning robot further may include a sweeping assembly
410. The sweeping assembly 410 includes a sweeping rolling brush
411, wherein the sweeping rolling brush 411 is provided inside an
accommodation groove provided in the bottom portion of the main
body 10, and the sweeping rolling brush 411 may be any one from a
sweeping hair brush and a sweeping rubber brush or a combination of
two therefrom. The sweeping assembly 410 further may include a side
brush 412 driven by a motor, and the side brush 412 is provided in
a left front portion and/or a right front portion of the main body
10. The side brush 412 can rotate around an axis substantially
perpendicular to the ground. The side brush 412 has multiple
bundles of long bristles arranged at intervals around the axis, and
the long bristles extend outward and beyond an outer profile of the
main body 10, for sweeping garbage on the ground outside a range
covered by the outer profile of the main body 10 to the position of
the accommodation groove in the bottom portion of the main body 10.
One or two side brushes 412 may be provided in the bottom portion
of the main body 10.
[0095] With reference to FIG. 3 and FIG. 4, FIG. 3 is a perspective
view of a liquid storage tank in an embodiment of the present
disclosure, and FIG. 4 is a disassembling schematic diagram of the
cleaning part in an embodiment of the present disclosure. The
liquid storage tank 30 is mounted in the concave portion 13, a top
portion of the liquid storage tank 30 is provided with a liquid
inlet 31 for a user to add a fluid to the liquid storage tank 30,
and a side wall of the liquid storage tank 30 is provided with a
communication contact 32 for communication with the controller 50.
When the liquid storage tank 30 is mounted in the concave portion
13, the controller 50 transfers a control instruction to the liquid
storage tank 30 via the communication contact 32, to control a
liquid supply manner of the liquid storage tank 30. The fluid may
be a cleaning solution for more efficiently removing dirt adhered
to the surface to be cleaned, for example, for a ground to which
oil is adhered, a fluid with a degreasing function can be added to
the liquid storage tank 30, so as to more effectively remove oil
stains. Of course, in most cases, the fluid stored in the liquid
storage tank 30 is clean water, so as to mop and scrub the surface
to be cleaned.
[0096] The cleaning part 40 is mounted in a rear position of the
bottom portion of the main body 10, and an outer edge of the
cleaning part 40 has the same shape as an outer edge of the main
body 10. The cleaning part 40 includes a pad support 41 and a
cleaning pad 42 mounted on a face of the pad support 41 facing
towards the surface to be cleaned, a rear end of the pad support 41
is provided with a pressing portion 45, a face of the pad support
41 facing towards the bottom portion of the main body 10 is
provided with a hook 44, wherein pressing the pressing portion 45
can control the hook 44 to retract, and releasing the pressing
portion 45 can control the hook 44 to extend out. Corresponding to
the hook 44, the bottom portion of the main body 10 is provided
with a projection, and the pad support 41 can be mounted to the
main body 10 or the pad support 41 can be removed from the main
body 10 by pressing or releasing the pressing portion 45. The
cleaning pad 42 is mounted to the pad support 41, and fixed through
a velcro tape.
[0097] A bottom portion of the liquid storage tank 30 is provided
with a liquid outlet, the pad support 41 and the concave portion 13
are each provided with a fluid guide hole 43, at a position
corresponding to the liquid outlet, to guide a fluid flowing out
from the liquid storage tank 30 to the cleaning pad 42. In other
embodiments, the fluid flowing out from the liquid storage tank 30
also can be guided to the cleaning pad 42 through an external water
guide pipe. In a normal operation process of the cleaning robot,
the cleaning pad 42 is attached to the surface to be cleaned, so as
to clean the surface to be cleaned.
[0098] In order to intelligently control the liquid storage tank 30
to apply the fluid to the cleaning part 40, reference is made to
FIG. 5, FIG. 5 is a flowchart of method steps executed by the
controller.
[0099] S10, determining connection between the liquid storage tank
30 and the cleaning part 40.
[0100] The cleaning robot is started, the controller 50 starts to
operate, and when the liquid storage tank 30 is mounted in the
concave portion 13, the communication contact 32 is connected with
the controller 50 via a first circuit. When mounted to the main
body 10, the cleaning part 40 is connected with the controller 50
via a second circuit, and when the controller 50 detects the liquid
storage tank 30 and the cleaning part 40 being both mounted to the
main body 10, step S20 is executed such that the cleaning robot
enters a first working mode to control the liquid storage tank 30
to apply the fluid to the cleaning part in a first liquid supply
manner.
[0101] S20, controlling the cleaning robot to enter the first
working mode, such that the liquid storage tank 30 applies the
fluid to the cleaning part in the first liquid supply manner.
[0102] The cleaning robot entering the first working mode is
performed in a way that the cleaning robot, when detecting the
liquid storage tank 30 being connected with the cleaning part 40,
applies the fluid to the cleaning part in the first liquid supply
manner for a predetermined period of time. Please specifically
referring to FIG. 6, FIG. 6 is a flowchart of applying the fluid to
the cleaning part in the first liquid supply manner in an
embodiment of the present disclosure. The cleaning robot entering
the first working mode is a process that the controller 50 controls
initialization of the liquid storage tank 30, including that the
liquid storage tank 30 starts to apply the fluid to the cleaning
part 40, step 201 that the liquid storage tank applies the fluid to
the cleaning part repeatedly with a break of a first period of time
therebetween, and step 202 that the breaks during which the liquid
storage tank does not apply the fluid to the cleaning part have a
second period of time therebetween. The bottom portion of the
liquid storage tank 30 is provided with a liquid outlet, a fluid
guide hole 43 provided corresponding to the pad support 41 and the
concave portion 13 guides the fluid flowing out from the liquid
storage tank 30 to the cleaning pad 42. When the liquid storage
tank 30 is mounted in the concave portion 13, and the cleaning part
40 is connected with the liquid storage tank 30, the liquid storage
tank 30 starts to apply the fluid to the cleaning part 40. After
the fluid is applied for the second period of time, the liquid
storage tank 30 stops applying the fluid to the cleaning part 40,
and after the liquid storage tank 30 stops applying the fluid to
the cleaning part 40 for the first period of time, the liquid
storage tank 30 again applies the fluid to the cleaning part 40.
Step 203 of judging whether a predetermined period of time is
reached is carried out. In a process of controlling to cyclically
carry out the step 201 that the liquid storage tank applies the
fluid to the cleaning part repeatedly with a break of a first
period of time therebetween and step 202 that the breaks during
which the liquid storage tank does not apply the fluid to the
cleaning part have a second period of time therebetween, the
controller 50 measures time, and judges in real time whether
cumulative period of time of the first period of time and the
second period of time reaches a predetermined period of time, and
if the cumulative period of time reaches the predetermined period
of time, step S30 is carried out, and if not, step 201 and step 202
are continued to be carried out cyclically. The first liquid supply
manner is opening and closing the liquid storage tank 30 to apply
the fluid to the cleaning part 40 in a cyclical manner. The manner
of opening or closing the liquid storage tank 30 may be providing
other parts to open or close the liquid outlet, and it is also
feasible to control the fluid to flow out or not by changing an air
pressure inside the liquid storage tank 30. When the cleaning robot
enters the first working mode, the predetermined period of time for
the liquid storage tank 30 to apply the fluid to the cleaning part
40 in the first liquid supply manner is controlled, and the first
period of time for the liquid storage tank 30 to stop applying the
fluid to the cleaning part 40 is shorter than the second period of
time for the liquid storage tank 30 to apply the fluid to the
cleaning part 40.
[0103] It is feasible to allow a relatively large quantity of fluid
to be applied to the cleaning part 40, and to quickly wet the
cleaning part 40, in which process, the cleaning robot is in an on
state and stays in situ. When the cumulative period of time of the
first period of time and the second period of time satisfies the
predetermined period of time, step S30 that the cleaning robot
enters the second working mode is executed.
[0104] S30, controlling the cleaning robot to enter the second
working mode, such that the liquid storage tank applies the fluid
to the cleaning part in the second liquid supply manner.
[0105] The cleaning robot entering the second working mode is
performed in a way that after the first working mode is ended, the
fluid is applied to the cleaning part 40 in the second liquid
supply manner. Specifically referring to FIG. 7, FIG. 7 is a
flowchart of applying the fluid to the cleaning part in the second
liquid supply manner in an embodiment of the present disclosure.
The applying the fluid to the cleaning part in the second liquid
supply manner includes step 301 that the liquid storage tank 30
applies the fluid to the cleaning part 40 repeatedly with a break
of a third period of time therebetween and step 302 that the breaks
during which the liquid storage tank 30 does not apply the fluid to
the cleaning part 40 have a fourth period of time therebetween.
When the cleaning robot enters the second working mode, the liquid
storage tank 30 applies the fluid to the cleaning part 40 in the
second liquid supply manner. After the period of time of applying
the fluid to the cleaning part 40 reaches the fourth period of
time, the liquid storage tank 30 stops applying the fluid to the
cleaning part 40, and after the period of time of stopping applying
the fluid to the cleaning part 40 reaches the third period of time,
the liquid storage tank 30 again applies the fluid to the cleaning
part 40.
[0106] The second liquid supply manner is opening and closing the
liquid storage tank 30 to apply the fluid to the cleaning part 40
in a cyclical manner. The manner of opening or closing the liquid
storage tank 30 may be providing other parts to open or close the
liquid outlet, and it is also feasible to control the fluid to flow
out or not by changing an air pressure inside the liquid storage
tank 30.
[0107] The cleaning robot starts to carry out cleaning work after
entering the second working mode. In the first working mode, the
liquid storage tank 30 applies the fluid to the cleaning part 40
such that the cleaning part 40 has been wet. A speed of applying
the fluid in the first liquid supply manner is the same as a speed
of applying the fluid in the second liquid supply manner, and in a
process of applying the fluid to the cleaning part 40 in the second
liquid supply manner, the third period of time of closing the
liquid storage tank 30 to apply the fluid to the cleaning part 40
is longer than the fourth period of time of opening the liquid
storage tank 30 to apply the fluid to the cleaning part 40.
Compared with that, in the first liquid supply manner, the first
period of time for the liquid storage tank 30 to stop applying the
fluid to the cleaning part 40 is shorter than the second period of
time for the liquid storage tank 30 to apply the fluid to the
cleaning part 40, the quantity of fluid applied by the liquid
storage tank 30 to the cleaning part 40 is reduced in the second
liquid supply manner, such that during the same period of time, the
fluid quantity applied to the cleaning part in the first liquid
supply manner is greater than the fluid quantity applied to the
cleaning part in the second liquid supply manner. In the process of
carrying out the cleaning work by the cleaning robot, the cleaning
part 40 is prevented from being too wet (if the cleaning part is
too wet, after the surface to be cleaned is mopped and scrubbed,
the liquid will drop onto the cleaned surface, causing secondary
pollution), thus effectively improving the cleaning effect, and
enhancing the users' experience.
[0108] In some embodiments, to allow the fluid quantity applied to
the cleaning part 40 in the first liquid supply manner to be
greater than the fluid quantity applied to the cleaning part 40 in
the second liquid supply manner also can be realized in a following
manner: the second period of time for opening the liquid storage
tank 30 to apply the fluid to the cleaning part 40 in the first
liquid supply manner is longer than the fourth period of time for
opening the liquid storage tank 30 to apply the fluid to the
cleaning part 40 in the second liquid supply manner, and the first
period of time for closing the liquid storage tank 30 to apply the
fluid to the cleaning part 40 in the first liquid supply manner is
less than the third period of time for closing the liquid storage
tank 30 to apply the fluid to the cleaning part 40 in the second
liquid supply manner, such that during the same period of time, the
fluid quantity applied to the cleaning part in the first liquid
supply manner is greater than the fluid quantity applied to the
cleaning part in the second liquid supply manner. In the process of
carrying out the cleaning work by the cleaning robot, the cleaning
part 40 is prevented from being too wet (if the cleaning part is
too wet, after the surface to be cleaned is mopped and scrubbed,
the liquid will drop onto the cleaned surface, causing secondary
pollution), thus effectively improving the cleaning effect, and
enhancing the users' experience.
[0109] In a process that the cleaning robot enters the second
working mode to carry out the cleaning work, the controller 50
monitors whether an operation state of the cleaning robot meets a
condition of entering the third working mode. If meeting, the
cleaning robot is controlled to enter the third working mode, and
if not, the fluid is continued to be applied to the cleaning part
40 in the second liquid supply manner, and in this process, the
liquid storage tank 30 is controlled, in a cyclical manner, to
apply the fluid to the cleaning part repeatedly with a break of a
third period of time therebetween, and to stop applying the fluid
to the cleaning part 40 repeatedly with a break of a fourth period
of time therebetween, until step S40 is carried out.
[0110] In some embodiments, the cleaning robot further may include
a power unit, wherein the power unit is configured to provide power
to control the fluid in the liquid storage tank to flow or stop of,
such that the liquid storage tank applies the fluid outward in a
first liquid supply manner. In other embodiments, the liquid
storage tank may apply the fluid outward in a second liquid supply
manner. In some embodiments, the power unit is configured to
provide power to control the fluid in the liquid storage tank to
flow or stop of, such that the liquid storage tank applies the
fluid outward in a first liquid supply manner, or the liquid
storage tank may applies the fluid outward in a second liquid
supply manner.
[0111] The power unit may be a water pump, and the controller 50
can control the liquid storage tank 30 to apply the fluid to the
cleaning part 40 by controlling the water pump to start pumping
water or to stop pumping water. Specifically, a rate of pumping
water can be changed by controlling a power of the water pump,
realizing that the fluid quantity applied to the cleaning part in
the first liquid supply manner is different from the fluid quantity
applied to the cleaning part in the second liquid supply manner.
For example, when the cleaning robot enters the first working mode,
the water pump operates at a first power, to control the liquid
storage tank 30 to apply the fluid to the cleaning part in the
first liquid supply manner, and when the cleaning robot enters the
second working mode, the water pump operates at a second power, to
control the liquid storage tank 30 to apply the fluid to the
cleaning part 40 in the second liquid supply manner, wherein the
first power is greater than the second power, such that a flowing
rate of the fluid in the first liquid supply manner is greater than
a flowing rate of the fluid in the second liquid supply manner, and
the liquid storage tank 30 applies the fluid to the cleaning part
with the same period of time of enabling liquid supply and the same
period of time of disenabling liquid supply in the first liquid
supply manner and in the second liquid supply manner, such that the
fluid quantity applied to the cleaning part in the first liquid
supply manner is greater than the fluid quantity applied to the
cleaning part in the second liquid supply manner.
[0112] The power unit further may be a movable part, and movement
of the movable part can control opening or closing of the liquid
outlet so as to control the liquid storage tank 30 to apply the
fluid to the cleaning part 40. For example, the movable part is
driven by a motor to move. In an original state, the movable part
closes the liquid outlet. When the motor rotates forward, the
movable part moves to open the liquid outlet, the fluid in the
liquid storage tank 30 flows out. When the period of time of
applying the fluid to the cleaning part reaches the second period
of time or the fourth period of time, the controller 50 controls
the motor to rotate reversely, and the movable part closes the
liquid outlet, to stop the liquid storage tank 30 from applying the
fluid to the cleaning part. After the period of time of stopping
the application of the fluid reaches the first period of time or
the third period of time, the motor rotates forward again to open
the liquid outlet, until the cleaning robot enters other working
modes.
[0113] In another embodiment, the controller may be configured to
control the cleaning robot to enter the first working mode, such
that the fluid is applied from the liquid storage tank in the first
liquid supply manner, and to control the cleaning robot to enter
the second working mode, such that the fluid is applied from the
liquid storage tank in the second liquid supply manner. The
applying the fluid outward may be directed to any direction other
than a body of the cleaning robot. For example, when the cleaning
robot is an air humidifier, the cleaning robot can apply the fluid
towards a top portion or surrounding of the cleaning robot. At this
time, the first working mode of the cleaning robot may be a working
mode with a relatively slow walking speed, and the cleaning robot
needs to detect a surrounding environment while walking, to
determine an area that can be humidified and an area that cannot be
humidified, and after the area that can be humidified is
determined, the cleaning robot enters the second working mode,
wherein the second working mode is a working mode with a relatively
slow walking speed. In other embodiments, the cleaning robot
applying a fluid outward further may be applying a fluid to a
surface to be cleaned. The cleaning robot enters the first working
mode, such that the fluid is applied from the liquid storage tank
30 in the first liquid supply manner, and the cleaning robot is
controlled to enter the second working mode, such that the fluid is
applied from the liquid storage tank in the second liquid supply
manner. The first liquid supply manner and the second liquid supply
manner are the same as those in the preceding embodiments, and are
not repeated redundantly herein.
[0114] In another embodiment, the controller further may be
configured to control the liquid storage tank 30 to apply the fluid
to the cleaning part 40 in an intermittent liquid supply manner,
wherein in the intermittent liquid supply manner, the liquid
storage tank is opened to apply the fluid to the cleaning part and
closed, cyclically. The intermittent liquid supply manner includes
a first liquid supply manner and a second liquid supply manner, and
during the same period of time, the fluid quantity applied to the
cleaning part in the first liquid supply manner is greater than the
fluid quantity applied to the cleaning part in the second liquid
supply manner.
[0115] S40, controlling the cleaning robot to enter the third
working mode, such that the liquid storage tank stops applying the
fluid to the cleaning part.
[0116] Specifically referring to FIG. 8 and FIG. 9, FIG. 8 is a
schematic diagram of conditions for the cleaning robot to enter the
third working mode in an embodiment of the present disclosure, and
FIG. 9 is a block diagram of a sensor system in an embodiment of
the present disclosure.
[0117] At least one of the following conditions is met for the
cleaning robot to enter the third working mode:
[0118] Condition 1, 401, the cleaning robot walking onto a soft
surface to be cleaned. In a process that the cleaning robot carries
out the cleaning work in the second working mode, when it is
detected that the cleaning robot walks onto the soft surface to be
cleaned, the cleaning robot is controlled to enter the third
working mode. The soft surface to be cleaned is a surface laid with
a carpet or a blanket and so on, unsuitable to wet mopping. The
sensor system 60 further may include a surface-to-be-cleaned type
detecting sensor 61, wherein the surface-to-be-cleaned type
detecting sensor 61 may be an infrared sensor. Different types of
the surfaces to be cleaned reflect an infrared sensor signal
differently. A cement or ceramic or smooth floor surface strongly
reflects the infrared sensor signal, and when the cleaning robot
moves onto a carpet or blanket surface, the infrared sensor signal
is reflected relatively weakly, thereby the type of the surface to
be cleaned, cleaned by the cleaning robot, can be determined. In
other embodiments, the surface-to-be-cleaned type detecting sensor
61 may be a vision sensor, recognizing the type of the surface to
be cleaned by comparing different pixels of different surfaces to
be cleaned on a visual image. In another embodiment, the cleaning
robot includes a sweeping rolling brush 411, the
surface-to-be-cleaned type detecting sensor 61 may be a sensor
detecting current changes of a driving motor of the sweeping
rolling brush 411. When the cleaning robot moves onto a surface to
be cleaned laid with a carpet or a blanket, an increased sweeping
resistance will cause an increased current of the driving motor of
the sweeping rolling brush, such that it is determined that the
cleaning robot moves onto a soft surface to be cleaned. When the
cleaning robot is detected to move onto a soft surface to be
cleaned, the cleaning robot is controlled to enter the third
working mode, to control the liquid storage tank 30 to stop
applying the fluid to the cleaning part 40.
[0119] Condition 2, 402, an electric quantity of the cleaning robot
being less than a predetermined electric quantity. In a process of
carrying out the cleaning work in the second working mode, the
cleaning robot will continuously consume the electric quantity of a
battery. The sensor system 60 may include an electric quantity
monitoring sensor 62 configured to detect the electric quantity of
the battery, and when the electric quantity of the battery is less
than a predetermined electric quantity, the cleaning robot needs to
look for a recharging seat and returns back to the recharging seat
to be charged. In a process that the cleaning robot looks for the
recharging seat, the cleaning robot enters the third working mode,
to control the liquid storage tank to stop applying the fluid to
the cleaning part, so as to reduce consumption of the battery
electric quantity, and prevent the cleaning robot from running out
of electric quantity to cause crash in the process of looking for a
charging seat. The electric quantity monitoring sensor 62 may
obtain a current battery electric quantity by detecting information
such as current or voltage.
[0120] Condition 3, 403, the cleaning robot being in a charging
state. The cleaning robot looks for the charging seat as the
electric quantity is lower than the predetermined electric
quantity. When the cleaning robot is in the charging state, the
cleaning robot enters the third working mode, to control the liquid
storage tank to stop applying the fluid to the cleaning part. The
sensor system 60 may include a working state sensor 63 configured
to detect a working state of the cleaning robot, wherein the
working state sensor 63 may be a charging seat docking sensor,
which can control, after detecting successful docking between the
cleaning robot and a charging contact of the charging seat, the
liquid storage tank 30 to stop applying the fluid to the cleaning
part 40, preventing the fluid from flowing out to contact the
charging contact of the charging seat, which causes short-circuit
of a charging circuit or brings about other potential safety
hazards.
[0121] Condition 4, 404, the cleaning robot being in an abnormal
working state. The cleaning robot being in an abnormal working
state is also detected by the working state sensor 63. The working
state sensor 63 further includes a collision sensor or an obstacle
detecting sensor provided in the front portion of the main body 10,
wherein the collision sensor is configured to detect collision
information of the cleaning robot with objects in the environment
in a moving process, and the obstacle detecting sensor is
configured to detect operating environment information of the
robot, to reduce collision of the main body 10 with objects as much
as possible. When the cleaning robot triggers the collision sensor
when moving or turning towards any direction, the cleaning robot
may be considered as being trapped, for example, the cleaning robot
moves to be within legs of a stool and can hardly move out, the
cleaning robot is judged as being in an abnormal working state, and
the cleaning robot enters the third working mode, to control the
liquid storage tank 30 to stop applying the fluid to the cleaning
part 40. The working state sensor 63 further includes a driving
part sensor, wherein the driving part sensor may detect operation
status of the left and right driving wheels and a front wheel, and
can thereby judge whether the cleaning robot is in a normal working
state. An omnidirectional wheel sensor is provided at a position of
the main body 10 where the omnidirectional wheel 22 is mounted. The
omnidirectional wheel 22 is provided thereon with color blocks of
alternating black and white wheels. The driving part sensor is an
infrared sensor, when reflected by a black block, no signal is
output, and when reflected by a white block, a signal is output.
When the cleaning robot is in a normal working state, the
omnidirectional wheel 22 rotates, the black block and the white
block alternately reflect light emitted by the omnidirectional
wheel sensor, and signals will be generated and output alternately.
If signals detected by the omnidirectional wheel sensor are not
output or output continuously as the same signal within a
predetermined period of time, the cleaning robot can be judged as
being in an abnormal working state. The driving part sensor further
may be a sensor detecting a driving motor of the left and right
driving wheels, and when the cleaning robot is trapped, it is
judged, by detecting by the driving part sensor that the current or
voltage of the driving motor of the left and right driving wheels
is in an abnormal state, that the cleaning robot is in an abnormal
working state, and the cleaning robot enters a third working mode,
to control the liquid storage tank 30 to stop applying the fluid to
the cleaning part 40. By judging that the cleaning robot is in an
abnormal working state, and timely controlling the liquid storage
tank 30 to stop applying the fluid to the cleaning part 40, it
prevents application of too much fluid to the cleaning part 40,
when the cleaning robot is trapped in a same place or moves within
a small area, which causes the fluid to permeate to the cleaned
surface, and leads to secondary pollution to the cleaned
surface.
[0122] Condition 5, the user sending to the cleaning robot an
instruction of stopping applying the fluid to the cleaning part.
When the user needs to mop the floor by the cleaning robot in a dry
manner rather than a wet manner, the user can send to the cleaning
robot an instruction of stopping applying the fluid to the cleaning
part 40. The instruction may be sent by a peripheral device of the
cleaning robot, for example, a remote control or a cellphone APP.
Of course, a corresponding switch may be provided on the cleaning
robot to control, wherein the switch may be of a press type or a
touch type. In other embodiments, the cleaning robot further may be
provided with a voice interaction module, and the user can control
the cleaning robot by voice and send the instruction of stopping
applying the fluid to the cleaning part.
[0123] In the embodiments of the present disclosure, by
controlling, when the cleaning robot enters different working
modes, the liquid storage tank to apply the fluid to the cleaning
part in different liquid supply manners or controlling the liquid
storage tank to stop applying the fluid to the cleaning part, on
one hand, intelligently controlling the liquid storage tank to
apply the fluid to the cleaning part can be realized, and on the
other hand, the fluid quantity applied to the cleaning part also
can be further effectively controlled, improving the cleaning
effect, and enhancing the users' experience.
[0124] In the description of the present description, description
with reference terms such as "an embodiment", "some embodiments",
"example", "specific example" or "an optional embodiment" means
that a specific feature, structure, material or characteristic
described in connection with this embodiment or example is
contained in at least one embodiment or example of the present
disclosure. In the present description, exemplary expressions of
the above terms do not necessarily refer to the same embodiment or
example. Moreover, the specific feature, structure, material or
characteristic described can be combined in any one or more
embodiments or examples in a suitable manner.
[0125] The above-mentioned embodiments do not constitute limitation
on the scope of protection of the technical solutions. Any
amendments, equivalent replacements, improvements and so on, within
the spirit and principle of the above embodiments, should be
covered within the scope of protection of the technical
solutions.
[0126] Although the present invention has been described with
reference to preferred embodiments, workers skilled in the art will
recognize that changes may be made in form and detail without
departing from the spirit and scope of the invention.
* * * * *