摘要：【中文】本发明公开了一种吸尘器、无刷直流电机的反电势过零检测方法、装置和控制系统，其中，无刷直流电机的反电势过零检测方法包括以下步骤：在每个PWM控制周期内采用中心对称的PWM控制信号对无刷直流电机进行控制，并判断PWM控制信号的占空比是否大于第一预设占空比；如果占空比大于第一预设占空比，则在PWM控制周期内通过硬件触发方式触发ADC单通道每隔第一预设时间对无刷直流电机的反电势进行采样，并在每次采样完成后根据采样结果判断反电势是否过零。该方法不仅能够及时、准确地检测到反电势过零点，保证电机稳定运行在极高转速，而且无需额外增加比较器，能够降低成本。 【EN】The invention discloses a dust collector, a back electromotive force zero-crossing detection method and device of a brushless direct current motor and a control system, wherein the back electromotive force zero-crossing detection method of the brushless direct current motor comprises the following steps: adopting centrosymmetric PWM control signals to control the brushless direct current motor in each PWM control period, and judging whether the duty ratio of the PWM control signals is greater than a first preset duty ratio; if the duty ratio is larger than a first preset duty ratio, triggering an ADC single channel to sample the counter electromotive force of the brushless direct current motor every first preset time in a PWM control period in a hardware triggering mode, and judging whether the counter electromotive force crosses zero or not according to a sampling result after sampling is completed every time. The method can timely and accurately detect the counter potential zero crossing point, ensures that the motor stably runs at an extremely high rotating speed, does not need to additionally increase a comparator, and can reduce the cost.

摘要：【中文】本发明公开了一种无刷直流电机的转子定位方法、定位装置和控制系统，其中，定位方法包括以下步骤：按照预设导通方式对电机的定子绕组进行导通控制时，依次在电机的定子绕组的不同相位施加电压检测脉冲，并通过获取定子绕组在每个相位的电流值达到预设电流值所需的时间以获得多个时间；根据预设导通方式获取预设的时间‑扇区关系表；根据多个时间和预设的时间‑扇区关系表获取电机的转子所在的扇区，并根据电机的转子所在的扇区获得电机的转子位置。由此，能够快速且准确的获取到电机的转子位置，且不会出现异响和抖动以及定位错误的问题，而且方法简单且能实现无盲区定位。 【EN】The invention discloses a rotor positioning method, a positioning device and a control system of a brushless direct current motor, wherein the positioning method comprises the following steps: when conducting control is carried out on the stator winding of the motor according to a preset conducting mode, voltage detection pulses are sequentially applied to different phases of the stator winding of the motor, and a plurality of times are obtained by obtaining the time required by the current value of the stator winding at each phase to reach a preset current value; acquiring a preset time-sector relation table according to a preset conduction mode; and acquiring the sector where the rotor of the motor is located according to the plurality of times and a preset time-sector relation table, and acquiring the rotor position of the motor according to the sector where the rotor of the motor is located. Therefore, the rotor position of the motor can be quickly and accurately obtained, the problems of abnormal sound, shaking and positioning errors can be avoided, the method is simple, and blind-area-free positioning can be realized.

摘要：【中文】本发明公开了一种扫地机器人的过滤装置以及扫地机器人，扫地机器人的过滤装置包括：安装架，所述安装架内限定出过滤通道，所述安装架上设有分别与所述过滤通道连通且相对设置的进风口和出风口；过滤件，所述过滤件设于所述过滤通道内，其中所述过滤件与所述出风口所在壁之间具有气流间隙。由此，通过设置气流间隙，空气从进风口流入过滤装置后，能够使空气流过全部的过滤件，可以避免浪费过滤件，从而可以提高过滤件的利用率。 【EN】The invention discloses a filtering device of a sweeping robot and the sweeping robot, wherein the filtering device of the sweeping robot comprises: the air filter comprises a mounting frame, a filter channel is defined in the mounting frame, and an air inlet and an air outlet which are respectively communicated with the filter channel and are oppositely arranged are arranged on the mounting frame; and the filter element is arranged in the filter channel, and an air flow gap is formed between the filter element and the wall of the air outlet. From this, through setting up airflow gap, the air can make the air flow through whole filtration pieces after flowing into filter equipment from the air intake, can avoid extravagant filtration piece to can improve the utilization ratio of filtering.

摘要：【中文】本申请实施例提供一种导航装置和具有其的清洁设备，其中，导航装置包括：导航模块，导航模块安装于底板；支撑架，支撑架支撑于底板，支撑架罩设于导航模块的外部，支撑架的上表面具有支撑平面；防护罩，防护罩套设于支撑架的外部，防护罩包括在竖直方向上与支撑平面对应设置的顶壁，顶壁位于支撑平面的上方且与支撑平面间隔设置，其中，顶壁采用透明材料制成；装饰板，装饰板设置于支撑平面且位于支撑平面与顶壁之间。本申请实施例的导航装置通过采用上述技术方案，一方面可以对导航装置起到较好的保护作用，另一方面有利于提高导航装置外观的美观度，并且装饰板上的装饰图案可以自由设计，导航装置的装饰效果在设计过程中的自由度较高。 【EN】The embodiment of the application provides a navigation device and cleaning equipment who has it, wherein, navigation device includes: the navigation module is arranged on the bottom plate; the support frame is supported on the bottom plate and covers the navigation module, and a support plane is arranged on the upper surface of the support frame; the protective cover is sleeved outside the support frame and comprises a top wall which is arranged corresponding to the support plane in the vertical direction, the top wall is positioned above the support plane and is arranged at intervals with the support plane, and the top wall is made of transparent materials; the decorative board sets up in the supporting plane and lies in between supporting plane and the roof. The navigation head of this application embodiment can play better guard action to the navigation head through adopting above-mentioned technical scheme on the one hand, and on the other hand is favorable to improving the pleasing to the eye degree of navigation head outward appearance to decorative pattern on the decorative board can freely design, and the decorative effect of navigation head is higher in the degree of freedom of design in-process.

摘要：【中文】本申请实施例提供一种导航装置和具有其的清洁设备，其中，导航装置包括：导航模块，安装于底板；罩体组件，罩设于导航模块的外部，罩体组件通过弹性件支撑于底板；碰撞传感器，设于底板，碰撞传感器用于在罩体组件与底板发生相对位移的条件下，发送转向信号。根据本申请实施例的导航装置，可以避免罩体组件与底板以及导航模块直接发生碰撞，从而对导航模块起到较好的保护作用，并且可以及时地检测到罩体组件与外界发生碰撞，以使设有导航装置的移动设备的控制模块在转向信号的响应下及时转向，及时解除罩体组件与外界的碰撞。 【EN】The embodiment of the application provides a navigation device and cleaning equipment who has it, wherein, navigation device includes: the navigation module is arranged on the bottom plate; the cover body assembly is covered outside the navigation module and supported on the bottom plate through the elastic piece; and the collision sensor is arranged on the bottom plate and used for sending a steering signal under the condition that the cover body assembly and the bottom plate are relatively displaced. According to the navigation device provided by the embodiment of the application, the cover body assembly can be prevented from directly colliding with the bottom plate and the navigation module, so that the navigation module is well protected, the cover body assembly can be timely detected to collide with the outside, the control module of the mobile equipment provided with the navigation device can timely turn under the response of a steering signal, and the collision between the cover body assembly and the outside can be timely relieved.

摘要：【中文】本发明公开了一种扫地机器人的尘盒组件以及扫地机器人，尘盒组件适于设在扫地机器人的主机上，包括：盒体，盒体的侧壁上设有安装槽；按钮，按钮可枢转地设于安装槽内，其中按钮和安装槽中的一个上一体地设有枢转轴、且另一个上设有枢转孔，枢转轴与枢转孔彼此枢转配合，按钮上设有与主机配合的定位卡扣；扭簧，扭簧设于安装槽和按钮之间且驱动按钮朝远离安装槽底壁的方向枢转。由此，通过盒体的侧壁上设有安装槽，方便按钮的安装，并且，通过枢转轴一体形成在按钮或者安装槽上，能够减少组成尘盒组件的零部件数量，可以简化尘盒组件结构，从而利于尘盒组件在生产线上生产，进而可以提升尘盒组件的生产效率，也可以降低尘盒组件的生产成本。 【EN】The invention discloses a dust box component of a sweeping robot and the sweeping robot, wherein the dust box component is suitable for being arranged on a host of the sweeping robot and comprises: the side wall of the box body is provided with a mounting groove; the button is pivotally arranged in the mounting groove, one of the button and the mounting groove is integrally provided with a pivot shaft, the other of the button and the mounting groove is provided with a pivot hole, the pivot shaft and the pivot hole are in pivot fit with each other, and the button is provided with a positioning buckle matched with the host; the torsional spring, the torsional spring is located between mounting groove and the button and drive button towards the direction pivot of keeping away from the mounting groove diapire. From this, be equipped with the mounting groove on the lateral wall through the box body, make things convenient for the installation of button to, through pivot axle an organic whole on button or mounting groove, can reduce the spare part quantity of constituteing dirt box subassembly, can simplify dirt box subassembly structure, thereby do benefit to the production of dirt box subassembly on the production line, and then can promote the production efficiency of dirt box subassembly, also can reduce the manufacturing cost of dirt box subassembly.

摘要：【中文】本发明实施例公开了一种集尘设备的信息处理方法，应用于集成设备，所述方法包括：检测所述集尘设备内的真空度值；根据检测结果发出提示信号；其中，所述提示信号，用于提醒进行所述集尘设备的清理。本发明实施例还公开了一种集尘设备的信息处理系统及存储介质。 【EN】The embodiment of the invention discloses an information processing method of dust collecting equipment, which is applied to integrated equipment and comprises the following steps: detecting a vacuum level within the dust collecting apparatus; sending out a prompt signal according to the detection result; wherein, the prompt signal is used for reminding the cleaning of the dust collecting equipment. The embodiment of the invention also discloses an information processing system and a storage medium of the dust collecting equipment.

摘要：【中文】本发明实施例公开了一种通信方法，应用于智能扫地机，智能扫地机包括：用户身份识别模块，该方法包括：接收语音信息；对语音信息进行分析，得到报警信息；当报警信息与预设报警信息匹配时，生成报警指令；响应报警指令，并通过用户身份识别模块向目标终端发送通信请求，以使目标终端根据通信请求建立与智能扫地机的通信连接。本发明实施例同时还公开了一种智能扫地机和存储介质。 【EN】The embodiment of the invention discloses a communication method, which is applied to an intelligent sweeper, wherein the intelligent sweeper comprises the following steps: the user identity identification module, the method includes: receiving voice information; analyzing the voice information to obtain alarm information; when the alarm information is matched with preset alarm information, generating an alarm instruction; and responding to the alarm instruction, and sending a communication request to the target terminal through the user identity recognition module so that the target terminal establishes communication connection with the intelligent sweeper according to the communication request. The embodiment of the invention also discloses an intelligent sweeper and a storage medium.

摘要：【中文】本发明涉及清洁设备技术领域，具体涉及一种滚刷装置及具有其的扫地机器人。本发明提供了一种滚刷装置，包括固定壳体；滚刷壳，滚刷壳内安装有滚刷，滚刷壳的第一侧枢转地连接于固定壳体的一侧；缓冲组件，滚刷壳的第二侧通过缓冲组件安装于固定壳体的另一侧，滚刷壳在遇到障碍物的情况下能够以压缩缓冲组件的方式带动滚刷向上浮动越过障碍物。本发明的滚刷壳的第一侧与固定壳体转动地连接，滚刷壳的第二侧通过缓冲组件连接于固定壳体上，当滚刷壳的第二侧以压缩缓冲组件的方式带动滚刷向上浮动的过程中，滚刷壳的第一侧相对固定壳体向上转动，以此达到滚刷壳整体向上浮动的目的。 【EN】The invention relates to the technical field of cleaning equipment, in particular to a rolling brush device and a sweeping robot with the same. The invention provides a rolling brush device, which comprises a fixed shell; the rolling brush shell is internally provided with a rolling brush, and the first side of the rolling brush shell is pivotally connected to one side of the fixed shell; buffering subassembly, the second side of round brush shell is installed in the opposite side of fixed casing through buffering subassembly, and the round brush shell can drive the round brush upwards to float and cross the barrier with the mode of compression buffering subassembly under the condition of meetting the barrier. According to the invention, the first side of the rolling brush shell is rotationally connected with the fixed shell, the second side of the rolling brush shell is connected with the fixed shell through the buffer component, and when the second side of the rolling brush shell drives the rolling brush to float upwards in a mode of compressing the buffer component, the first side of the rolling brush shell rotates upwards relative to the fixed shell, so that the purpose of upward floating of the whole rolling brush shell is achieved.

摘要：【中文】本发明公开了一种用于清洁机器人的集成部件、清洁机器人以及清洁机器人系统。其中，集成部件包括：连接件，用于将集成部件与清洁机器人进行机械连接和电气连接；导航模块，用于采集清洁机器人所处位置的环境信息。 【EN】The invention discloses an integrated component for a cleaning robot, the cleaning robot and a cleaning robot system. Wherein the integrated component comprises: a connector for mechanically and electrically connecting the integrated part with the cleaning robot; and the navigation module is used for acquiring the environmental information of the position where the cleaning robot is located.