CN103631267B - Intelligent robot and its method for being moved to most bright position - Google Patents
Intelligent robot and its method for being moved to most bright position Download PDFInfo
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- CN103631267B CN103631267B CN201210304181.8A CN201210304181A CN103631267B CN 103631267 B CN103631267 B CN 103631267B CN 201210304181 A CN201210304181 A CN 201210304181A CN 103631267 B CN103631267 B CN 103631267B
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- light intensity
- intelligent robot
- information value
- intensity information
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 108010001267 Protein Subunits Proteins 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 claims description 3
- 230000001419 dependent effect Effects 0.000 claims description 3
- 230000010365 information processing Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of intelligent robot and its method for being moved to most bright position, the intelligent robot includes walking unit, functional unit, driver element and control unit, walking unit is arranged on the bottom of intelligent robot, control unit is connected with driver element, in the presence of control unit, driver element driving walking unit movement, being arranged on the light sensor of intelligent robot front end is used to detect light intensity, the signal of light sensor sends control unit to, and control unit includes：Information storing sub-units, the light intensity information value that storage light sensor is detected；Information processing subelement, the light intensity information value of processing information storing sub-units storage, and judge the direction of light source.Light intensity information value in intelligent robot surrounding environment of the present invention judges and reaches the strong position of light, is easily found by user.
Description
Technical field
The invention belongs to technical field of intelligent equipment, more particularly to a kind of intelligent robot and its most bright position is moved to
Method.
Background technology
General existing home-services robot passes through infrared or laser pathfinding when work is completed or battery electric quantity is relatively low
Return to specified location.Existing robot, which is commonly equipped with cradle, cradle, is provided with infrared transmitter/Laser emission
The receiver for receiving infrared/laser signal is correspondingly provided with device, robot, when robot works completion or low electricity, charging
Seat transmission signal guided robot is returned on cradle.It is higher using this kind of supporting senser element cost, and these annexes
Typically constantly electricity work, can consume certain electric energy.When robot dump energy is not enough to provide robot return cradle
When, the ND dark position such as robot may be hidden in by sofa, table bottom, bed bottom.When recharging, machine need to be searched
People, larger inconvenience is caused to user.
The content of the invention
In view of the above problems, it is an object of the invention to provide a kind of intelligent robot and its it is moved to the side of most bright position
Method, is judged to the light intensity information value in intelligent robot surrounding environment, intelligent robot can be made to reach light strong
Position, easily found by user.
The intelligent robot that the present invention is provided includes walking unit, functional unit, driver element and control unit, and walking is single
Member is arranged on the bottom of intelligent robot, and control unit is connected with driver element, in the presence of control unit, and driver element drives
Dynamic walking unit movement, the light sensor being arranged on intelligent robot is used to detect light intensity, the letter of light sensor
Number send control unit to, control unit includes：Information storing sub-units, the light intensity letter that storage light sensor is detected
Breath value；Information processing subelement, the light intensity information value of processing information storing sub-units storage, and judge the direction of light source.
Further, the light intensity information value that information processing subelement comparison information storing sub-units are stored, draws
Maximum light intensity information value.
A power threshold is preset in information storing sub-units, when battery electric quantity is less than the threshold value, robot, which starts, to be found
Light source mode, is moved to the most bright position of working space.
Further, light sensor is arranged at the front end in robot ambulation direction or is arranged on the middle part of robot.
Light sensor is connected with drive mechanism, and the drive mechanism driving light sensor is revolved at any angle
Turn.
The artificial robot for cleaning floor of intelligence machine or air purifying robot or security robot.
The present invention provides a kind of method that above-mentioned intelligent robot is moved to most bright position, and methods described includes following step
Suddenly：
Step A：Intelligent robot is rotated in place, and light sensor constantly detects the light intensity of intelligent robot surrounding；
Step B：The light intensity information value detected is compared by control unit, draws the first maximum light intensity letter
Breath value, and judge the direction of the first maximum light intensity information value；
Step C：Intelligent robot rotates to the direction of the first maximum light intensity information value, and walking unit starts walking,
Light sensor constantly detects the instant light intensity of the direction；
Step D：Control unit enters the instant light intensity information value detected with the first maximum light intensity information value
Row compares, when the light intensity information value detected is more than the first maximum light intensity information value, this light intensity information value
As the new first maximum light intensity information value, walking unit walks on；Otherwise, intelligent robot is rotated in place, photosensitive
Sensor constantly detects the light intensity of intelligent robot surrounding and is compared, and obtains the second maximum light intensity information value；
Step E：Control unit compares the size of first, second maximum light intensity information value, if the second maximum light is strong
Spend the value of information and be more than the first maximum light information intensity level, return to step A；Otherwise, intelligent robot stops walking.
It is further comprising the steps of before step A：Control unit will be preset in the electricity and control unit in intelligent robot
A power threshold be compared.
The present invention also provides the method that another intelligent robot is moved to most bright position, it is characterised in that：Methods described
Comprise the following steps：
Step A：Intelligent robot or light sensor are rotated in place, and light sensor constantly detects intelligent robot surrounding
Light intensity；
Step B：The light intensity information value detected is compared by control unit, draws the first maximum light intensity letter
Breath value, and judge the direction of the first maximum light intensity information value；
Step C：Intelligent robot rotates to the direction of the first maximum light intensity information value, and walking unit starts walking,
Light sensor constantly detects the instant light intensity of the direction；
Step D：Control unit enters the instant light intensity information value detected with the first maximum light intensity information value
Row compares, when the light intensity information value detected is more than the first maximum light intensity information value, this light intensity information value
As the new first maximum light intensity information value, walking unit walks on；Otherwise, intelligent robot or light sensor are former
Ground rotates, and light sensor constantly detects the light intensity of intelligent robot surrounding and is compared, and obtains the second maximum light
Strength information value；
Step E：Control unit compares the size of first, second maximum light intensity information value, if the second maximum light is strong
Spend the value of information and be more than the first maximum light information intensity level, then the first new maximum light is turned into the second light intensity information value
Strength information value, and return to step C；Otherwise, intelligent robot stops walking.
When intelligent robot works completion or low electricity, light sensor constantly detects intelligent robot surrounding environment
Brightness, allows intelligent robot to advance all the time towards highlighting direction by control unit, eventually finds a most bright position
When putting, intelligent robot is out of service.
Brief description of the drawings
Fig. 1 is intelligent robot of the present invention and light source position relation schematic diagram；
Fig. 2 is the structure connection block diagram of intelligent robot of the present invention.
Reference：
1. the functional unit of 2. walking unit of light source 3.
4. the control unit of light sensor 5.
Embodiment
As shown in Fig. 2 intelligent robot of the present invention includes walking unit 2, functional unit 3, control unit 5 and driver element
（Do not show in figure）, walking unit 2 is arranged on the bottom of intelligent robot, and control unit 5 is connected with driver element, in control unit
In the presence of 5, driver element driving walking unit 2 is moved, and the light sensor 4 being arranged on intelligent robot is used for detection light
Line strength, the signal of light sensor sends control unit 5 to, and control unit 5 also includes：Information storing sub-units, store light
The light intensity information value that dependent sensor is detected；Information processing subelement, the light of processing information storing sub-units storage is strong
The value of information is spent, and judges the direction of light source.Preferably, light sensor 4 be arranged on intelligent robot direction of travel front end or
Person is arranged on the middle part of intelligent robot.The light intensity information that information processing subelement comparison information storing sub-units are stored
Value, draws maximum light intensity information value.Now, the maximum light intensity information that intelligent robot is sensed with light sensor
Direction where value is defined as light source（Or light）Direction.Due to robot control unit's recorded anglec of rotation pair in itself
The light intensity information value answered, when it is determined that during maximum light information intensity level, intelligent robot correspondence searches the anglec of rotation
Determine light source（Or light）The direction at place；Or intelligent robot rotates in place one week and maximum light intensity information is determined
Value, the position for continuing to rotate in place maximum light intensity information value can determine that light source（Or light）The direction at place；Or
Intelligent robot rotates in place a circle, the circle of the driving wheel rotation corresponding to encoder corresponding record maximum light intensity information value
Count to determine light source（Or light）The direction at place.It is emphasized that the present invention is not limited to above-mentioned various modes to determine
Maximum light intensity information value and light source（Or light）Position corresponding relation.
It is similar in addition to above-mentioned intelligent robot rotates in place light sensor and detects and determine the scheme of light source direction
Ground, it would however also be possible to employ light sensor is rotated in place behind the direction for determining light source or light in itself, and then the intelligence machine talent is revolved
Go to the direction walking of light source or light.Simply, light sensor connection drive mechanism, such as micro-driving motor, driving
Mechanism driving light sensor is rotated at any angle.
Intelligent robot can be various home-services robots, such as robot for cleaning floor or air purifying robot or
Security robot etc..
Wherein, a power threshold is also preset in information storing sub-units.Completed or battery electric quantity when intelligent robot works
During less than threshold value, intelligent robot begins look for light source and is moved to most bright position.
The method that intelligent robot of the present invention is moved to most bright position comprises the following steps：
Step A：Intelligent robot is rotated in place, the light intensity of the constantly detection intelligent robot surrounding of light sensor 4；
Step B：The light intensity information value detected is compared by control unit 5, draws the first maximum light intensity
The value of information, and judge the direction of the first maximum light intensity information value；
Step C：Intelligent robot rotates to the direction of the first maximum light intensity information value, and walking unit 2 starts walking,
The instant light intensity of the constantly detection direction of light sensor 4；
Step D：Control unit 5 enters the instant light intensity information value detected with the first maximum light intensity information value
Row compares, when the light intensity information value detected is more than the first maximum light intensity information value, this light intensity information value
As the new first maximum light intensity information value, walking unit 2 walks on；Otherwise, intelligent robot is rotated in place, photosensitive
The constantly light intensity of detection intelligent robot surrounding of sensor 4 is simultaneously compared, and obtains the second maximum light intensity information value；
Step E：Control unit 5 compares the size of first, second maximum light intensity information value, if the second maximum light is strong
Spend the value of information and be more than the first maximum light information intensity level, return to step A；Otherwise, intelligent robot stops walking.
It is further comprising the steps of before step A：Control unit 5 will be pre- in the electricity in intelligent robot and control unit 5
If a power threshold be compared.
The present invention also provides the method that another intelligent robot is moved to most bright position, comprises the following steps：
Step A：Intelligent robot or light sensor 4 are rotated in place, the constantly detection intelligent robot four of light sensor 4
The light intensity in week；
Step B：The light intensity information value detected is compared by control unit 5, draws the first maximum light intensity
The value of information, and judge the direction of the first maximum light intensity information value；
Step C：Intelligent robot rotates to the direction of the first maximum light intensity information value, and walking unit 2 starts walking,
The instant light intensity of the constantly detection direction of light sensor 4；
Step D：Control unit 5 enters the instant light intensity information value detected with the first maximum light intensity information value
Row compares, when the light intensity information value detected is more than the first maximum light intensity information value, this light intensity information value
As the new first maximum light intensity information value, walking unit 2 walks on；Otherwise, intelligent robot or light sensor 4
Rotate in place, the constantly light intensity of detection intelligent robot surrounding of light sensor 4 is simultaneously compared, and obtains the second maximum light
The line strength value of information；
Step E：Control unit 5 compares the size of first, second maximum light intensity information value, if the second maximum light is strong
Spend the value of information and be more than the first maximum light information intensity level, then the first new maximum light is turned into the second light intensity information value
Strength information value, and return to step C；Otherwise, intelligent robot stops walking.
The present invention constantly detects the brightness of intelligent robot surrounding environment by light sensor, allows intelligent robot all the time
Advance towards highlighting direction, when eventually finding a most bright position, intelligent robot is out of service.Pass through such a side
Formula, intelligent robot can leave the corner of dark automatically when electricity is low, user is easy to discovery, to be in time
It charges.
Claims (8)
1. a kind of method that intelligent robot is moved to most bright position, it is characterised in that：It the described method comprises the following steps：
Step A：Intelligent robot or light sensor (4) are rotated in place, light sensor (4) constantly detection intelligent robot four
The light intensity in week；
Step B：The light intensity information value detected is compared by control unit (5), draws the first maximum light intensity letter
Breath value, and judge the direction of the first maximum light intensity information value；
Step C：Intelligent robot rotates to the direction of the first maximum light intensity information value, and walking unit (2) starts walking, light
The instant light intensity of dependent sensor (4) the constantly detection direction；
Step D：Control unit (5) carries out the instant light intensity information value detected with the first maximum light intensity information value
Compare, when the light intensity information value detected is more than the first maximum light intensity information value, this light intensity information value into
For the new first maximum light intensity information value, walking unit (2) walks on；Otherwise, intelligent robot or light sensor
Rotate in place, light sensor (4) the constantly light intensity of detection intelligent robot surrounding is simultaneously compared, and obtains second maximum
Light intensity information value；
Step E：Control unit (5) compares the size of first, second maximum light intensity information value, if the second maximum light intensity
The value of information is more than the first maximum light information intensity level, return to step A；Otherwise, intelligent robot stops walking.
2. the method that intelligent robot according to claim 1 is moved to most bright position, it is characterised in that：Before step A
It is further comprising the steps of：Control unit (5) is by a default power threshold in the electricity in intelligent robot and control unit (5)
It is compared.
3. a kind of method that intelligent robot is moved to most bright position, it is characterised in that：It the described method comprises the following steps：
Step A：Intelligent robot or light sensor (4) are rotated in place, light sensor (4) constantly detection intelligent robot four
The light intensity in week；
Step B：The light intensity information value detected is compared by control unit (5), draws the first maximum light intensity letter
Breath value, and judge the direction of the first maximum light intensity information value；
Step C：Intelligent robot rotates to the direction of the first maximum light intensity information value, and walking unit (2) starts walking, light
The instant light intensity of dependent sensor (4) the constantly detection direction；
Step D：Control unit (5) carries out the instant light intensity information value detected with the first maximum light intensity information value
Compare, when the light intensity information value detected is more than the first maximum light intensity information value, this light intensity information value into
For the new first maximum light intensity information value, walking unit (2) walks on；Otherwise, intelligent robot or light sensor
Rotate in place, light sensor (4) the constantly light intensity of detection intelligent robot surrounding is simultaneously compared, and obtains second maximum
Light intensity information value；
Step E：Control unit (5) compares the size of first, second maximum light intensity information value, if the second maximum light intensity
The value of information is more than the first maximum light information intensity level, then strong as the new first maximum light with the second light intensity information value
Spend the value of information, and return to step C；Otherwise, intelligent robot stops walking.
4. a kind of intelligent robot of application method as any one of claim 1-3, includes walking unit (2), function
Unit (3), driver element and control unit (5), walking unit (2) are arranged on the bottom of intelligent robot, control unit (5) with
Driver element is connected, in the presence of control unit (5), and driver element driving walking unit (2) is mobile, it is characterised in that：When
When intelligent robot work is completed or electricity is low, the light sensor (4) being arranged on intelligent robot is used to detect that light is strong
After degree, intelligent robot or light sensor (4) are rotated in place, the signal of light sensor (4) sends control unit (5) to；
Control unit (5) includes：Information storing sub-units, the light intensity information value that storage light sensor (4) is detected；At information
Subelement is managed, the light intensity information value of comparison information storing sub-units storage draws maximum light intensity information value, and judge
The direction of light source (1), so that control unit (5) control intelligent robot rotates to the direction walking of light source or light.
5. intelligent robot according to claim 4, it is characterised in that：An electricity threshold is preset in information storing sub-units
Value.
6. the intelligent robot according to claim 4 or 5, it is characterised in that：The artificial floor cleaning of described intelligence machine
Robot or air purifying robot or security robot.
7. intelligent robot according to claim 4, it is characterised in that：The light sensor is arranged on robot ambulation
The front end in direction or the middle part for being arranged on robot.
8. intelligent robot according to claim 4, it is characterised in that：The light sensor is connected with drive mechanism,
The drive mechanism driving light sensor is rotated at any angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210304181.8A CN103631267B (en) | 2012-08-24 | 2012-08-24 | Intelligent robot and its method for being moved to most bright position |
| PCT/CN2013/082218 WO2014029365A1 (en) | 2012-08-24 | 2013-08-23 | Intelligent robot and method for moving same to brightest location |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210304181.8A CN103631267B (en) | 2012-08-24 | 2012-08-24 | Intelligent robot and its method for being moved to most bright position |
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| Publication Number | Publication Date |
|---|---|
| CN103631267A CN103631267A (en) | 2014-03-12 |
| CN103631267B true CN103631267B (en) | 2017-10-27 |
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| CN201210304181.8A Active CN103631267B (en) | 2012-08-24 | 2012-08-24 | Intelligent robot and its method for being moved to most bright position |
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| Country | Link |
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| CN (1) | CN103631267B (en) |
| WO (1) | WO2014029365A1 (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571133B (en) * | 2014-12-03 | 2017-06-13 | 杭州德宝威智能科技有限公司 | Charging method, system and indoor activity method in robot chamber |
| CN106142104B (en) * | 2015-04-10 | 2019-01-22 | 科沃斯机器人股份有限公司 | Self-movement robot and its control method |
| CN106737700A (en) * | 2015-11-23 | 2017-05-31 | 芋头科技（杭州）有限公司 | A kind of smart machine system and method for being moved to bright light place |
| CN107632595B (en) * | 2016-07-18 | 2020-09-22 | 苏州宝时得电动工具有限公司 | Path returning method of automatic walking equipment, automatic walking equipment and path returning system |
| CN107030686B (en) * | 2016-02-04 | 2023-08-29 | 科沃斯机器人股份有限公司 | Self-moving robot system and direction calibration method thereof |
| CN105798931B (en) * | 2016-04-26 | 2018-03-09 | 南京玛锶腾智能科技有限公司 | Intelligent robot awakening method and device |
| WO2018023228A1 (en) * | 2016-07-31 | 2018-02-08 | 杨洁 | Information pushing method for moving robot according to light intensity and robot |
| WO2018023229A1 (en) * | 2016-07-31 | 2018-02-08 | 杨洁 | Method for moving robot according to light intensity, and robot |
| WO2018023227A1 (en) * | 2016-07-31 | 2018-02-08 | 杨洁 | Robot mobile technology data acquisition method and robot |
| JP6624139B2 (en) * | 2017-03-24 | 2019-12-25 | カシオ計算機株式会社 | Autonomous mobile device, autonomous mobile method and program |
| CN107361707B (en) * | 2017-06-12 | 2021-03-30 | 北京小米移动软件有限公司 | Light intensity information processing method and device |
| CN109279037A (en) * | 2018-12-03 | 2019-01-29 | 海南大学 | Move light barrier device in space |
| CN111688859B (en) * | 2018-12-07 | 2022-04-19 | 纳恩博（北京）科技有限公司 | Automatic control method of electric scooter and electric scooter |
| CN110151062B (en) * | 2019-04-10 | 2021-03-30 | 深圳市云鼠科技开发有限公司 | Intelligent sweeping recognition method for sweeping robot |
| CN116755452B (en) * | 2023-08-17 | 2023-11-03 | 深圳安培时代数字能源科技有限公司 | Mobile power supply autonomous patrol method and device based on battery protection box |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3812463B2 (en) * | 2002-03-08 | 2006-08-23 | 株式会社日立製作所 | Direction detecting device and self-propelled cleaner equipped with the same |
| CN1887536A (en) * | 2006-07-28 | 2007-01-03 | 北京工业大学 | Wolter tortoise with primary intelligent behevior |
| TWI377042B (en) * | 2009-09-04 | 2012-11-21 | Pegatron Corp | Auto-cleaning device and charging method thereof |
| CN101756677B (en) * | 2009-11-24 | 2011-10-05 | 宁波波朗电器有限公司 | Control circuit for full-automatic cleaning robot |
| CN201996470U (en) * | 2011-03-02 | 2011-10-05 | 深圳市神达太阳能科技有限公司 | Cleaning robot for solar wall |
| CN202753157U (en) * | 2012-08-24 | 2013-02-27 | 科沃斯机器人科技(苏州)有限公司 | Intelligent robot |
| CN203003871U (en) * | 2012-11-27 | 2013-06-19 | 科沃斯机器人科技(苏州)有限公司 | Intelligent control robot |
-
2012
- 2012-08-24 CN CN201210304181.8A patent/CN103631267B/en active Active
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2013
- 2013-08-23 WO PCT/CN2013/082218 patent/WO2014029365A1/en active Application Filing
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| Publication number | Publication date |
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| WO2014029365A1 (en) | 2014-02-27 |
| CN103631267A (en) | 2014-03-12 |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: Wuzhong District, Suzhou, West Lake stone road, No. 108 Applicant before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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