CN103948354B - A kind of robot for cleaning floor and control method thereof - Google Patents
A kind of robot for cleaning floor and control method thereof Download PDFInfo
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- CN103948354B CN103948354B CN201410185401.9A CN201410185401A CN103948354B CN 103948354 B CN103948354 B CN 103948354B CN 201410185401 A CN201410185401 A CN 201410185401A CN 103948354 B CN103948354 B CN 103948354B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000003032 molecular docking Methods 0.000 claims description 59
- 230000005611 electricity Effects 0.000 claims description 4
- 230000001502 supplementing effect Effects 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 description 5
- 230000008685 targeting Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- 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
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- 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
- A47L2201/02—Docking stations; Docking operations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of robot for cleaning floor, there is cradle and robot body, cradle is provided with transmitter unit, transmitter unit comprises a counter-lateral quadrents radiated element in the arranged on left and right sides portion being located at cradle, each sidepiece radiated element all can have same transmit angle, different launches the signal far away of radius and nearly signal by alternate emission, far, nearly signal formed far respectively, nearly signal coverage areas, and the right part being positioned at the signal coverage areas far away in left side overlaps each other to be formed with the left part of signal coverage areas far away on the right side of being positioned at and docks region; Robot body comprises rechargeable battery, receiving element, and receiving element at least comprises three receiving elements, on the left of the front end of the robot body that three receiving elements are separately positioned on, front end and on the right side of front end.The present invention, by arranging three receiving elements and be provided with two sidepiece radiated elements on cradle, makes this robot that open-and-shut method can be utilized just to realize robot body and charges with cradle and dock.
Description
Technical field
The present invention relates to a kind of robot for cleaning floor field.
Background technology
Robot for cleaning floor is a kind of full intelligent cleaning device, and this device carries out cleaning when keeping an eye on without the need to user and controlling by autonomous on cleaned cleaning area.Common robot for cleaning floor operationally realizes mobile without the need to the rechargeable battery of its inside that is connected with external power source, relies on always on the ground as energy source and power.But electricity because the service time of rechargeable battery is limited, in use for some time, can be run into unavoidably and exhaust the step needing charging.Due to most of robot for cleaning floor after a period of operation, be difficult to accurately its current particular location of location, therefore, the external recharging apparatus that most robot for cleaning floor all needs an energy robot body to be directed to assigned address to carry out charging.When robot for cleaning floor works, this external recharging apparatus is fixed on a constant position and is electrically connected with external power source all the time.
Patent publication No. is openly disclose a kind of robot cleaner system in CN101972129A, and described robot cleaner system comprises Docking station, and described Docking station is used for: within the scope of the predetermined angle of the front side of described Docking station, form docking area; Be formed in the docking guide portion that the left side of docking area and right side do not overlap each other; And launch docking targeting signal, make, according to the arrival distance of docking targeting signal, the first docking guide portion and the second docking guide portion are divided in docking guide portion.Robot cleaner system also comprises robot cleaner, described robot cleaner is used for docking with second along the first docking guide portion when sensing docking targeting signal Boundary Moving between guide portion to docking area, and moves to perform docking when arrival docking area along docking area.In this system, in this system of robot, when robot cleaner docks with Docking station (i.e. external recharging apparatus), robot cleaner must advance (when starting when charging, robot is positioned at W1 or W2 district) or turn around (when starting when charging, robot is positioned at L district or Zone R) fall back on the first docking guide portion and second docking guide portion between border on just can achieve a butt joint, and this docking mode Problems existing is exactly, when starting when charging, robot is positioned at the situation of L district or Zone R, in the case, robot needs the Boundary Moving turned around towards between the first docking guide portion and the second docking guide portion, and now move owing to roughly facing away from cradle to robot cleaner, namely the front end of robot cleaner is contrary with cradle, therefore, this kind of robot cleaner must must front at robot cleaner, rear portion all arranges receiving element could normal work.This will certainly increase the manufacturing cost of robot cleaner.
Summary of the invention
For above-mentioned technical problem, the first object of the present invention is to provide and a kind ofly only arranges at the first half of robot body the robot for cleaning floor that receiving element just can realize efficient charge function.The second object of the present invention is to provide a kind of control method that can realize the robot for cleaning floor charged fast.
In order to realize the first above-mentioned goal of the invention, the present invention adopts following technical scheme: a kind of robot for cleaning floor, is characterized in that: comprising:
Cradle, for being electrically connected with external power source, which is provided with charging terminal and the transmitter unit for transmitting in setting regions, described transmitter unit comprises the left side being arranged on described cradle, one counter-lateral quadrents radiated element of right both sides, sidepiece radiated element described in each all can have same transmit angle by alternate emission, the signal far away of different transmitting radius and nearly signal, the transmitting radius of described signal far away is greater than the transmitting radius of described nearly signal, described signal correspondence far away forms signal coverage areas far away, described nearly signal correspondence forms nearly signal coverage areas, a left side for described nearly signal coverage areas, a left side for the described signal coverage areas far away of the same side is all dropped in right both sides of the edge, on right both sides of the edge, the right part being positioned at the described signal coverage areas far away in left side overlaps each other to be formed with the left part of the described signal coverage areas far away being positioned at right side and docks region,
Robot body, it comprises rechargeable battery, connect terminal, receiving element, control unit, described connection terminal is used for being electrically connected with described charging terminal thus supplementing electricity for described rechargeable battery, the signal that described receiving element sends for receiving described transmitter unit, the movement of the signal controlling machine device human body that the receiving element described in described control unit utilizes receives is to be connected to described charging terminal by connection terminal, described receiving element at least comprises the first receiving element, second receiving element, 3rd receiving element, the second described receiving element is arranged on the front end of described robot body, the first described receiving element is arranged on the left of the front end of described robot body, the 3rd described receiving element is arranged on the right side of the front end of described robot body.
In technique scheme, preferably, the angle of departure of described sidepiece radiated element is more than or equal to 90 °.
In technique scheme, preferably, described sidepiece radiated element has illuminating source, lens combination and light emission controller.
In technique scheme, preferably, described signal far away and nearly signal are infrared signal.
In technique scheme, preferably, described transmitter unit also comprises the middle radiated element being arranged on described cradle centre position, described middle radiated element can launch registration signal, and the angle of departure angle of described registration signal is less than the described nearly signal of sidepiece radiated element transmitting and the angle of departure angle of signal far away.
In order to realize the second above-mentioned goal of the invention, the present invention adopts following technical scheme: a kind of method controlling above-mentioned robot for cleaning floor, said method comprising the steps of:
Judge that described robot body charges the need of moving to described cradle place;
When judging that described robot body needs charging, control unit first control machine human agent swings and/or rotates and makes the front end of described robot body can face described cradle;
After the front end of described robot body faces described cradle, if the signal that the second described receiving element now receives is only the signal far away in left side or is only the signal far away on right side, then described robot body relies on the signal of the second receiving element to guide towards the docking region of centre and moves towards the direction near described cradle until arrive docking region simultaneously; If the signal that the second described receiving element now receives is receive the signal far away in left side and the nearly signal in left side simultaneously, robot body then described in control unit control rotates predetermined angular in direction to the right, and then relies on the signal of the second receiving element or the first receiving element to guide the docking region place to centre to move; If the signal that the second described receiving element now receives is receive the signal far away on right side and the nearly signal on right side simultaneously, robot body then described in control unit control rotates predetermined angular in direction to the left, and then relies on the signal of the second receiving element or the 3rd receiving element to guide the docking region place to centre to move;
When any one receiving element in described receiving element can receive signal far away and the signal far away on right side in left side simultaneously, then show that described robot body enters in described docking region.
In such scheme, preferably, if the signal that the second described receiving element now receives is only the signal far away in left side or is only the signal far away on right side, then described robot body is towards the docking region of centre and mobile route when simultaneously moving towards the direction near described cradle is S shape path or zigzag path or spiral yarn shaped path.
In such scheme, preferably, if the signal that described receiving element receives is receive the signal far away in left side and the nearly signal in left side or receive the signal far away on right side and the nearly signal on right side simultaneously simultaneously, robot body described in control unit controls is to the right or to anticlockwise predetermined angular, and then move preset distance to the right or to the left, if described robot body does not still enter docking region after moving preset distance, then control machine human agent is again to the right or to anticlockwise predetermined angular, then continue again to third side to mobile preset distance, until robot body enters docking region.
In such scheme, preferably, after described robot body enters docking region, described robot body again swings and/or rotates and makes the front end of robot body face described cradle, then relies on the signal of the second receiving element to guide and moves towards cradle direction.
Beneficial effect of the present invention is: by arranging three receiving elements and be provided with two sidepiece radiated elements on cradle, makes this robot for cleaning floor that open-and-shut method can be utilized just to realize robot body and docks with the charging of cradle.
Accompanying drawing explanation
Accompanying drawing 1 is the structure chart of robot for cleaning floor of the present invention;
Accompanying drawing 2 is the structure principle chart of the first sidepiece radiated element of the present invention;
Accompanying drawing 3 is the schematic diagram of transmitter unit in cradle of the present invention;
Accompanying drawing 4 is the docking operation figure of robot of the present invention and cradle;
Wherein: 1, robot body; 2, cradle; 11, the first receiving element; 12, the second receiving element; 21, charging terminal; 22, transmitter unit; 23, the first sidepiece radiated element; 24, the second sidepiece radiated element; 25, middle radiated element; 26, illuminating source; 27, lens combination.
Detailed description of the invention
Below in conjunction with embodiment shown in the drawings, the utility model is described in detail below:
Robot for cleaning floor as shown in Figure 1, this robot for cleaning floor is a kind of robot for cleaning floor for floor suction, it is not when needing user to control in real time, advance in region to be cleaned simultaneously by sucking from the ground of cleaning area the device that impurity (such as, dust) comes automated cleaning region to be cleaned.This robot for cleaning floor comprises robot body 1, cradle 2.
Robot body 1 comprises rechargeable battery (not shown), connects terminal (not shown), receiving element, control unit.Connect terminal to be used for being electrically connected with the charging terminal on cradle 2 thus supplementing electricity for rechargeable battery, the signal that receiving element sends for the transmitter unit received on cradle 2, the movement of the signal controlling machine device human body 1 that control unit utilizes receiving element to receive is to be connected to connection terminal on the charging terminal of cradle.In the present embodiment, receiving element has three receiving elements, the first receiving element 11 that three receiving elements are separately positioned on the front end of robot body 1, the 3rd receiving element (not shown) being arranged on the second receiving element 12 on the left of robot body 1 front end and being arranged on the right side of robot body 1 front end.
Cradle 2 is for being electrically connected with external power source, which is provided with charging terminal 21 and the transmitter unit 22 for transmitting in setting regions on front side of cradle, transmitter unit 22 comprise be arranged on cradle 2 left side the first sidepiece radiated element 23, be arranged on the second sidepiece radiated element 24 of cradle 2 right side and be arranged on the middle radiated element 25 in cradle 2 centre position.
The concrete structure of the first sidepiece radiated element 23 as shown in Figure 2 and operation principle: the angle of departure of the first sidepiece radiated element 23 is all greater than 90 °, the first sidepiece radiated element 23 all has illuminating source 26, lens combination 27 and light emission controller (not shown).First sidepiece radiated element 23 can have same transmit angle, different the first signal far away and the first nearly signal launching radius by alternate emission, and the transmitting radius of the first signal far away is greater than the transmitting radius of the first nearly signal.Wherein, the first signal far away and the first nearly signal are infrared signal.
Equally, second sidepiece radiated element 24 is identical with principle with the structure of the first sidepiece radiated element 23, it can have same transmit angle, different the second signal far away and the second nearly signal launching radius by alternate emission, and the transmitting radius of the second signal far away is greater than the transmitting radius of the second nearly signal.
As shown in Figure 3, the first signal correspondence far away that first sidepiece radiated element 23 sends forms the first signal coverage areas A1 far away, the first nearly signal correspondence that first sidepiece radiated element 23 sends forms the first nearly signal coverage areas A2, the second signal correspondence far away that second sidepiece radiated element 24 sends forms the second signal coverage areas A3 far away, the nearly signal correspondence that second sidepiece radiated element 24 sends forms the second nearly signal coverage areas A4, a left side of first nearly signal coverage areas A2, a left side of the first signal coverage areas S1 far away of the same side is all dropped in right both sides of the edge, on right both sides of the edge, the right part being positioned at the first signal coverage areas A1 far away in left side overlaps each other to be formed with the left part of the second signal coverage areas A3 far away being positioned at right side and docks region S1.
In accompanying drawing illustrated embodiment of the present invention, middle radiated element 25 can launch registration signal, and the angle of departure angle of registration signal is less than the first signal far away of the first sidepiece radiated element 23 and the transmitting of the second sidepiece radiated element 24 and the angle of departure angle of the second signal far away.As described in Figure, shown in, the registration signal of middle radiated element 25 transmitting is corresponding has registration signal overlay area S2, the most areas of this registration signal overlay area S2 is all positioned at docking region S1, and registration signal, because the angle of departure of signal is little, overlay area is little, is easier to aim at, therefore, when robot body 1 moves to registration signal overlay area S2, move preferentially using the guide of this registration signal to cradle 2 place straight.Certainly, if do not arrange this middle radiated element, robot body 1 still the guide of signal far away or nearly signal can be moved to cradle place and realizes charging docking in the left and right sides.
Robot body 1 has cleaning pattern and charge mode, and when being in cleaning pattern, robot body 1 can carry out floor cleaning work; When robot body 1 forwards charge mode to, robot body 1 namely start to find cradle until with move to cradle place and realize charging and dock.
In addition, transmit to prevent on cradle three radiated elements and mutually interfere, three radiated elements are all mutually stagger transmitting, and the signal that namely hockets is launched.
Explain above-mentioned robot below in detail and realize the method for charging:
Robot body 1 is when carrying out cleaning, namely, under being in cleaning pattern, the control unit of robot body 1 wants the moment according to the dump energy of rechargeable battery, this carries out the parameters such as the duration of cleaning and judge that robot body 1 charges the need of moving to cradle 2 place in time.If judge robot body 1 need charging time, robot body will at once by cleaning patten transformation to charge mode.
The first step, robot body 1 swing and/or rotate and make the front end of robot body 1 face cradle 2, provide prerequisite for robot body 1 subsequently can to move towards cradle 2 with " positive direction ".Because the second receiving element 12 is arranged on the front end of robot body 1, therefore should the centerline direction of " positive direction " normally second receiving element 12, second receiving element 12 is the strongest in the upper signal strength signal intensity received of this " positive direction ", robot body 1 namely determines according to the mode that searching signal strength signal intensity is the strongest " positive direction " of robot body, and namely the front end of robot body 1 faces cradle 2.
Second step, after robot body 1 adjusts direction, start the RST judging that the second receiving element 12 receives, by reference to the accompanying drawings 4, specifically have following several situation:
If the signal that the second receiving element 12 now receives is only first signal far away in left side, namely robot body 1 is in A1-A2 region, as 1. number robot body position, the guide of the first signal far away that robot body relies on the second receiving element 12 to receive subsequently is also moved towards the direction near cradle 2 to the right simultaneously, now the mobile route of robot body 1 can select S shape path or zigzag path or spiral yarn shaped path (above-mentioned mobile route robot body 1 can be made to have not only move to centre but also simultaneously to the mobile trend near the movement of cradle direction) until enter docking region S1.
If the signal that the second receiving element 12 now receives is only second signal far away on right side, namely robot body 1 is in A3-A4 region, as 2. number robot body position, the guide of the second signal far away that robot body relies on the second receiving element 12 to receive subsequently is also moved towards the direction near cradle 2 left simultaneously, until enter docking region S1.
If the signal that the second receiving element 12 now receives is receive first signal far away in left side and the first nearly signal in left side simultaneously, namely robot body 1 is in A2 region, as 3. number robot body position, then control unit first control machine human agent 1 to right rotation predetermined angular, and then the signal relying on the second receiving element 12 or the first receiving element 11 to receive guides the docking region place to centre to move preset distance, if after moving preset distance, robot body 1 does not still enter docking region, now robot body 1 is again to right rotation predetermined angular, and then the signal relying on the second receiving element 12 or the first receiving element 11 to receive guides the docking region place to centre to move preset distance, until enter docking region.
If the signal that the second receiving element 12 now receives is receive second signal far away on right side and the second nearly signal on right side simultaneously, namely robot body 1 is in A4 region, as 4. number robot body position, then control unit first control machine human agent 1 to anticlockwise predetermined angular, and then the signal relying on the second receiving element 12 or the 3rd receiving element to receive guides the docking region place to centre to move preset distance, if after moving preset distance, robot body 1 does not still enter docking region, now robot body 1 is again to right rotation predetermined angular, and then the signal relying on the second receiving element 12 or the 3rd receiving element to receive guides the docking region place to centre to move preset distance, until enter docking region.
If the signal that the second receiving element 12 now receives is receive first signal far away in left side and second signal far away on right side simultaneously, namely robot body 1 is in S1 region, as 5. number robot body position, then control unit control machine human agent 1 directly moves towards cradle 2.
3rd step, if after robot body 1 enters docking region S1, robot body 1 again swings and/or rotates and makes the front end of robot body 1 face cradle 2, then rely on the signal of the second receiving element 12 to guide to move towards cradle 2 direction, in the moving process towards cradle 2, second receiving element 12 will can receive the first signal far away and the second signal far away all the time simultaneously, namely robot body 1 to be made to remain and to be in docking region S1, if in moving process, robot body 1 moves to outside docking region, then robot body 1 is directed in docking region S1 by control unit according to the method described above again.
In addition, in the present embodiment, owing to being also provided with middle radiated element 25, because this middle radiated element 25 can launch the registration signal with the little angle of departure, therefore, under robot body 1 is in charge mode, namely robot body 1 is in the process finding cradle 2, if when each receiving element in receiving element can receive this registration signal, then robot body 1 is transformed into immediately and utilizes this registration signal to guide near cradle, namely robot body is when selecting index signal, and the registration signal that middle radiated element 25 sends preferentially is selected.
Above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to the present invention's spirit change or modify, and all should be encompassed within protection scope of the present invention.
Claims (9)
1. a robot for cleaning floor, is characterized in that: comprising:
Cradle, for being electrically connected with external power source, which is provided with charging terminal and the transmitter unit for transmitting in setting regions, described transmitter unit comprises the left side being arranged on described cradle, one counter-lateral quadrents radiated element of right both sides, sidepiece radiated element described in each all can have same transmit angle by alternate emission, the signal far away of different transmitting radius and nearly signal, the transmitting radius of described signal far away is greater than the transmitting radius of described nearly signal, described signal correspondence far away forms signal coverage areas far away, described nearly signal correspondence forms nearly signal coverage areas, a left side for described nearly signal coverage areas, a left side for the described signal coverage areas far away of the same side is all dropped in right both sides of the edge, on right both sides of the edge, the right part being positioned at the described signal coverage areas far away in left side overlaps each other to be formed with the left part of the described signal coverage areas far away being positioned at right side and docks region,
Robot body, it comprises rechargeable battery, connect terminal, receiving element, control unit, described connection terminal is used for being electrically connected with described charging terminal thus supplementing electricity for described rechargeable battery, the signal that described receiving element sends for receiving described transmitter unit, the movement of the signal controlling machine device human body that the receiving element described in described control unit utilizes receives is to be connected to described charging terminal by connection terminal, described receiving element at least comprises the first receiving element, second receiving element, 3rd receiving element, the second described receiving element is arranged on the front end of described robot body, the first described receiving element is arranged on the left of the front end of described robot body, the 3rd described receiving element is arranged on the right side of the front end of described robot body.
2. robot for cleaning floor according to claim 1, is characterized in that: the angle of departure of described sidepiece radiated element is more than or equal to 90 °.
3. robot for cleaning floor according to claim 1, is characterized in that: described sidepiece radiated element has illuminating source, lens combination and light emission controller.
4. robot for cleaning floor according to claim 3, is characterized in that: described signal far away and nearly signal are infrared signal.
5. robot for cleaning floor according to claim 1, it is characterized in that: described transmitter unit also comprises the middle radiated element being arranged on described cradle centre position, described middle radiated element can launch registration signal, and the angle of departure angle of described registration signal is less than the described nearly signal of sidepiece radiated element transmitting and the angle of departure angle of signal far away.
6. controlling the method as weighed the robot for cleaning floor required as described in 1-5 any one, it is characterized in that: said method comprising the steps of:
Judge that described robot body charges the need of moving to described cradle place;
When judging that described robot body needs charging, control unit first control machine human agent swings and/or rotates and makes the front end of described robot body can face described cradle;
After the front end of described robot body faces described cradle, if the signal that the second described receiving element now receives is only the signal far away in left side or is only the signal far away on right side, then described robot body relies on the signal of the second receiving element to guide towards the docking region of centre and moves towards the direction near described cradle until arrive docking region simultaneously; If the signal that the second described receiving element now receives is receive the signal far away in left side and the nearly signal in left side simultaneously, robot body then described in control unit control rotates predetermined angular in direction to the right, and then relies on the signal of the second receiving element or the first receiving element to guide the docking region place to centre to move; If the signal that the second described receiving element now receives is receive the signal far away on right side and the nearly signal on right side simultaneously, robot body then described in control unit control rotates predetermined angular in direction to the left, and then relies on the signal of the second receiving element or the 3rd receiving element to guide the docking region place to centre to move;
When any one receiving element in described receiving element can receive signal far away and the signal far away on right side in left side simultaneously, then show that described robot body enters in described docking region.
7. method according to claim 6, it is characterized in that: if the signal that the second described receiving element now receives is only the signal far away in left side or is only the signal far away on right side, then described robot body is towards the docking region of centre and mobile route when simultaneously moving towards the direction near described cradle is S shape path or zigzag path or spiral yarn shaped path.
8. method according to claim 6, it is characterized in that: if the signal that described receiving element receives is receive the signal far away in left side and the nearly signal in left side or receive the signal far away on right side and the nearly signal on right side simultaneously simultaneously, robot body described in control unit controls is to the right or to anticlockwise predetermined angular, and then move preset distance to the right or to the left, if described robot body does not still enter docking region after moving preset distance, then control machine human agent is again to the right or to anticlockwise predetermined angular, then continue again to third side to mobile preset distance, until robot body enters docking region.
9. method according to claim 6, it is characterized in that: after described robot body enters docking region, described robot body again swings and/or rotates and makes the front end of robot body face described cradle, then relies on the signal of the second receiving element to guide and moves towards cradle direction.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410185401.9A CN103948354B (en) | 2014-05-05 | 2014-05-05 | A kind of robot for cleaning floor and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410185401.9A CN103948354B (en) | 2014-05-05 | 2014-05-05 | A kind of robot for cleaning floor and control method thereof |
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| CN103948354A CN103948354A (en) | 2014-07-30 |
| CN103948354B true CN103948354B (en) | 2016-03-09 |
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| CN104950889A (en) * | 2015-06-24 | 2015-09-30 | 美的集团股份有限公司 | Robot charging stand and robot provided with same |
| CN106444736B (en) * | 2015-08-11 | 2020-07-14 | 苏州宝时得电动工具有限公司 | Automatic return system and control method |
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