CN107398887A - Assembly robot and its method for selecting working region - Google Patents
Assembly robot and its method for selecting working region Download PDFInfo
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- CN107398887A CN107398887A CN201610334680.XA CN201610334680A CN107398887A CN 107398887 A CN107398887 A CN 107398887A CN 201610334680 A CN201610334680 A CN 201610334680A CN 107398887 A CN107398887 A CN 107398887A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000007613 environmental effect Effects 0.000 claims abstract description 68
- 238000009434 installation Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 238000009751 slip forming Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of assembly robot and its method for selecting working region, this method mainly comprise the following steps：Step 100：Self-movement robot (10) obtains environmental map；Step 300：Wireless network signal covering map is generated on the basis of environmental map；Step 500：In the combined mode, assembly robot selects working region walking operations according to work requirements in the range of wireless network signal covers map.The present invention generates wireless network signal covering map on the basis of environmental map is obtained, emphasis operating area is further selected in environmental map or external sensor is provided with the range of environmental map, and select working region walking operations in the range of wireless network signal covers map according to work requirements, coverage condition and the renewal of wireless network are obtained while operation in real time, assembly robot more efficiently, is reliably worked.
Description
Technical field
The present invention relates to a kind of assembly robot and its method for selecting working region, belong to little Jia
Electric manufacturing technology field.
Background technology
Self-movement robot possesses action easy to control as the small household appliances being used widely
The characteristics of flexible.Existing self-movement robot signal transmission be based on wireless network signal come
Realize, self-movement robot needs that its job information is passed into use by wireless network signal
Family, but it is presently in the wireless network signal of environment because self-movement robot itself can not obtain
Relevant information, including distribution and signal intensity etc., once self-movement robot is moved to
, it is necessary to carry out signal communication transmission by wireless network in the region that wireless network is not covered with
Part can not all continue normally to work.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of
Assembly robot and its method for selecting working region, are generated on the basis of environmental map is obtained
Wireless network signal covers map, and emphasis operation area can also be further selected in environmental map
Domain is provided with external sensor in the range of environmental map, and according to work requirements wireless
Working region walking operations are selected in the range of network signal covering map, it is real-time while operation
The coverage condition of wireless network and renewal are obtained, allows assembly robot more efficiently, reliably
Work.
The technical problems to be solved by the invention are achieved by the following technical solution：
A kind of method that assembly robot selects working region, wherein, assembly robot is included certainly
Mobile robot and the functional module of connection in combination, self-movement robot are provided with control
The heart, in the combined mode, functional module combination are connected on self-movement robot, methods described
Mainly comprise the following steps：
Step 100：Self-movement robot obtains environmental map；
Step 300：Wireless network signal covering map is generated on the basis of the environmental map；
Step 500：In the combined mode, assembly robot according to work requirements in wireless network
Working region walking operations are selected in the range of signal covering map.
Further, it is provided with emphasis operating area in the environmental map；
Include step 401 between the step 300 and step 500：Judge the emphasis operation
Whether region is in wireless network signal covering map, if it is, being directly entered step
500；Otherwise, adjust or set up wireless network signal emitter, return to step 300, until
Emphasis operating area described in wireless network signal covering ground map combining.Now, the work requirements
Including：The functional module is monitored operation to the emphasis operating area.
In addition, external sensor is provided with the range of the environmental map；
Include step 402 between the step 300 and step 500：Judge the external sense
Whether device is in wireless network signal covering map, if it is, being directly entered step 500；
Otherwise, adjust or set up wireless network signal emitter or adjust the installation position of external sensor
Put, return to step 300, until wireless network signal covers external sensor described in ground map combining.
Now, the work requirements include：The assembly robot is with being arranged on the environmental map model
Enclose the information exchange operation between the sensor of inside and outside.
Operated for the ease of user, between the step 300 and step 401, step 402 also
Include step 400：The self-movement robot sends the wireless network signal covering map extremely
For control combination robot ambulation and the user terminal of operation.
In addition, in the step 500, the assembly robot is in the working region
Interior walking operations, when running to wireless network signal covering ground boundary point of graph, output signal
To the control centre, control centre's control combination robot alarm, stop or turn to.
Under normal conditions, the work requirements include：Assembly robot controls its row with being used for
Walk the information exchange operation between the user terminal of operation and user passes through the assembly robot
The daily electrical home appliance being opposite in environmental map is remotely controlled one or more of operation operation.
Emphasis operating area is provided with environmental map or is provided with the range of environmental map
In the case of external sensor, the work requirements include：The assembly robot is controlled with being used for
Make information exchange operation between its walking and the user terminal of operation, the functional module is to institute
State emphasis operating area be monitored operation, the assembly robot with being arranged on the environment
Information exchange operation and user in the range of figure between external sensor pass through the assembly robot
The daily electrical home appliance being opposite in environmental map is remotely controlled one or more of operation operation.
Further, the step 500 also includes：Assembly robot's wireless network signal covers
In the range of lid map while walking operations, the wireless network by way of each position is gathered in real time
Both signal message, compared with the information that existing radio network signal is covered in map, such as
Difference, then data cover renewal is carried out in real time.
As needed, the wireless network signal covering map includes following one or more parameters：
The setting quantity and position distribution, signal of wireless network signal emitter in whole working region
Intensity and connection status, and corresponding mark is done in the environmental map.
For the ease of control, it is built-in with the user terminal for controlling and selecting emphasis operation
The application processing function in region.
It should be noted that wireless network signal in the step 300 is from different wireless
Network signal emitter；Working region in the step 500 is to be covered each by different nothings
The region of line network signal is continuously formed.
Further, the step 100 specifically includes：The self-movement robot is working
Walking is traveled through in region, coordinate is established and forms environmental map；The step 300 specifically includes：
On the basis of the environmental map, then to the radio network information of each position coordinates point one by one
Recorded, form wireless network signal covering map.
In order to improve efficiency, environmental map in the step 300 and wireless network signal is completed
Map is covered, both complete simultaneously.
The present invention also provides a kind of assembly robot, including self-movement robot and company in combination
The functional module connect, self-movement robot are provided with control centre；Under non-combined pattern, institute
Environmental map walking operations of control centre's control self-movement robot according to working region are stated,
Under integrated mode, functional module combination is connected on self-movement robot, control centre's control
Assembly robot processed covers map walking operations according to work requirements according to wireless network signal.
In summary, the present invention generates wireless network signal on the basis of environmental map is obtained and covered
Lid map, emphasis operating area or can also be further selected in environmental map in environment
External sensor is provided with the range of figure, and covers ground in wireless network signal according to work requirements
Working region walking operations are selected in the range of figure, obtain wireless network in real time while operation
Coverage condition simultaneously updates, and assembly robot more efficiently, is reliably worked.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is carried out in detail
It is bright.
Brief description of the drawings
Fig. 1 is workflow diagram of the present invention；
Fig. 2 is the overall structure diagram of self-movement robot of the present invention.
Embodiment
Fig. 1 is workflow diagram of the present invention；Fig. 2 is the overall knot of self-movement robot of the present invention
Structure schematic diagram.Such as Fig. 1 and with reference to shown in Fig. 2, the present invention provide a kind of assembly robot and its
The method for selecting working region, wherein, assembly robot A includes self-movement robot 10 and led to
Cross the functional module 30 of 20 connection in combination of connector.Self-movement robot is provided with control
Heart (not shown), in the combined mode, the combination of functional module 30 are connected to from moving machine
On device people 10, methods described mainly comprises the following steps：
Under non-combined state, self-movement robot 10 is started working；
Step 100：Self-movement robot obtains environmental map；
Step 300：Wireless network signal covering map is generated on the basis of the environmental map；
Step 400：The self-movement robot sends the wireless network signal covering map extremely
For control combination robot ambulation and the user terminal of operation；
Further, it is provided with emphasis operating area in the environmental map；Then also include step
401：The emphasis operating area is judged whether in wireless network signal covering map,
If it is, it is directly entered step 500；Otherwise, wireless network signal emitter is adjusted or sets up,
Return to step 300, until wireless network signal covers emphasis operating area described in ground map combining.This
When, the work requirements include：The functional module is monitored to the emphasis operating area
Operation；
In addition, external sensor is provided with the range of the environmental map；Also include step 402：
The external sensor is judged whether in wireless network signal covering map, if it is,
It is directly entered step 500；Otherwise, adjust or set up wireless network signal emitter or adjustment is outer
The installation site of portion's sensor, return to step 300, until wireless network signal covers ground map combining
The external sensor.Now, the work requirements include：The assembly robot is with setting
Information exchange operation between external sensor in the range of the environmental map；
Step 500：In the combined mode, assembly robot according to work requirements in wireless network
Working region walking operations are selected in the range of signal covering map.
In addition, in the step 500, the assembly robot is in the working region
Interior walking operations, when running to wireless network signal covering ground boundary point of graph, output signal
To the control centre, control centre's control combination robot alarm, stop or turn to.
In other words, the method that assembly robot provided by the present invention selects working region, most
The step of core, includes：
Step 100：Self-movement robot obtains environmental map；
Step 300：Wireless network signal covering map is generated on the basis of the environmental map；
Step 500：In the combined mode, assembly robot according to work requirements in wireless network
Working region walking operations are selected in the range of signal covering map.
Further, it is provided with emphasis operating area in the environmental map；
Include step 401 between the step 300 and step 500：Judge the emphasis operation
Whether region is in wireless network signal covering map, if it is, being directly entered step
500；Otherwise, adjust or set up wireless network signal emitter, return to step 300, until
Emphasis operating area described in wireless network signal covering ground map combining.Now, the work requirements
Including：The functional module is monitored operation to the emphasis operating area.
In addition, external sensor is provided with the range of the environmental map；
Include step 402 between the step 300 and step 500：Judge the external sense
Whether device is in wireless network signal covering map, if it is, being directly entered step 500；
Otherwise, adjust or set up wireless network signal emitter or adjust the installation position of external sensor
Put, return to step 300, until wireless network signal covers external sensor described in ground map combining.
Now, the work requirements include：The assembly robot is with being arranged on the environmental map model
Enclose the information exchange operation between the sensor of inside and outside.
Operated for the ease of user, between the step 300 and step 401, step 402 also
Include step 400：The self-movement robot sends the wireless network signal covering map extremely
For control combination robot ambulation and the user terminal of operation.
In the embodiment shown in fig. 1, it is that wireless network signal covering map is being sent to use
Family terminal and then by self-movement robot to emphasis operating area and external sensor whether
Judged in wireless network signal covering map；Certainly, in actual applications, also completely
It can first be judged and then wireless network signal covering map is sent to user terminal.
If judge whether emphasis operating area and external sensor are in wireless network by user
Judged in signal covering map, then need preferentially to be sent to wireless network signal covering map
User terminal.Likewise, in principle, emphasis operation is set in the range of environmental map
Region or the position of external sensor, before wifi maps are obtained or it can both obtain
Carried out after to wifi maps.In addition, above-mentioned external sensor typically refers to be independently arranged
It sensor in environmental field, can be communicated with assembly robot, transmit transducing signal
To control centre, so as to be control effectively to its operating type.In actual applications, such as
The multiple Smoke Sensors that can include being arranged in room, the water in kitchen overflow and sensed
Device or the infrared sensor of the human body on doorframe etc..
In addition, in the step 500, the assembly robot is in the working region
Interior walking operations, when running to wireless network signal covering ground boundary point of graph, output signal
To the control centre, control centre's control combination robot alarm, stop or turn to.
Under normal conditions, the work requirements include：Assembly robot controls its row with being used for
Walk the information exchange operation between the user terminal of operation, user passes through the assembly robot
The daily electrical home appliance being opposite in environmental map is remotely controlled one or more of operation operation.
The scope of emphasis operating area or the environmental map is provided with the environmental map
It is interior be provided with external sensor in the case of, the work requirements include：The assembly robot with
For control its walk and the user terminal of operation between information exchange operation, the function mould
Block is monitored operation, the assembly robot to the emphasis operating area and is arranged on described
Information exchange operation and user in the range of environmental map between external sensor pass through the combination
The daily electrical home appliance that robot is opposite in environmental map is remotely controlled one or more of operation work
Industry.That is, the work requirements of assembly robot refer under WiFi environment just in the present invention
The part work that can be completed, it is clear that for other functions of assembly robot, completely may be used
To be worked in the environment of without WiFi.
Meanwhile in order to ensure the accuracy of the map datum of storage, further, the step
Rapid 500 also include：Walking operations in the range of assembly robot's wireless network signal covering map
While, the wireless network signal information by way of each position is gathered in real time, with existing wireless network
Information in network signal covering map is compared, and such as both are different, then carries out data in real time and cover
Lid renewal.
According to different needs, the wireless network signal covering map is included as next or more
Individual parameter：The setting quantity of wireless network signal emitter and position point in whole working region
Cloth, signal intensity and connection status, and corresponding mark is done in the environmental map.
In order to facilitate operating and controlling, it is built-in with user terminal for controlling and selecting emphasis to make
The application processing function in industry region.The technology relevant with above-mentioned WiFi information parameter identifications and setting
Content may refer to the patent document that application publication number is CN105227911A, will not be repeated here.
It should be noted that the wireless network signal in the step 300 both can be a nothing
It is that gauze network sender unit is sent or launch from different wireless network signal
Device；Therefore, the working region in the step 500 is probably by being covered each by different nothings
What the region of line network signal was continuously formed.Such as：If the combination machine of security module is installed
Device people is gone on patrol in the corridor of market, and wireless network signal is probably to be provided by whole market
Public WiFi, it is also possible to the WiFi that adjacent different businessmans each provide.For institute of the present invention
For the assembly robot of offer, it can rationally be utilized.
Further, the step 100 specifically includes：The self-movement robot is working
Walking is traveled through in region, coordinate is established and forms environmental map；The step 300 specifically includes：
On the basis of the environmental map, then to the radio network information of each position coordinates point one by one
Recorded, form wireless network signal covering map.For example, for being swept with LDS
Retouch for the self-movement robot of rangefinder, can be by scanning surrounding enviroment and by scanning area
Rasterizing processing is carried out, forms rasterizing coordinate map, then can be with according to whether detecting WiFi
Information is identified one by one to each grid, such as：0 or 1 can be marked directly on grid
Representative whether there is wifi signals.Similarly, for the certainly mobile machine of no LDS scanning rangefinders
For people, then range information directly can be obtained by other range sensors, so as to establish
Coordinate map realizes the generation to environmental map, and can be directly in the corresponding coordinate position of map
Put, mark WiFi information.That is, form environmental map in step 100 of the present invention
Process, can be realized using a variety of prior arts, this is no longer going to repeat them.
In order to improve efficiency, the wireless network in the step 100 in environmental map and step 300
Network signal covering map can be separately generated, and certainly, in order to improve efficiency, both can also be same
When complete.
With reference to shown in Fig. 2, the present invention also provides a kind of assembly robot A, including from moving machine
Device people 10 and the functional module 30 of connection in combination, both pass through the company that is detachably independently arranged
The combination of fitting 20 links together；Self-movement robot 10 is provided with control centre (in figure not
Show).Under non-combined pattern, the control centre controls self-movement robot 10 according to work
Make the environmental map walking operations in region, in the combined mode, the combination of functional module 30 is connected to
On self-movement robot 10, control centre's control combination robot A presses according to work requirements
Map walking operations are covered according to wireless network signal.
Therefore, assembly robot provided by the present invention needs to combine by wireless network signal
The job information of robot passes to user terminal, may when assembly robot's real-time working
The region without overlay network can be entered, can so be caused between assembly robot and user terminal
Communicating interrupt.Therefore, assembly robot provided by the present invention can obtain environmental map in real time,
The walking path of self-movement robot is set, when self-movement robot works according to the path,
The network signal information of every bit in environmental map is gathered in real time, is gone when self-movement robot travels through
After walking, a width wireless network signal coverage information map can be generated, user can select according to the map
The working region of assembly robot is selected, especially when functional module combines company with self-movement robot
After connecing, such as：The functional module of assembly robot can include security module, humidification module
With one of cleaning module or its combination.When functional module is security module, according to user
Needs, it may be necessary to in working environment some key area carry out key monitoring, such as：
Gate or window, such as：There is the place that child often plays.Above-mentioned zone can be then set
For emphasis operating area, emphasis can be specified in environmental map.
In addition, for assembly robot work requirements except including combination of the above machine
Information exchange operation between people and user terminal；Or the functional module is to the emphasis
Operating area is monitored outside operation, can also pass through the assembly robot couple including user
The daily electrical home appliance being placed in environmental map is remotely controlled operation.And by self-movement robot to day
The principle and working method being remotely controlled with household electrical appliances fall within the state of the art, herein not
Repeat one by one again, but by above-mentioned technology and the detection of WiFi maps and the finger of emphasis operating area
Surely it is combined, is also never mentioned in the prior art.
In summary, the present invention generates wireless network signal on the basis of environmental map is obtained and covered
Lid map, emphasis operating area or can also be further selected in environmental map in environment
External sensor is provided with the range of figure, and covers ground in wireless network signal according to work requirements
Working region walking operations are selected in the range of figure, obtain wireless network in real time while operation
Coverage condition simultaneously updates, and assembly robot more efficiently, is reliably worked.
Claims (16)
1. a kind of method that assembly robot selects working region, wherein, assembly robot (A)
Functional module (30) including self-movement robot (10) and connection in combination, from moving machine
Device people is provided with control centre, and in the combined mode, functional module combination is connected to from moving machine
On device people, it is characterised in that methods described mainly comprises the following steps：
Step 100：Self-movement robot obtains environmental map；
Step 300：Wireless network signal covering map is generated on the basis of the environmental map；
Step 500：In the combined mode, assembly robot according to work requirements in wireless network
Working region walking operations are selected in the range of signal covering map.
2. the method as described in claim 1, it is characterised in that set in the environmental map
There is emphasis operating area；
Include step 401 between the step 300 and step 500：
The emphasis operating area is judged whether in wireless network signal covering map,
If it is, it is directly entered step 500；Otherwise, wireless network signal emitter is adjusted or sets up,
Return to step 300, until wireless network signal covers emphasis operating area described in ground map combining.
3. method as claimed in claim 2, it is characterised in that the work requirements include：
The functional module is monitored operation to the emphasis operating area.
4. the method as described in claim 1, it is characterised in that the scope of the environmental map
It is interior to be provided with external sensor；
Include step 402 between the step 300 and step 500：Judge the external sense
Whether device is in wireless network signal covering map, if it is, being directly entered step 500；
Otherwise, adjust or set up wireless network signal emitter or adjust the installation position of external sensor
Put, return to step 300, until wireless network signal covers external sensor described in ground map combining.
5. method as claimed in claim 4, it is characterised in that the work requirements include：
The assembly robot and it is arranged on the information in the range of the environmental map between external sensor
Interjob.
6. the method as described in claim 2 or 4, it is characterised in that the step 300 and
Also include step 400 between step 401, step 402：The self-movement robot sends institute
It is whole to the user for being used for control combination robot ambulation and operation to state wireless network signal covering map
End.
7. the method as described in claim 1, it is characterised in that in the step 500,
Assembly robot walking operations in the working region, when running to wireless network signal
During covering ground boundary point of graph, the control centre, control centre's control are outputed signal to
Assembly robot's alarm, stop or turn to.
8. the method as described in claim 1, it is characterised in that the work requirements include：
The assembly robot and for control its walk and the user terminal of operation between information
The daily electrical home appliance that interjob, user are opposite to by the assembly robot in environmental map enters
The operation of one or more of row remote operation.
9. the method as described in claim 1, it is characterised in that set in the environmental map
Have and be provided with external sensor in the range of emphasis operating area, or the environmental map, it is described
Work requirements include：
The assembly robot and for control its walk and the user terminal of operation between information
Interjob, the functional module emphasis operating area is monitored operation, described group
Close robot and the information exchange being arranged in the range of the environmental map between external sensor is made
The daily electrical home appliance that industry, user are opposite to by the assembly robot in environmental map is remotely controlled
One or more of operation operation.
10. the method as described in claim 1, it is characterised in that the step 500 is also wrapped
Include：It is real in the range of assembly robot's wireless network signal covering map while walking operations
When collection by way of each position wireless network signal information, with existing radio network signal cover
Information in map is compared, and such as both are different, then carries out data cover renewal in real time.
11. the method as described in claim any one of 1-10, it is characterised in that described wireless
Network signal covering map includes following one or more parameters：Wireless network in whole working region
The setting quantity and position distribution of network sender unit, signal intensity and connection status, and
Corresponding mark is done in the environmental map.
12. method as claimed in claim 6, it is characterised in that in the user terminal
It is equipped with the application processing function for controlling and selecting emphasis operating area.
13. the method as described in claim 1, it is characterised in that in the step 300
Wireless network signal is from different wireless network signal emitters；In the step 500
Working region is that the region for being covered each by different networks signal is continuously formed.
14. the method as described in claim 1, it is characterised in that
The step 100 specifically includes：The self-movement robot travels through row in working region
Walk, establish coordinate and form environmental map；
The step 300 specifically includes：On the basis of the environmental map, then to each position
The radio network information for putting coordinate points is recorded one by one, forms wireless network signal covering map.
15. method as claimed in claim 14, it is characterised in that in the step 300
Environmental map and completion wireless network signal covering map, both complete simultaneously.
A kind of 16. assembly robot, it is characterised in that including self-movement robot (10) and
The functional module (30) of connection in combination, self-movement robot are provided with control centre；Non-
Under integrated mode, the control centre controls self-movement robot according to the environment of working region
Figure walking operations, in the combined mode, functional module combination are connected on self-movement robot,
Control centre's control combination robot covers ground according to work requirements according to wireless network signal
Figure walking operations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610334680.XA CN107398887A (en) | 2016-05-19 | 2016-05-19 | Assembly robot and its method for selecting working region |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610334680.XA CN107398887A (en) | 2016-05-19 | 2016-05-19 | Assembly robot and its method for selecting working region |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3570133A1 (en) * | 2018-05-16 | 2019-11-20 | Siemens Aktiengesellschaft | Method and system for controlling a vehicle moving within an environment |
| CN110839051A (en) * | 2018-08-16 | 2020-02-25 | 科沃斯商用机器人有限公司 | Service providing method, device, robot and storage medium |
| CN113515113A (en) * | 2020-03-27 | 2021-10-19 | 南京苏美达智能技术有限公司 | Operation control method of automatic walking equipment and automatic walking equipment |
| CN114224234A (en) * | 2021-12-28 | 2022-03-25 | 尚科宁家(中国)科技有限公司 | Robot and broken network positioning method thereof |
| CN115249110A (en) * | 2021-09-10 | 2022-10-28 | 达闼科技（北京）有限公司 | Wireless signal detection method, robot, electronic device, and storage medium |
| WO2024066479A1 (en) * | 2022-09-28 | 2024-04-04 | 珠海格力电器股份有限公司 | Device deployment method and apparatus, storage medium, and electronic device |
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| EP3570133A1 (en) * | 2018-05-16 | 2019-11-20 | Siemens Aktiengesellschaft | Method and system for controlling a vehicle moving within an environment |
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| CN110839051B (en) * | 2018-08-16 | 2022-07-01 | 科沃斯商用机器人有限公司 | Service providing method, device, robot and storage medium |
| CN113515113A (en) * | 2020-03-27 | 2021-10-19 | 南京苏美达智能技术有限公司 | Operation control method of automatic walking equipment and automatic walking equipment |
| CN113515113B (en) * | 2020-03-27 | 2023-08-08 | 南京苏美达智能技术有限公司 | Operation control method of automatic walking equipment and automatic walking equipment |
| CN115249110A (en) * | 2021-09-10 | 2022-10-28 | 达闼科技（北京）有限公司 | Wireless signal detection method, robot, electronic device, and storage medium |
| CN114224234A (en) * | 2021-12-28 | 2022-03-25 | 尚科宁家(中国)科技有限公司 | Robot and broken network positioning method thereof |
| WO2024066479A1 (en) * | 2022-09-28 | 2024-04-04 | 珠海格力电器股份有限公司 | Device deployment method and apparatus, storage medium, and electronic device |
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