CN109213137A - sweeping robot, sweeping robot system and its working method - Google Patents
sweeping robot, sweeping robot system and its working method Download PDFInfo
- Publication number
- CN109213137A CN109213137A CN201710542320.3A CN201710542320A CN109213137A CN 109213137 A CN109213137 A CN 109213137A CN 201710542320 A CN201710542320 A CN 201710542320A CN 109213137 A CN109213137 A CN 109213137A
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- barrier
- binocular camera
- obstacle information
- image processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Present invention discloses a kind of sweeping robots, including control system, binocular camera and image processing system；The binocular camera is used to obtain two width pictorial informations of the different angle of same barrier in synchronization；Described image processing system is for handling the two width pictorial informations that binocular camera obtains and obtaining obstacle information；The control system executes different movements according to obstacle information；Wherein, the obstacle information includes barrier size, barrier shape and barrier at a distance from sweeping robot.Whether whether sweeping robot of the present invention judges automatically can be cleaned, can be crossed, can be pierced, and is improved the stranded situation of sweeping robot, is improved sweeping robot intelligent level and user experience.In addition, present invention further teaches a kind of sweeping robot system and sweeping robot working methods.
Description
Technical field
The present invention relates to domestic sweeper device people field, especially a kind of sweeping robot for having obstacle recognition and its
Working method.
Background technique
The obstacle detection of sweeper product on the market uses ultrasonic wave, infrared, mechanical collision switch (professional terms mostly
Before abbreviation shelves or before hit) and the modes such as laser radar or aforesaid way combination；Wherein, mechanical collision switch can only detect barrier
Hinder the presence or absence of object, and the essence of ultrasonic wave, infrared, laser radar (TOF measurement) is all to calculate actively to emit signal and be received back
Time difference between wave signal realizes range measurement, and the investigative range for the detection of obstacles that this mode is realized is limited, target
Obstacle information is imperfect, and set expandability is weaker, and two-dimensional working plane can only be measured to sweeper itself by being embodied in
Distance can not measure the three-dimensional dimension of barrier, be easy to appear push-and-pull barrier, climb up barrier or be stuck in barrier
Following situation.
With the development of computer hardware level and the progress of image processing techniques, so that being taken the photograph on sweeper using binocular
Identify that the barrier in working region is possibly realized as head.
Summary of the invention
To solve the technical problem in background technique, the present invention provides a kind of sweeping robots, and specific technical solution is such as
Under:
A kind of sweeping robot, including control system, binocular camera and image processing system；The binocular camera is used
In the two width pictorial informations for obtaining same barrier respectively in synchronization；Described image processing system is used for binocular camera
The two width pictorial informations obtained are handled and obtain obstacle information；The control system executes difference according to obstacle information
Movement, wherein the obstacle information include barrier size, barrier shape and barrier and sweeping robot away from
From.
To solve the technical problem in background technique, the present invention also provides a kind of sweeping robot system, particular techniques
Scheme is as follows:
A kind of sweeping robot system, including sweeping robot and image processing terminal, the sweeping robot include double
Mesh camera, wireless communication system and control system；Described image processing terminal includes image processing system and wireless communication system
System；The binocular camera is used to obtain two width pictorial informations of the different angle of same barrier in synchronization；The figure
As processing system is for handling the two width pictorial informations that binocular camera obtains and obtaining obstacle information；It is described to sweep the floor
Wireless communication is directly or indirectly established between the wireless communication system of robot and the wireless communication system of image processing terminal to connect
It connects, to transmit pictorial information and obstacle information；The control system executes different movements according to obstacle information；Its
In, the obstacle information includes barrier size, barrier shape and barrier at a distance from sweeping robot.
To solve the technical problem in background technique, the present invention also provides a kind of sweeping robot working methods, specifically
Technical solution is as follows:
A kind of working method of sweeping robot, comprising the following steps: S1: sweeping robot is obtained by binocular camera
The obstacle information of working environment；S2: sweeping robot selects different operating modes according to obstacle information；Wherein, described
Obstacle information includes barrier size, barrier shape and barrier at a distance from sweeping robot.
Compared with prior art, the beneficial effects of the present invention are:
The present invention obtains the obstacle information of sweeping robot working environment by binocular camera, and it is big to obtain barrier
Whether small, barrier shape and the barrier information such as at a distance from sweeping robot, judging automatically sweeping robot can be with
It is cleaned, whether can be crossed, whether can be pierced, substantially improved the stranded situation of sweeping robot, improve sweeper
Device people intelligent level and user experience.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, common for this field
For technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of the sweeping robot of present pre-ferred embodiments；
Fig. 2 is the module structure drafting of the sweeping robot in Fig. 1；
Fig. 3 is the schematic diagram of the sweeping robot system of present pre-ferred embodiments；
Fig. 4 is the sweeping robot module structure drafting in Fig. 3；
Fig. 5 is that the Cloud Server in Fig. 3 constitutes module map；
Fig. 6 is the flow chart of the sweeping robot working method of present pre-ferred embodiments.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with the drawings and specific embodiments, it is clear that this
In described embodiment be only invent a part of the embodiment, instead of all the embodiments.It is described based on the present invention
Specific embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, all should belong in protection scope defined by the claims in the present invention.
Embodiment 1
As shown in Figure 1 and Figure 2, the sweeping robot 1 in the present embodiment include control system, drive system, cleaning systems,
(binocular camera is imaging sensor, in the present embodiment includes that left CCD takes the photograph for sensing system, power-supply system, binocular camera
As head 11, right CCD camera 12) and image processing system.In the case where relatively simple to environment, examined for cost and speed
Consider, CCD (English word is Charge coupled Device, i.e. charge coupled cell) can also be used into CMOS
(Compementary Metal Oxide Semiconductor, i.e. complementary metal oxide semiconductor) is replaced.
Control system includes the MCU for being stored with sweeping robot working procedure or single-chip microcontroller (for depositing in the present embodiment
The MCU of reservoir), and the signal control drive system and cleaning systems work returned according to sensing system or image processing system
Make；Drive system includes left and right sidesing driving wheel, for driving robot to move in working region；Cleaning systems include in sweep, vacuum
Dust exhaust apparatus, side are swept and dirt box, for cleaning ground refuse and storing to dirt box；Sensing system includes that ground inspection and wall are examined, point
Working region surface drop and peripheral obstacle (including wall) Yong Yu not detected；Each system that power-supply system is used for as sweeping robot
System provides electric energy, generally rechargeable battery (such as lithium battery).
Binocular camera includes left CCD camera 11 and right CCD camera 12, the relatively fixed installation of left and right camera, position
In the front side of sweeping robot main body, left CCD camera 11 and right CCD camera 12 be located substantially in same level (with
Peg model algorithm is related, the present embodiment Opencv, needs physically guaranteeing that the optical axis of dual camera is parallel),
Synchronization or so camera obtains 90 ° to 120 ° 150 ° to 180 ° of its direction of advance horizontal extent, vertical direction ranges respectively
Two width pictures of the different angle of interior barrier.The left CCD camera 11 and right CCD camera 12 of binocular camera are being swept the floor
Stereo calibration, spin matrix R and translation between left CCD camera 11 and right CCD camera 12 are carried out before robot factory
Matrix t can be acquired by Zhang Zhengyou calibration method.
In the present embodiment, the distance of barrier and the identification process of size are as follows:
The present embodiment is based on Opencv platform, carries out matching primitives using the SGBM algorithm that Opencv is provided.First to a left side
Right CCD camera carries out Stereo matching in the picture that synchronization is shot, and then carries out binary conversion treatment, Gauss to original image
Fuzzy, canny operator contour detecting finds barrier profile and is completely outlined barrier with minimum quadrangle, passes through calculating
Four apex coordinates of quadrangle obtain the pixel size of barrier；Coordinate by calculating four vertex of quadrangle obtains object
The pixel coordinate of central point obtains distance of the barrier central point apart from camera by binocular range measurement principle, according to triangle
Principle can calculate the width and height of barrier, realize the measurement to barrier size.
Specifically, three-dimensional point cloud is generated using reprojectImageTo3D first, is hindered using findContours
Hinder object profile, traversal deletes maximum and minimized profile, puts to the proof using the minimum that minAreaRect obtains profile and obtains rectangle four
Then the coordinate on a vertex calculates the size (data such as length, width and height) of barrier by trigonometric function.
In the present embodiment, the common static object of the program and indoor environment of controller (MCU with memory) storage
Body (such as furniture, household electrical appliances or threshold) and dynamic object (such as people or pet) are related, i.e., by each object (obstacle of indoor environment
Object) associate with corresponding operating mode, different movements are executed when recognizing different barriers, such as: recognize threshold,
When a lower height of object such as slippers or cable (it can be by setting height threshold value, such as sweeping robot, current climbing height is
2cm or so, when obstacle height is greater than 2cm, barrier mark is considered can not be cross-domain, is moved to this in sweeping robot
When near barrier, no longer the barrier is carried out across trial, and directly executes avoidance action), sweeping robot is moved to
Increase the driving force of drive system when near barrier and executes across movement；Recognize barrier be woollen blanket when, execute leap
Increase the suction of cleaning systems and the driving force of drive system while movement；Recognize barrier be rubbish when, machine of sweeping the floor
People is driven towards rubbish and is cleaned；When recognizing the higher-height objects such as barrier behaviour or refrigerator, sweeping robot executes avoidance
The movement etc..The setting can make sweeping robot work more intelligent, while the user experience is improved.
Embodiment 2
As shown in figure 3, for the sweeping robot system composition schematic diagram in specific embodiments of the present invention, in this implementation
Sweeping robot system includes sweeping robot 1 and image processing terminal 2.
As shown in figure 4, the sweeping robot 1 in the present embodiment exists with essentially identical in embodiment 1, different place
In: A, the sweeping robot 1 in the present embodiment does not have image processing system；B, the sweeping robot 1 in the present embodiment includes inciting somebody to action
The picture that binocular camera obtains is sent to wireless communication module (such as WIFI module or Zigbee mould of image processing terminal 2
Block).
As shown in figure 5, it (can also be that other have binocular camera shooting that the image processing terminal 2 in the present embodiment, which is Cloud Server,
The PC platform or embedded platform of head image-capable), including image processing system and wireless communication module；Cloud Server 2
Connec-tionless network between sweeping robot 1 includes 4G, WIFI network etc., and the mode of networking includes that ap mode (wirelessly connects
Access point) or STA mode (STA website).
The size of barrier in the present embodiment and distance apart from sweeper are in the same manner as in Example 1, here no longer
It is described.
Obstacle recognition process in the present embodiment is as follows: the picture of binocular camera shooting is through the wireless of sweeping robot
Communication module, internet (internet), Cloud Server wireless communication module after be sent to the image procossing system of Cloud Server
It unites, then wireless communication module, internet (internet), sweep the floor machine of the Cloud Server by recognition result by Cloud Server
The wireless communication module of people is back to sweeping robot controller.
Embodiment 3
As shown in fig. 6, the working method of the sweeping robot in the present embodiment the following steps are included:
S0: each obstacle information of sweeping robot working environment is associated with corresponding operating mode.
Specifically, refer to characteristic informations such as the shape of the common barrier of the indoor environment where sweeping robot, colors
It associates with corresponding operating mode, the controller of sweeping robot selects different work according to the obstacle information of feedback
Mode.For example, sweeping robot drives towards barrier when meeting characteristics of spam, while increasing the suction or round brush turn of cleaning systems
Speed；When meeting carpet feature, increase the suction or round brush revolving speed of cleaning systems while increasing the driving force of drive system；Such as symbol
When the stagnant feature of Heshui, avoidance action is executed.
S1: sweeping robot obtains the obstacle information of working environment by binocular camera.
The step includes:
S11: two width pictorial informations of the different angle of same barrier are obtained in synchronization by binocular camera；
(left CCD takes the photograph the sustained height installation binocular camera that is located substantially at of the leading flank of the direction of advance of sweeping robot 1
As head 11 and right CCD camera 12), 150 ° of its direction of advance horizontal extent is obtained respectively extremely in synchronization or so camera
Two width pictures of the different angle of the barrier within the scope of 180 °, 90 ° to 120 ° of vertical direction.
S12: two width pictorial informations of binocular camera acquisition are handled to obtain obstacle information by image processing system；
The two width pictures that will acquire are sent to after image processing system is handled (in treatment process reference implementation example 1
Description), it obtains including barrier size, barrier shape, the obstacle informations such as at a distance from sweeping robot, then by the barrier
Object information is hindered to be sent to the control system of sweeping robot.
As described in embodiment 1, embodiment 2, image processing system can be to be mounted on sweeping robot or cloud service
On device.
S2: sweeping robot selects different operating modes according to obstacle information.
It is executed outside corresponding operating mode except through matching object features, step S2 may include the following contents:
A: whether the height of disturbance in judgement object is greater than threshold value, and if it is sweeping robot is being moved near the barrier
Shi Zhihang avoidance action, if otherwise sweeping robot continuation is moved along former direction.
B: disturbance in judgement object whether there is the space passed through for sweeping robot, and if it is sweeping robot continues edge
Former direction movement, if otherwise sweeping robot executes avoidance action after being moved near the barrier.Specifically, pass through barrier
Hinder object shape to judge whether it has the space passed through for sweeping robot, then judges whether the height in lid space and width are greater than and sweep
The height and width of floor-washing robot think that the space is worn for sweeping robot under conditions of height and width meet simultaneously
It crosses.
Above disclosed is only the embodiment of technical solution of the present invention, and the right of the present invention cannot be limited with this
Range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (10)
1. a kind of sweeping robot (1), including control system, it is characterised in that:
It further include binocular camera and image processing system；
The binocular camera is used to obtain two width pictorial informations of the different angle of same barrier in synchronization；
Described image processing system is for being handled the two width pictorial informations that binocular camera obtains and being obtained barrier letter
Breath；
The control system executes different movements according to obstacle information；
Wherein, the obstacle information includes barrier size, barrier shape and barrier at a distance from sweeping robot.
2. sweeping robot (1) according to claim 1, it is characterised in that:
The binocular camera is imaging sensor.
3. sweeping robot (1) according to claim 1, it is characterised in that:
The relatively fixed front end face for being mounted on sweeping robot of the binocular camera and two cameras of binocular camera peace
Mounted in the same horizontal position.
4. a kind of sweeping robot system, including sweeping robot (1) and image processing terminal (2), it is characterised in that:
The sweeping robot (1) includes binocular camera, wireless communication system and control system；
Described image processing terminal (2) includes image processing system and wireless communication system；
The binocular camera is used to obtain two width pictorial informations of the different angle of same barrier in synchronization；
Described image processing system is for being handled the two width pictorial informations that binocular camera obtains and being obtained barrier letter
Breath；
Between the wireless communication system of the sweeping robot (1) and the wireless communication system of image processing terminal (2) directly or
Wireless communication connection is established indirectly, to transmit pictorial information and obstacle information；
The control system executes different movements according to obstacle information；
Wherein, the obstacle information includes barrier size, barrier shape and barrier at a distance from sweeping robot.
5. sweeping robot system according to claim 4, it is characterised in that:
The binocular camera is imaging sensor.
6. sweeping robot system according to claim 4, it is characterised in that:
The relatively fixed front end face for being mounted on sweeping robot of the binocular camera and two cameras of binocular camera peace
Mounted in the same horizontal position.
7. sweeping robot system according to claim 4, it is characterised in that:
Described image processing terminal (2) is Cloud Server.
8. a kind of working method of sweeping robot, it is characterised in that the following steps are included:
S1: sweeping robot obtains the obstacle information of working environment by binocular camera；
S2: sweeping robot selects different operating modes according to obstacle information；
Wherein, the obstacle information includes barrier size, barrier shape and barrier at a distance from sweeping robot.
9. the working method of sweeping robot according to claim 8, it is characterised in that:
The step S1 includes:
S11: two width pictorial informations of the different angle of same barrier are obtained in synchronization by binocular camera；
S12: two width pictorial informations of binocular camera acquisition are handled to obtain obstacle information by image processing system.
10. the working method of sweeping robot according to claim 8, it is characterised in that:
Further include step S0: each obstacle information of sweeping robot working environment is associated with corresponding operating mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710542320.3A CN109213137A (en) | 2017-07-05 | 2017-07-05 | sweeping robot, sweeping robot system and its working method |
| PCT/CN2018/073868 WO2019007038A1 (en) | 2017-07-05 | 2018-01-23 | Floor sweeping robot, floor sweeping robot system and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710542320.3A CN109213137A (en) | 2017-07-05 | 2017-07-05 | sweeping robot, sweeping robot system and its working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109213137A true CN109213137A (en) | 2019-01-15 |
Family
ID=64949670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710542320.3A Pending CN109213137A (en) | 2017-07-05 | 2017-07-05 | sweeping robot, sweeping robot system and its working method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109213137A (en) |
| WO (1) | WO2019007038A1 (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998428A (en) * | 2019-04-30 | 2019-07-12 | 深圳拓邦股份有限公司 | For the clean method of sweeping robot, system and device |
| CN110502014A (en) * | 2019-08-22 | 2019-11-26 | 深圳乐动机器人有限公司 | A kind of method and robot of robot obstacle-avoiding |
| CN110619298A (en) * | 2019-09-12 | 2019-12-27 | 炬佑智能科技(苏州)有限公司 | Mobile robot, specific object detection method and device thereof and electronic equipment |
| CN110897557A (en) * | 2019-12-05 | 2020-03-24 | 西安广源机电技术有限公司 | Floor sweeping robot system |
| CN111407192A (en) * | 2020-03-20 | 2020-07-14 | 珠海市一微半导体有限公司 | Work control method and system of cleaning robot |
| CN111538342A (en) * | 2020-06-04 | 2020-08-14 | 中国工商银行股份有限公司 | Method and device for adjusting robot travel route, robot and storage medium |
| CN111862182A (en) * | 2020-07-15 | 2020-10-30 | 上海炬佑智能科技有限公司 | ToF camera, ground obstacle detection method thereof and ground navigation equipment |
| CN112205925A (en) * | 2019-07-11 | 2021-01-12 | 尚科宁家(中国)科技有限公司 | Sweeping method of intelligent sweeping robot and sweeping robot |
| CN112438664A (en) * | 2019-08-27 | 2021-03-05 | Lg电子株式会社 | Robot cleaner for recognizing blocking situation through artificial intelligence and operation method thereof |
| CN112450807A (en) * | 2020-11-06 | 2021-03-09 | 苏宁智能终端有限公司 | Obstacle removing control method, device and system for sweeping robot |
| WO2021093392A1 (en) * | 2019-11-12 | 2021-05-20 | 上海肇观电子科技有限公司 | Mobile robot |
| WO2021098410A1 (en) * | 2019-11-18 | 2021-05-27 | 北京石头世纪科技股份有限公司 | Camera device and cleaning robot |
| WO2021103987A1 (en) * | 2019-11-29 | 2021-06-03 | 深圳市杉川机器人有限公司 | Control method for sweeping robot, sweeping robot, and storage medium |
| US11054838B2 (en) | 2019-11-12 | 2021-07-06 | NextVPU (Shanghai) Co., Ltd. | Mobile robot |
| CN113397437A (en) * | 2021-07-12 | 2021-09-17 | 丁杨 | Sweeping robot and obstacle avoidance method thereof |
| CN114055457A (en) * | 2020-07-31 | 2022-02-18 | 深圳乐动机器人有限公司 | Method and device for controlling edge brush, robot and storage medium |
| CN114442615A (en) * | 2021-12-31 | 2022-05-06 | 重庆特斯联智慧科技股份有限公司 | Robot traveling strategy determination method and system based on barrier attributes |
| CN114509061A (en) * | 2021-12-30 | 2022-05-17 | 重庆特斯联智慧科技股份有限公司 | Method and system for determining robot traveling path based on barrier attributes |
| CN114831540A (en) * | 2022-04-19 | 2022-08-02 | 珠海格力电器股份有限公司 | Robot and method for using same |
| AU2022204218B2 (en) * | 2019-11-18 | 2023-12-07 | Beijing Roborock Technology Co., Ltd | Camera Apparatus and Cleaning Robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2740229C1 (en) * | 2020-03-19 | 2021-01-12 | Автономная некоммерческая образовательная организация высшего образования "Сколковский институт науки и технологий" | Method of localizing and constructing navigation maps of mobile service robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1381339A (en) * | 2001-04-18 | 2002-11-27 | 三星光州电子株式会社 | Robot cleaning system using mobile communication network |
| CN104236468A (en) * | 2014-09-26 | 2014-12-24 | 上海未来伙伴机器人有限公司 | Method and system for calculating coordinates of target space and mobile robot |
| KR20150028152A (en) * | 2013-09-05 | 2015-03-13 | 엘지전자 주식회사 | robot cleaner system and a control method of the same |
| CN105286729A (en) * | 2015-09-25 | 2016-02-03 | 江苏美的清洁电器股份有限公司 | Sweeping robot |
| CN105511478A (en) * | 2016-02-23 | 2016-04-20 | 百度在线网络技术（北京）有限公司 | Robot cleaner, control method applied to same and terminal |
| CN105511477A (en) * | 2016-02-16 | 2016-04-20 | 江苏美的清洁电器股份有限公司 | Cleaning robot system and cleaning robot |
| CN105725932A (en) * | 2016-01-29 | 2016-07-06 | 江西智能无限物联科技有限公司 | Intelligent sweeping robot |
| CN205905026U (en) * | 2016-08-26 | 2017-01-25 | 沈阳工学院 | Robot system based on two mesh stereovisions |
| CN106527444A (en) * | 2016-11-29 | 2017-03-22 | 深圳市元征科技股份有限公司 | Control method of cleaning robot and the cleaning robot |
| CN106821157A (en) * | 2017-04-14 | 2017-06-13 | 小狗电器互联网科技（北京）股份有限公司 | The cleaning method that a kind of sweeping robot is swept the floor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101400400B1 (en) * | 2012-09-28 | 2014-05-27 | 엘지전자 주식회사 | Robot cleaner and control method of the same |
-
2017
- 2017-07-05 CN CN201710542320.3A patent/CN109213137A/en active Pending
-
2018
- 2018-01-23 WO PCT/CN2018/073868 patent/WO2019007038A1/en active Application Filing
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1381339A (en) * | 2001-04-18 | 2002-11-27 | 三星光州电子株式会社 | Robot cleaning system using mobile communication network |
| KR20150028152A (en) * | 2013-09-05 | 2015-03-13 | 엘지전자 주식회사 | robot cleaner system and a control method of the same |
| CN104236468A (en) * | 2014-09-26 | 2014-12-24 | 上海未来伙伴机器人有限公司 | Method and system for calculating coordinates of target space and mobile robot |
| CN105286729A (en) * | 2015-09-25 | 2016-02-03 | 江苏美的清洁电器股份有限公司 | Sweeping robot |
| CN105725932A (en) * | 2016-01-29 | 2016-07-06 | 江西智能无限物联科技有限公司 | Intelligent sweeping robot |
| CN105511477A (en) * | 2016-02-16 | 2016-04-20 | 江苏美的清洁电器股份有限公司 | Cleaning robot system and cleaning robot |
| CN105511478A (en) * | 2016-02-23 | 2016-04-20 | 百度在线网络技术（北京）有限公司 | Robot cleaner, control method applied to same and terminal |
| CN205905026U (en) * | 2016-08-26 | 2017-01-25 | 沈阳工学院 | Robot system based on two mesh stereovisions |
| CN106527444A (en) * | 2016-11-29 | 2017-03-22 | 深圳市元征科技股份有限公司 | Control method of cleaning robot and the cleaning robot |
| CN106821157A (en) * | 2017-04-14 | 2017-06-13 | 小狗电器互联网科技（北京）股份有限公司 | The cleaning method that a kind of sweeping robot is swept the floor |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998428A (en) * | 2019-04-30 | 2019-07-12 | 深圳拓邦股份有限公司 | For the clean method of sweeping robot, system and device |
| CN112205925B (en) * | 2019-07-11 | 2022-06-28 | 尚科宁家(中国)科技有限公司 | Sweeping method of intelligent sweeping robot and sweeping robot |
| CN112205925A (en) * | 2019-07-11 | 2021-01-12 | 尚科宁家(中国)科技有限公司 | Sweeping method of intelligent sweeping robot and sweeping robot |
| CN110502014A (en) * | 2019-08-22 | 2019-11-26 | 深圳乐动机器人有限公司 | A kind of method and robot of robot obstacle-avoiding |
| US11378966B2 (en) | 2019-08-27 | 2022-07-05 | Lg Electronics Inc. | Robot cleaner for recognizing stuck situation through artificial intelligence and method of operating the same |
| CN112438664A (en) * | 2019-08-27 | 2021-03-05 | Lg电子株式会社 | Robot cleaner for recognizing blocking situation through artificial intelligence and operation method thereof |
| CN110619298A (en) * | 2019-09-12 | 2019-12-27 | 炬佑智能科技(苏州)有限公司 | Mobile robot, specific object detection method and device thereof and electronic equipment |
| WO2021093392A1 (en) * | 2019-11-12 | 2021-05-20 | 上海肇观电子科技有限公司 | Mobile robot |
| US11054838B2 (en) | 2019-11-12 | 2021-07-06 | NextVPU (Shanghai) Co., Ltd. | Mobile robot |
| JP2021077361A (en) * | 2019-11-12 | 2021-05-20 | ネクストヴイピーユー（シャンハイ）カンパニー リミテッドＮｅｘｔｖｐｕ（Ｓｈａｎｇｈａｉ）Ｃｏ．，Ｌｔｄ． | Mobile robot |
| WO2021098410A1 (en) * | 2019-11-18 | 2021-05-27 | 北京石头世纪科技股份有限公司 | Camera device and cleaning robot |
| AU2022204218B2 (en) * | 2019-11-18 | 2023-12-07 | Beijing Roborock Technology Co., Ltd | Camera Apparatus and Cleaning Robot |
| WO2021103987A1 (en) * | 2019-11-29 | 2021-06-03 | 深圳市杉川机器人有限公司 | Control method for sweeping robot, sweeping robot, and storage medium |
| CN110897557A (en) * | 2019-12-05 | 2020-03-24 | 西安广源机电技术有限公司 | Floor sweeping robot system |
| CN111407192A (en) * | 2020-03-20 | 2020-07-14 | 珠海市一微半导体有限公司 | Work control method and system of cleaning robot |
| CN111538342A (en) * | 2020-06-04 | 2020-08-14 | 中国工商银行股份有限公司 | Method and device for adjusting robot travel route, robot and storage medium |
| CN111538342B (en) * | 2020-06-04 | 2023-05-23 | 中国工商银行股份有限公司 | Robot route adjustment method, device, robot and storage medium |
| CN111862182A (en) * | 2020-07-15 | 2020-10-30 | 上海炬佑智能科技有限公司 | ToF camera, ground obstacle detection method thereof and ground navigation equipment |
| CN111862182B (en) * | 2020-07-15 | 2022-04-29 | 上海炬佑智能科技有限公司 | ToF camera, ground obstacle detection method thereof and ground navigation equipment |
| CN114055457A (en) * | 2020-07-31 | 2022-02-18 | 深圳乐动机器人有限公司 | Method and device for controlling edge brush, robot and storage medium |
| CN112450807A (en) * | 2020-11-06 | 2021-03-09 | 苏宁智能终端有限公司 | Obstacle removing control method, device and system for sweeping robot |
| CN113397437A (en) * | 2021-07-12 | 2021-09-17 | 丁杨 | Sweeping robot and obstacle avoidance method thereof |
| CN114509061A (en) * | 2021-12-30 | 2022-05-17 | 重庆特斯联智慧科技股份有限公司 | Method and system for determining robot traveling path based on barrier attributes |
| CN114442615A (en) * | 2021-12-31 | 2022-05-06 | 重庆特斯联智慧科技股份有限公司 | Robot traveling strategy determination method and system based on barrier attributes |
| CN114831540A (en) * | 2022-04-19 | 2022-08-02 | 珠海格力电器股份有限公司 | Robot and method for using same |
| WO2023202169A1 (en) * | 2022-04-19 | 2023-10-26 | 珠海格力电器股份有限公司 | Robot and method of using same |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019007038A1 (en) | 2019-01-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109213137A (en) | sweeping robot, sweeping robot system and its working method | |
| US11042760B2 (en) | Mobile robot, control method and control system thereof | |
| CN108247647B (en) | Cleaning robot | |
| AU2017228620B2 (en) | Autonomous coverage robot | |
| US10394248B2 (en) | Charging pile, method and device for recognizing the charging pile | |
| CN104737085B (en) | Robot for automatically detecting or handling ground and method | |
| EP3238593B1 (en) | Vacuum cleaner | |
| CN112506181A (en) | Mobile robot and control method and control system thereof | |
| CN108852184A (en) | A kind of non-blind area sweeping robot and its cleaning control method based on deep learning algorithm | |
| US20190184571A1 (en) | Control method and system, and mobile robot using the same | |
| CN110063687A (en) | Self-propelled electric dust collector | |
| KR20190093800A (en) | a Moving robot and Controlling method for the moving robot | |
| WO2019232804A1 (en) | Software updating method and system, and mobile robot and server | |
| CN113696180A (en) | Robot automatic recharging method and device, storage medium and robot system | |
| CN211933898U (en) | Cleaning robot | |
| CN114938927A (en) | Automatic cleaning apparatus, control method, and storage medium | |
| KR20210007360A (en) | Moving Robot and controlling method | |
| CN217365667U (en) | Automatic cleaning equipment | |
| CN112426111B (en) | Robot cleaning control device and method and electronic equipment | |
| CN109991961A (en) | Mobile device and its control method, tele-control system | |
| AU2015224421B2 (en) | Autonomous coverage robot | |
| TWI824503B (en) | Self-moving device and control method thereof | |
| US20220066463A1 (en) | Mobile robot and method of controlling the mobile robot | |
| AU2013338354B9 (en) | Autonomous coverage robot | |
| CN117837987A (en) | Control method, cleaning robot and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Applicant after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518000, Shenzhen, Guangdong, Baoan District province manhole street, East Ring Road, No. 438, block D, two or three Applicant before: GUANGDONG BONA ROBOT Corp.,Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190115 |
|
| RJ01 | Rejection of invention patent application after publication |