CN1799786A - Housekeeping service robot - Google Patents
Housekeeping service robot Download PDFInfo
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- CN1799786A CN1799786A CN 200610032660 CN200610032660A CN1799786A CN 1799786 A CN1799786 A CN 1799786A CN 200610032660 CN200610032660 CN 200610032660 CN 200610032660 A CN200610032660 A CN 200610032660A CN 1799786 A CN1799786 A CN 1799786A
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Abstract
The invention discloses a multi-functional intelligent robot which can replace people to complete family service, which comprises a walking device, a sensor, a receiving device, a transmission device, a control device, an operation device, a storage device and a intercommunication device. Wherein, the sensor can transmit the detected signal of family condition to the control device; the instruction execution device of control device can make relative response and realize the operation of safety detection, cleaning, apparatus control, family entertainment, children education, and statistic.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind ofly can in living circumstance, realize safety precaution and the intelligent household service robot that carries out household services.
Background technology
Along with social cause and development of economic construction, people's rhythm of life is accelerated, education child and treatment old man and the time that manages one's household are fewer and feweri, and household services practitioner's quality is uneven and the particularity of household services industry, many people are unwilling, and also worriedly own relatives and family's property and housework are transferred to other people take care of and manage.Therefore, the people who replaces having uncertain factor by household service robot finishes household services and just is being subjected to the whole society and pays close attention to more and more widely.
At present, some business-like service robots have been developed abroad, such as swimming pool cleaning robot, robot cleaner, the robot that hoes up weeds, transfer robot etc.They are function singleness often, and intelligent degree is low, can not replace the people to finish antitheft monitoring, safety inspection, sanitation and hygiene, tame electric control in the home environment, and home entertaining, patient's condition supervision, children education, gives the correct time and waken, pay wages services such as management.
Summary of the invention
The present invention has overcome deficiency of the prior art, and a kind of intelligent degree height is provided, and can replace the people to finish the household service robot of part household services.
In order to solve the problems of the technologies described above, household service robot of the present invention comprises:
The moving device that is used for moving is made of 2 DC servo motors, 2 reduction boxes, 2 driving wheels, 2 directive wheels, 1 DC servo motor drive circuit.Wherein, described 2 DC servo motors are connected with described control device by described direct current motor drive circuit, described 2 DC servo motor rotating shafts are connected with described 2 reduction boxes respectively, described 2 reduction boxes are connected with 2 driving wheels respectively, and described 2 directive wheels are installed in the positive front portion and the just rearward of household service robot base respectively independently;
Sensing device makes described household service robot can perceive one or multinomial following information in living circumstance: the people's face around photographing, identify voice signal, the obstacle around detecting, measure assigned address distance, detect room temperature, detect fire, detect inflammable gas, detect the time, detect and whether collide other article, identify direction, detect body temperature.
Actuating unit, it makes described household service robot can finish one or multinomial following work: antitheft monitoring, safety inspection, article carrying, tame electric control, sanitation and hygiene, home entertaining, patient's condition supervision, children education, give the correct time and waken, pay wages management;
Dispensing device, it makes described household service robot issue instructions to actuating unit by Digiplex, SMS module, internet wireless network interface card, and sends antitheft monitoring, safety inspection, patient's condition monitor message, announcement household outside;
Receiving system, it makes described household service robot can receive the signal that sends by Digiplex, SMS module, internet wireless network interface card, and gives control device;
Control device, it makes described household service robot carry out comprehensive analysis processing with the information that described sensing device perceives to the received signal, sends control instruction to actuating unit, makes it finish relevant work;
Interactive device, it makes described household service robot show self working state, and can with the mutual exchange of information of people;
Storage device, it makes described household service robot can store the image of sensing device perception, sound, data, and the various data messages of described other device generations;
Described sensing device, by the video camera that is used for photographic images, the infrared sensor that is used to detect barrier, the sonac that is used for measuring distance, the temperature sensor that is used to detect room temperature, the flame sensor that is used for detection of fires, the combustible gas sensor that is used to detect inflammable gas, the sound transducer that is used for speech recognition, the light sensor that wakens of being used to give the correct time, be used to detect the crash sensor that whether collides other article, be used to debate the digital compass of knowing direction, the human body pyroelectric sensor that is used for human body body temperature constitutes.Described video camera is connected with described video processing board-card.Described infrared sensor, sonac, temperature sensor, flame sensor, combustible gas sensor, sound transducer, light sensor, crash sensor, digital compass, human body pyroelectric sensor respectively with described data acquisition card connection.Described video processing board-card is connected with the PC mainboard respectively with data collecting card.
Described actuating unit is made of loudspeaker, dust catcher, five degree of freedom manipulator.Described loudspeaker are connected with control device, and described dust catcher is installed in described household service robot bottom, and are connected with control device.Described five degree of freedom manipulator is made of underframe, arm, elbow, paw, 5 DC servo motors.Described arm is installed on the household service robot underframe, and described 5 DC servo motors are installed on respectively on the arm, elbow, paw of manipulator, and is connected with described control device with described DC servo motor drive circuit.
Described home entertaining function is made of MP3 player and two little audio amplifiers, and described family electric control function is made of general-purpose colour TV remote controller and general-purpose air-conditioning remote control; Described patient's condition function for monitoring, children education function, give the correct time and waken function, family expenses statistics (statistics family receipts and expenditures, carry out the online payment expense) by finishing with the application program of VC++6.0 exploitation, they are installed in respectively in the described storage device function respectively.
Described receiving system is made of SMS module, internet wireless network interface card, touch screen, LCD, and they are connected with the PC mainboard respectively.
Described dispensing device is made of Digiplex, SMS module, internet wireless network interface card, and the signal that sends is received by receiving system, and gives control device.
Described control device is to be made of integrated 1 PC mainboard of CPU, on-chip memory, timer system, serial port, AD/DA, I/O interface, interruption and resetting system, 1 blocks of data capture card, 1 video processing board-card.Described data collecting card is a kind of based on 32 pci data bus structures, can carry out the circuit board of transfer of data and signals collecting well, it comprises driver and design tool, and driver is also supported the dynamic link libraries of VC++6.0, Win 98/2000 and Win NT 4.0.
Described touch screen, LCD, keypad are installed in the surface of household service robot respectively, and are connected with control device with the PC mainboard.
Described household service robot adopts chemical cell to drive, and chemical cell is connected with the PC mainboard.
The operating procedure of household service robot of the present invention is:
(1) perceptual signal collection is sent command signal by Digiplex, SMS module, internet wireless network interface card, keypad, and receiving system receives instruction, and gives sensing device;
(2) perceptual signal transmission, sensing device is converted into binary data with the signal that perceives by described data collecting card, is transferred to the PC mainboard;
(3) control signal is handled, and the PC mainboard carries out analyzing and processing to command signal of sending and the signal that perceives, and sends control instruction to actuating unit;
(4) instruction is carried out, and actuating unit receives control instruction, carries out antitheft monitoring, safety inspection, article carrying, tame electric control, sanitation and hygiene operation; Dispensing device sends to household to outside with execution result, alarm signal, working condition by SMS module, internet wireless network interface card.
Compared with prior art, advantage of the present invention is intelligent degree height, and is powerful, can replace the people to finish part household services work.
Description of drawings
Fig. 1 is the operation principle schematic diagram of household service robot of the present invention;
Fig. 2 is the internal structure schematic diagram of household service robot of the present invention;
Fig. 3 is the software function module figure of household service robot of the present invention;
Fig. 4 is the manipulator fundamental diagram of household service robot of the present invention;
Fig. 5 is the intelligent security guard workflow of household service robot of the present invention;
Fig. 6 is the household services major function figure of household service robot of the present invention.
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment household service robot of the present invention is done to describe in further detail:
As seen from Figure 1, household service robot can be controlled by Digiplex, SMS module, internet wireless network interface card, keypad.Two driving wheels and two directive wheels are equipped with in its chassis.Wireless camera identification people's face and environment, infrared sensor are housed respectively on its outer surface to be detected obstacle, sonac measuring distance, temperature sensor and detects room temperature, flame sensor warning fire, combustible gas sensor and detect that inflammable gas, sound transducer identification voice, light sensor waken and give the correct time, crash sensor is avoided obstacle, compass is debated the knowledge direction.By its internet wireless network interface card that is equipped with on one's body, keypad, touch screen, LCD, MP3 and two little audio amplifiers, and general-purpose colour TV remote controller and general-purpose refrigerator remote controller can also be realized home entertaining, tame electric control, patient's condition supervision, children education, online payment respectively.In addition, can finish article carrying and sanitation and hygiene and voice suggestion work respectively by being contained in five degree of freedom manipulator on its underframe and dust catcher and loudspeaker.
As seen from Figure 2, the described PC mainboard small-sized mainboard of YAI845GL*01, the CPU that adopt Acer to produce be four 1.7G of Celeron, display chip support AGP4X, in save as 256MB HY128DDR, external memory adopts IBM 10G portable hard drive.Described data collecting card is selected to grind the PCI-64AD card that auspicious company produces, and it is 32 pci bus, has 64 single-ended or 32 road both-end analog input channels, 12 Precision A conversions, 16 digital input channels, 16 digital output channels.Described video camera is selected the XC18A wireless camera for use, and described video processing board-card is the VR36A video receiver.Described internet wireless network interface card is selected LanReady company's T WL-1500GW wireless aps and TWL-12-USB wireless network card for use.In addition, described infrared sensor, sonac, temperature sensor, flame sensor, combustible gas sensor, sound transducer, light sensor, crash sensor, digital compass, human body pyroelectric sensor also are the sensing devices of household service robot of the present invention, be installed on the surface of described household service robot respectively, and with described PC mainboard and described data acquisition card connection.
Fig. 3 has provided 30 functions of household service robot software, antitheft monitoring, safety inspection, article carrying, tame electric control, sanitation and hygiene have been comprised, and the patient's condition monitors that whole softwares such as the electronic game, home entertaining (MP3 broadcasts), spending management of (informing that expert's state of an illness, expert inquire the state of an illness), children education (typewriting study, learning word, text are read aloud mathematical computations), various health all develop with VC++6.0.
As seen from Figure 4, the five degree of freedom manipulator is the actuating unit of household service robot of the present invention.The five degree of freedom manipulator is installed on the household service robot underframe, and it is made of underframe, arm, elbow, paw, DC servo motor.Described arm is installed on the underframe, and arm is connected with paw by elbow, and 5 DC servo motors are installed on respectively on the arm, elbow, paw of manipulator, and is connected with control device.In addition, dust catcher also is installed in below the described household service robot underframe, and with PC mainboard and data acquisition card connection.Loudspeaker are installed in the surface of described household service robot, and are connected with the PC mainboard.
Internet wireless network interface card, Digiplex, SMS module are the receiving systems of household service robot of the present invention, are connected with the PC mainboard respectively.Wherein keypad, internet wireless network interface card, SMS module constitute the dispensing device of household service robot of the present invention.
Display is selected touch screen and LCD for use, is installed in household service robot of the present invention surface, and is connected with the PC mainboard.
Battery is connected with the PC mainboard, selects the rechargeable type Ni-MH battery for use.
Workflow as shown in Figure 5 for intelligent security guard (antitheft monitoring and safety inspection).When trigger event takes place when, the triggering signal slave flipflop sends through after the encoder encodes and delivers to PC mainboard port with the binary data form, the PC mainboard obtains event code by program and analyzes and discern, and then start corresponding actuation of an alarm (different trigger events has different processing modes) according to program setting, time, the title of record trigger event and touch alert action in log sheet with usefulness for future reference.
Except above-mentioned intelligent security guard function, the household services function also has important application prospects.Because at present people's work pressure and working time increase constantly, will become a very urgent problem to old man, child, patient's treatment, the service function that household service robot provided then can be alleviated above situation well.The service that household service robot provided mainly contains home entertaining, patient's condition supervision, children education, gives the correct time and waken, pay wages functions such as management, sees shown in Figure 6.
Claims (8)
1, a kind of household service robot is characterized in that comprising:
The moving device that is used to move is made of 2 DC servo motors, 2 reduction boxes, 2 driving wheels, 2 directive wheels, 1 DC servo motor drive circuit; Wherein, described 2 DC servo motors are connected with described control device by described DC servo motor drive circuit, described 2 DC servo motor rotating shafts are connected with described 2 reduction boxes respectively, described 2 reduction boxes are connected with 2 driving wheels respectively, and described 2 directive wheels are installed in the positive front portion and the just rearward of household service robot base respectively independently;
Sensing device perceives one or multinomial following information in living circumstance: the people's face around photographing, identify one's voice in speech, the obstacle around detecting, measure assigned address distance, detect indoor temperature, detect fire, detect inflammable gas, detect the time, detect and whether collide other article, detect body temperature, identify direction;
Actuating unit is finished one or multinomial following work: antitheft monitoring, safety inspection, article carrying, tame electric control, sanitation and hygiene, home entertaining, patient's condition supervision, children education, give the correct time and waken, pay wages management;
Dispensing device issues instructions to actuating unit by Digiplex, SMS module, internet or wireless network card, and sends antitheft monitoring, safety inspection, patient's condition monitor message, notice household outside;
Receiving system receives the signal that sends by Digiplex, SMS module, internet or wireless network card, and gives control device;
Control device is made of integrated 1 PC mainboard of CPU, on-chip memory, timer system, serial port, AD/DA, I/O interface, interruption and resetting system, 1 blocks of data capture card, 1 video processing board-card; The information that perceives with described sensing device is carried out comprehensive analysis processing to the received signal, sends the described actuating unit of instruction control and finishes corresponding work;
Interactive device exchanges mutually with the user, and shows the duty of described household service robot by touch screen, LCD, keypad;
Storage device is stored the harddisk memory of the information and the related data that described other devices produce of described sensing device perception.
2, according to the described household service robot of claim 1, it is characterized in that described sensing device, by the video camera that is used for photographic images, be used to detect the infrared sensor of barrier, the sonac that is used for measuring distance, be used to detect the temperature sensor of room temperature, the flame sensor that is used for detection of fires, be used to detect the combustible gas sensor of inflammable gas, the sound transducer that is used for speech recognition, the light sensor that is used to give the correct time and wakens, be used to detect the crash sensor that whether collides other article, be used to debate the digital compass of knowing direction, the human body pyroelectric sensor that is used for human body body temperature constitutes, described video camera is connected with described video processing board-card, described infrared sensor, sonac, temperature sensor, flame sensor, combustible gas sensor, sound transducer, light sensor, crash sensor, digital compass, the human body pyroelectric sensor respectively with described data acquisition card connection, described video processing board-card is connected with the PC mainboard respectively with data collecting card.
3, according to claim 1 or 2 described household service robots, it is characterized in that described actuating unit, by loudspeaker, dust catcher, the five degree of freedom manipulator constitutes, described loudspeaker are connected with control device, described dust catcher is installed in described household service robot bottom, and be connected with control device, described five degree of freedom manipulator is by underframe, arm, elbow, paw, 5 DC servo motors constitute, described arm is installed on the household service robot underframe, described 5 DC servo motors are installed on the arm of manipulator respectively, elbow, on the paw, and be connected with described control device with described DC servo motor drive circuit.
4, according to the described household service robot of claim 3, it is characterized in that described receiving system, constitute that they are connected with the PC mainboard respectively by SMS module, internet wireless network interface card, touch screen, LCD.
5, according to the described household service robot of claim 4, it is characterized in that described dispensing device, constitute that the signal that sends is received by receiving system, and gives control device by Digiplex, SMS module, internet wireless network interface card.
6, according to the described household service robot of claim 5, it is characterized in that in the control device, described data collecting card is a kind of based on 32 pci data bus structures, carry out the circuit board of transfer of data and signals collecting, it comprises driver and design tool, and driver is also supported the dynamic link libraries of VC++6.0, Win 98/2000 and Win NT4.0.
7,, it is characterized in that described touch screen, LCD, keypad are installed in the surface of household service robot respectively, and be connected with control device with the PC mainboard according to the described household service robot of claim 6.
8, according to the described household service robot of claim 7, it is characterized in that adopting chemical cell to drive, chemical cell is connected with the PC mainboard.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100326603A CN100348381C (en) | 2006-01-06 | 2006-01-06 | Housekeeping service robot |
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| CNB2006100326603A CN100348381C (en) | 2006-01-06 | 2006-01-06 | Housekeeping service robot |
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| CN100348381C CN100348381C (en) | 2007-11-14 |
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| CNB2006100326603A Expired - Fee Related CN100348381C (en) | 2006-01-06 | 2006-01-06 | Housekeeping service robot |
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| CN102058984A (en) * | 2009-11-17 | 2011-05-18 | 孙杰 | Dancing robot for education and entertainment |
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| CN101898354B (en) * | 2010-08-25 | 2013-03-13 | 江阴中科今朝科技有限公司 | Intelligent household service robot |
| CN101954191A (en) * | 2010-08-25 | 2011-01-26 | 颜小洋 | Intelligent entertainment mobile robot |
| CN101898354A (en) * | 2010-08-25 | 2010-12-01 | 颜小洋 | Intelligent household service robot |
| CN101954191B (en) * | 2010-08-25 | 2013-05-01 | 颜小洋 | Intelligent entertainment mobile robot |
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| CN102566523B (en) * | 2010-12-24 | 2014-12-24 | 中国科学院深圳先进技术研究院 | Housekeeper robot and network control system based on housekeeper robot |
| CN103609011A (en) * | 2011-03-21 | 2014-02-26 | 伊斯帕诺-絮扎公司 | Simplified control method for a three-phase AC-DC converter |
| CN103609011B (en) * | 2011-03-21 | 2017-08-11 | 雷比诺电力系统 | Simple method of controlling for three-phase alternating voltage dc voltage changer |
| CN102896630A (en) * | 2011-07-25 | 2013-01-30 | 索尼公司 | Robot device, method of controlling the same, computer program, and robot system |
| CN102896630B (en) * | 2011-07-25 | 2016-06-01 | 索尼公司 | Robot device and control method, computer program and robot system |
| CN102572282A (en) * | 2012-01-06 | 2012-07-11 | 鸿富锦精密工业（深圳）有限公司 | Intelligent tracking device |
| CN103419203A (en) * | 2012-05-21 | 2013-12-04 | 李坚 | All-day domestic robot |
| CN102794758B (en) * | 2012-07-16 | 2014-10-15 | 西安交通大学 | Multifunctional household service robot |
| CN102794758A (en) * | 2012-07-16 | 2012-11-28 | 西安交通大学 | Multifunctional household service robot |
| CN103257370A (en) * | 2012-09-03 | 2013-08-21 | 上海未来伙伴机器人有限公司 | Collision detection device and robot including same |
| CN102909726A (en) * | 2012-10-11 | 2013-02-06 | 上海泰熙信息科技有限公司 | Behavior realizing method for service robot |
| CN103144098A (en) * | 2013-03-13 | 2013-06-12 | 常州铭赛机器人科技有限公司 | Household service robot |
| CN103264393A (en) * | 2013-05-22 | 2013-08-28 | 常州铭赛机器人科技有限公司 | Use method of household service robot |
| CN103324197A (en) * | 2013-06-26 | 2013-09-25 | 西安电子科技大学 | Voice-control multi-functional intelligent service robot |
| CN103389718A (en) * | 2013-07-29 | 2013-11-13 | 曾光 | Intelligent configurable programming toy of Internet of Things |
| CN103419202B (en) * | 2013-08-02 | 2015-12-09 | 于宝成 | A kind of family expenses make an inspection tour intelligent robot |
| CN103419202A (en) * | 2013-08-02 | 2013-12-04 | 于宝成 | Home-use patrolling intelligent robot |
| CN103792948A (en) * | 2013-09-16 | 2014-05-14 | 弗徕威数码科技（上海）有限公司 | Intelligent service robot for hotel and ward |
| CN103552077A (en) * | 2013-10-24 | 2014-02-05 | 哈尔滨工业大学 | Domestic company robot |
| CN103692429A (en) * | 2013-12-31 | 2014-04-02 | 武汉工程大学 | Household robot capable of helping aged people |
| US11622499B2 (en) | 2014-01-21 | 2023-04-11 | Positec Power Tools (Suzhou) Co., Ltd. | Autonomous mower |
| CN104782314A (en) * | 2014-01-21 | 2015-07-22 | 苏州宝时得电动工具有限公司 | Lawn mower |
| CN103770118A (en) * | 2014-01-24 | 2014-05-07 | 成都万先自动化科技有限责任公司 | Station cleaning service robot |
| CN103753563A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Road cleaning service robot |
| CN103753568A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Robot for carrying service in shopping mall |
| CN104089649A (en) * | 2014-07-07 | 2014-10-08 | 浙江万里学院 | System and method for collecting indoor environment data |
| CN104385272A (en) * | 2014-09-23 | 2015-03-04 | 四川师范大学 | Multifunctional education robot system |
| CN104608137A (en) * | 2015-02-09 | 2015-05-13 | 江苏科沁光电科技有限公司 | Four-axis robot system with visual function |
| CN104608137B (en) * | 2015-02-09 | 2016-08-24 | 江苏科沁光电科技有限公司 | A kind of four axle robot systems of band vision |
| CN105528928A (en) * | 2015-03-11 | 2016-04-27 | 郭小璇 | Interactive family education robot system |
| CN104723344A (en) * | 2015-03-17 | 2015-06-24 | 江门市东方智慧物联网科技有限公司 | Smart home service robot system |
| CN107428003A (en) * | 2015-03-31 | 2017-12-01 | Abb高姆技术有限责任公司 | Packaged type robot with collision recognition system |
| CN104898746A (en) * | 2015-04-15 | 2015-09-09 | 中山弘博企业管理咨询有限公司 | Smart home service robot |
| CN104889995A (en) * | 2015-07-03 | 2015-09-09 | 陆春生 | Household and medical service robot and working method thereof |
| CN105058389A (en) * | 2015-07-15 | 2015-11-18 | 深圳乐行天下科技有限公司 | Robot system, robot control method, and robot |
| CN105094020A (en) * | 2015-09-10 | 2015-11-25 | 北京进化者机器人科技有限公司 | Robot running state switching method and system |
| CN105094020B (en) * | 2015-09-10 | 2018-04-06 | 北京进化者机器人科技有限公司 | A kind of robot running status switching method and system |
| CN105522580A (en) * | 2015-09-28 | 2016-04-27 | 古伟东 | Remotely-controllable ground walking robot using wireless network signal with video |
| CN105223954B (en) * | 2015-10-14 | 2018-03-06 | 潍坊世纪元通工贸有限公司 | The path point type walking robot and its control method of a kind of recognizable human body |
| CN105223954A (en) * | 2015-10-14 | 2016-01-06 | 潍坊世纪元通工贸有限公司 | A kind of path point type walking robot of identifiable design human body and control method thereof |
| CN106926245A (en) * | 2015-12-29 | 2017-07-07 | 天津西青区瑞博生物科技有限公司 | A kind of household cleaning machine people |
| CN105721259A (en) * | 2016-01-29 | 2016-06-29 | 江西智能无限物联科技有限公司 | Intelligent interaction robot |
| CN105563494A (en) * | 2016-01-29 | 2016-05-11 | 江西智能无限物联科技有限公司 | Intelligent accompanying robot |
| CN105500381A (en) * | 2016-02-05 | 2016-04-20 | 中国科学院自动化研究所 | Universal modularized two-arm service robot platform and system |
| WO2017157302A1 (en) * | 2016-03-17 | 2017-09-21 | 北京贝虎机器人技术有限公司 | Robot |
| CN105844839A (en) * | 2016-04-15 | 2016-08-10 | 武汉理工大学 | Intelligent home anti-theft environment monitoring multifunctional car and control method |
| CN106384102A (en) * | 2016-09-30 | 2017-02-08 | 深圳火星人智慧科技有限公司 | IR-card-equipped day-night digital network camera flame detection system and method |
| CN106652298A (en) * | 2016-11-16 | 2017-05-10 | 扬州翠佛堂珠宝有限公司 | Firefighting monitoring and alarming system for chemical plant |
| US11055797B1 (en) | 2017-02-24 | 2021-07-06 | Alarm.Com Incorporated | Autonomous property monitoring |
| CN107091660A (en) * | 2017-04-20 | 2017-08-25 | 温州市鹿城区中津先进科技研究院 | Ambient parameter intelligent patrol detection device applied to complex working condition |
| CN107972069A (en) * | 2017-11-27 | 2018-05-01 | 胡明建 | The design method that a kind of computer vision and Mechanical Touch are mutually mapped with the time |
| CN110025258A (en) * | 2017-12-20 | 2019-07-19 | 东芝生活电器株式会社 | From principal mode electric dust collector |
| CN108115691A (en) * | 2018-01-31 | 2018-06-05 | 塔米智能科技（北京）有限公司 | A kind of robot interactive system and method |
| CN108354526A (en) * | 2018-02-11 | 2018-08-03 | 深圳市沃特沃德股份有限公司 | The safety protection method and device of sweeping robot |
| CN108634862A (en) * | 2018-03-26 | 2018-10-12 | 深圳市赛亿科技开发有限公司 | A kind of Robot Cleaner Controlling System method and system |
| CN108634870A (en) * | 2018-03-26 | 2018-10-12 | 深圳市赛亿科技开发有限公司 | A kind of Robot Cleaner Controlling System method and system based on Internet of Things |
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