CN102253673A - Household movable security robot based on target identification technique - Google Patents
Household movable security robot based on target identification technique Download PDFInfo
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- CN102253673A CN102253673A CN2011101911677A CN201110191167A CN102253673A CN 102253673 A CN102253673 A CN 102253673A CN 2011101911677 A CN2011101911677 A CN 2011101911677A CN 201110191167 A CN201110191167 A CN 201110191167A CN 102253673 A CN102253673 A CN 102253673A
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- 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
Abstract
The invention relates to a household movable security robot based on a target identification technique. The robot comprises following sub-systems: a frame, a walking system, an image forming system, a control system, a wireless network system, a target identification system, a communication system and an energy management system. The robot disclosed in the invention can identify a target point autonomously and can monitor the target position particularly, can regularly and randomly monitor the home situation, so as to play roles of safety protection, reminding, entertainment and accompanying.
Description
Technical field
The present invention relates to a kind of intelligent mobile robot; particularly a kind of can independently the walking; autonomous classification and detection impact point; and adopt communication testing result to be dealt into the mobile phone or the computer of binding; and the family expenses that can receive from the steering order of mobile phone or computer move the security robot, belong to the service robot technical field.
Background technology
Modern urban family neighbourhood is unfamiliar with more, and the work hours are nobody home mostly, and the member all goes out when family, and when perhaps leaving teenage children, patient and handicapped old man in the family, it is particularly important that safety problem seems.Current security Study on Technology is awfully hot, numerous monitoring series products has appearred, common have monitoring camera, coal gas detection instrument, a broken detection instrument of glass etc., and can with the networking of sub-district safe examination system, be used to realize monitoring and warning under the abnormal conditions such as illegal invasion, fire.Though these conventional cell monitoring systems can play certain deterrence and preventive effect, but also exist some shortcomings: the one, this safe examination system generally is provided in newly-built high-grade intelligent residential district, the sub-district improvement cost height of originally building up also can destroy the finishing of resident family; Moreover these supervisory systems have certain dead band, also may be destroyed, and also these all are fixed monitoring means, can not monitor the every nook and cranny in room.
The security robot can remedy above-mentioned defective well: robot can walk everywhere, can play the effect that replaces the people to observe everywhere, can allow robot regularly or monitor key position randomly; The intellectual technology that robot possessed can realize that dynamic object is captured and tracking, and the object of activity is taken pictures or recorded a video; Robot can also with data storage or send to the mobile phone of binding or remote computer so that owner understands the situation in the family in real time.Even the family of supervisory system is being installed, robot also can with existing camera, sensing system networking, search abnormal information, in time feed back to owner, existing static supervisory system is played a role more effectively.
The robot system of having mentioned suitable family monitoring usefulness in some researchs is arranged at present.Patent 200420053492.2 discloses a kind of camera, smoke transducer, glass break sensors of having, and by monolithic processor controlled security robot, information wireless such as image can be transferred to centralized control room.Patent 200520087230.2 discloses the gsm communication control circuit of using on a kind of security robot.Patent CN201010543931.8 discloses the interactive system of a kind of iPhone of being applicable to smart mobile phone and robot, can be by the action of smart mobile phone control robot.Patent CN200920294316.0 discloses the crusing robot of a kind of GPS of employing location, because the bearing accuracy limitation can only be applied to the open air.Patent CN200910199945.X discloses a kind of a plurality of household robot systems that connect by wireless ethernet, is suitable for the group collaboration of robot.Patent CN201010046514.2 discloses the many sensory robot systems that a kind ofly have camera, sound collector, keep away barrier sensor etc.Above patent has all related to the practical technique of family expenses security robot in one aspect; but significant limitation is all arranged, do not realize robot intelligence fixed point monitoring in the family, monitor message can not be fed back to the user in real time; can not network poor practicability with other smart machines.
The present invention is intended to solve the gordian technique in the practical application of family expenses security robot: seek and the locating and monitoring target; and with monitored results be wirelessly transmitted to mobile phone or the band interface the computer terminal; and can adopt the mode of Internet of Things and other smart machines to network, make the security robot can really be applied to the real-time monitoring of family.
Summary of the invention
The family expenses that the objective of the invention is to disclose a kind of based target recognition technology move the security robot; can patrol and examine automatically, independently seek and the localizing objects point, emphasis scanning is carried out in the mark position, and send to owner's mobile phone by communication or have on the computer terminal of interface patrolling and examining information and image.
The present invention includes following subsystem: framework, running gear, imaging system, sensing system, control system, Radio Network System, target identification system, communication system and energy management system.
Described framework comprises the chassis and the housing parts of robot; Described chassis is the support section of robot, and wheel and sensor are installed below; Described housing parts is the assembling carrier of the sensor and the first-class parts of making a video recording, and constitutes the cavity of a sealing with described chassis; Parts such as motor and driving mechanism, control circuit board are housed in the described cavity.
Described running gear is wheeled mechanism, comprises wheel, motor, gear drive; Described wheel comprises 2 driving wheels, 2 angle sheaves; Described motor is driven by control system for driving the DC servo motor of driving wheel, adopts differential type of drive, realizes the straight line moving and the turning action of robot; Described gear drive comprises driving shaft and gear train, with the transmission of rotation of motor to driving wheel.
Controlled two-freedom rotary head mechanism, Intelligent light-sensitive and lighting system that described imaging system comprises that a minisize pick-up head, two micromachines constitute; Described minisize pick-up head can adopt CCD or CMOS camera; Described cradle head mechanism comprises two motors and corresponding gear train, and rotation in the horizontal and vertical directions is so that camera can photograph the image of all angles; Described Intelligent light-sensitive and lighting system comprise sensor devices and circuit, LED machine on-off circuit, the light around can responding to, and when low-light (level), open LED around the camera, so that in dark surrounds, obtain distinct image.
Described sensing system is installed in around the housing of robot and on the chassis, comprises that anti-on the chassis falls sensor, unsettled sensor, is contained in keeping away the barrier sensor, collide ring, smoke transducer, human body pyroelectricity sensor, acoustic pickup etc. on the shell; The described anti-front and back position that sensor is installed in the robot chassis that falls, when being suspended in positions such as stair, step when a robot part, sensor will detect vertical range information, issue a signal to control system, make robot stop to go ahead or drawing back, avoid robot to fall from the stair equal-height position; The unsettled sensor of described wheel is installed on the wheel, when any one wheel does not issue a signal to control system during landing ground, robot is stopped or changing current direction of motion, prevents that robot from falling from the stair equal-height position; Described keep away the barrier sensor be contained in robot shells around, can adopt infrared or sonac, object issues a signal to control system from the distance of self to make robot can discern on every side, the direction of motion of control robot and speed are avoided bumping; So-called collision ring is contained in the front portion of robot shells, works when robot unexpectedly runs into other objects, sends signal to control system, makes the action that stops to go ahead; Described smoke transducer is contained on the robot shells, and the concentration of carbon monoxide and methane is sent signal to control system around the induction when concentration transfinites, and control system will start relevant tasks such as warning; Described human body pyroelectricity sensor is contained on the shell of robot, can send signal to control system when the people is close, the process that control system will be relevant according to this signal enabling; Described acoustic pickup is fixed in the front portion of the shell of robot, the sound around can collecting, and issue control system.
Described control system comprises control circuit board and Control Software; Described control circuit board is installed on the chassis of robot, is wrapped in the cavity by housing; Described Control Software is an embedded OS, in the chip of burning on described control circuit board, has comprised robot autonomous walking, task setting, Alarm Communication, sensor information collection, Image Acquisition and transmission, Target Recognition and tracking scheduling algorithm.
Communication modes such as described Radio Network System is installed in the housing of robot, employing ZigBee and other equipment communicate, and other equipment can be robot of the same type, other facilities that have wireless network such as household electrical appliances etc.
Described target identification system adopts RF or other technologies, and the label of ad-hoc location or the marker of other types are fixed in identification, and the control imaging system is taken pictures to the specific region.
Described communication system adopts wireless communication devices such as GSM, GPRS, CDMA, is loaded in the cavity of robot, links to each other with described control circuit board, can carry out note with the phone number of binding and get in touch, and sends and accept message; Also can with the compunlcation that special purpose interface is housed, information such as image are sent on the computer.
Described energy management system comprises rechargeable battery, automatic charger structure, charger, electric power management circuit and software; Described rechargeable battery is Ni-MH battery or lithium battery, is installed in the cavity of robot, links to each other with described control circuit board, is the power supply of entire machine robot system; Described automatic charger structure is installed on the robot shells, and communicates between the fixing charger, and robot can find charger to charge voluntarily at any time, is full of when having task to carry out behind the electricity to remove automatically; Described charger comprises charger and the cradle that links to each other with socket, on the described cradle recognition system is housed, and robot can find the position of cradle, and can be sitting on the cradle exactly and charge; Described electric power management circuit and software are contained on the described control circuit board, carry out different power distribution under different patterns, to reach purpose of energy saving.
Working method of the present invention is as follows:
With robot and mobile phone or remote computer binding, post label in the position that needs key monitoring, such as the door of window, balcony, stair mouth etc.; Robot walks in the room at random with relief, is familiar with environment and finds the position of each label; Set monitoring mode, monitoring period and the frequency of robot, withdraw from a room; Robot regularly starts watchdog routine according to the mode that sets, and detects the situation at each monumented point place, and image wireless is sent on master cellular phone or the computer; When doing key monitoring, information such as smog, sound, personage gathered at any time by robot, and these information are sent on master cellular phone or the computer; Robot can also intercom by the mode of Internet of Things mutually with intelligent appliance, fixing supervisory system; Robot also can receive the control information that master cellular phone or computer send, and carries out the task outside the routine.
The invention has the beneficial effects as follows: having proposed one can the autonomous classification impact point, and can carry out the intelligent mobile robot system of key monitoring to the target location, be applied in the home environment, can be regularly or monitor situation in the family randomly, induction gas leak, abnormal sound, stranger's illegal invasion, child old man fall etc., and the candid photograph image, with mobile phone or the remote computer terminal of information such as the image of its collection, sensors by being wirelessly transmitted to binding.Robot has the self-protection security system, can not fall off the stairs, and damages own or breaks furniture.Robot has autonomous charging system, can oneself seek charger, does not charge voluntarily when having task or electric weight not enough.
Patient, old man and the child in staying at home can also accompany in robot, and timing reminding function, study etc., and can abnormal conditions take place are fallen when waiting unexpected generation in time to master alarm such as the old man.Robot also can be used as the instrument of child and preschool education for children, and corresponding courseware is provided, teach through lively activities, but and the open portion interface, offer the programming fan, some programs of independent development, enhancement function.Robot can also have affairs prompt, night-light, dialogue communication, owner's identification, intelligence and value-added functionality such as make a pet of.Robot among the present invention can play the effect of security, prompting, amusement, company as a member in the family.
Description of drawings
Fig. 1 is a system architecture block diagram of the present invention;
Fig. 2 is a housing parts synoptic diagram of the present invention;
Fig. 3 is a chassis portion synoptic diagram of the present invention;
Fig. 4 is the running gear structural representation that chassis of the present invention is provided with;
Fig. 5 is an imaging system part synoptic diagram of the present invention;
Fig. 6 is a sensing system block diagram of the present invention;
Fig. 7 is a Circuits System synoptic diagram of the present invention;
Fig. 8 is a power-supply system synoptic diagram of the present invention;
Fig. 9 is the autonomous charging system synoptic diagram of the present invention.
Embodiment
Come the specific embodiment of the present invention is further detailed with embodiment below in conjunction with accompanying drawing.
With reference to the accompanying drawings 1, the family expenses that the present invention is based on target identification technology move the security robot and are made of several piths such as framework 1, running gear 2, imaging system 3, sensing system 4, control system 5, Radio Network System 6, target identification system 7, communication system 8 and energy management systems 9.
With reference to the accompanying drawings 2, framework 1 comprises the chassis 11 and housing 12 two large divisions of robot, is formed by materials processings such as PVC.Housing 12 and chassis 11 constitute the cavity of a sealing, are connected by buckle between chassis 11 and the housing 12, and be convenient for assembly and dismantle.Collision ring 46 is installed on the housing 12, keeps away barrier sensor 43, imaging system 3, smoke transducer 44, acoustic pickup 45 and human body pyroelectricity sensor 47 etc.Imaging system 3 is installed in the top or the front portion of housing 12.
With reference to the accompanying drawings 3 and 4, chassis 11 rounded (also can be ellipse), bottom be equipped with driving wheel 21, angle sheave 22, be arranged on the anti-sensors 41 that fall in the middle of wheel 21 and 22, the unsettled detecting sensor 42 of the bottom of wheel etc.The middle part on chassis has an openable battery cover 111, and battery 91 is housed in the battery flat, and battery 91 is fixed in the chamber of inside, chassis.Two motors 23 of running gear 2 and the parts such as control circuit board 51 in gear drive 24 and the control system 5 are housed in the closed cavity that constitutes by housing 12 and chassis 11.
Running gear 2 is wheeled mechanism, comprises 23,2 gear drives 24 of 22,2 drive motor of 21,2 angle sheaves of 2 driving wheels, all is fixed on the chassis 11.Motor 23 links to each other with the control circuit board 51 of control system 5 for driving the DC servo motor of driving wheel, is driven by control system 5, adopts differential type of drive, realizes the straight line moving and the turning action of robot.Gear drive 24 is a gear train, with the transmission of rotation of motor to driving wheel.
With reference to the accompanying drawings 5, imaging system 3 comprises a minisize pick-up head 31, rotating mechanism 32, luffing mechanism 33, formations such as Intelligent light-sensitive and lighting system 34 and shell.Minisize pick-up head 31 can adopt CCD or CMOS camera.Rotating mechanism 32 comprises a direct current generator and corresponding gear train, is the axle rotation with the vertical direction, and luffing mechanism 33 comprises a direct current generator and corresponding gear train, is the swing of front and back.Rotating mechanism 32 and luffing mechanism 33 constitute the The Cloud Terrace of two-freedom, so that camera can photograph the image of all angles.Intelligent light-sensitive and lighting system 34 comprise sensor devices and circuit and LED and on-off circuit thereof, the light around can responding to, and when low-light (level), open camera LED on every side, so that in dark surrounds, obtain distinct image.
With reference to the accompanying drawings 6, sensing system 4 is installed in around the housing 12 of robot and on the chassis 11, comprise be installed in that anti-on the chassis 11 fall sensor 41, the unsettled detecting sensor 42 of wheel and be contained in housing 12 keep away barrier sensor 43, Smoke Detection sensor 44, acoustic pickup 45, collision ring 46 and human body pyroelectricity sensor 47 etc.Prevent falling the position all around that sensor 41 is installed in chassis 11, centre in four wheels 21 and 22 evenly distributes, when certain part of robot is suspended in positions such as stair, step, prevent that falling sensor 41 will detect vertical range information, issue a signal to control system 5, make robot stop to go ahead or drawing back, avoid robot to fall from the stair equal-height position.The unsettled detecting sensor 42 of wheel is installed in the bottom of wheel 21 and 22, when any one wheel does not issue a signal to control system 5 during landing ground, robot is stopped or changing current direction of motion, prevents that robot from falling from the stair equal-height position.Keep away the barrier sensor and adorn 43 around housing 12, one week of housing can uniform installation more than 4 or 4, adopt infrared or sonac, make robot can discern on every side object from the distance of self, issue a signal to control system 5, the direction of motion of control robot and speed are avoided bumping.Smoke transducer 44 is contained on the housing 12, and the concentration of carbon monoxide and methane is sent signal to control system around the induction when concentration transfinites, and control system 5 will start relevant tasks such as warning.Acoustic pickup 45 is fixed in the front portion of housing 12, the sound around can collecting, and issue control system 5.Human body pyroelectricity sensor 47 is contained on the housing 12, can send signal to control system when the people is close, the process that control system 5 will be relevant according to this signal enabling.Collision ring 46 is contained in the front portion of housing 12, works when robot unexpectedly runs into other objects, sends signal to control system 5, makes the action that stops to go ahead.
With reference to the accompanying drawings 7, control system 5 comprises control circuit board 51 and Control Software.Control circuit board 51 is fixed on the chassis 11 of robot, is wrapped in the cavity by housing 12.Control Software is an embedded OS, in the chip of burning on control circuit board 51, comprised robot autonomous walking, task setting, Alarm Communication, sensor information collection, Image Acquisition and transmission, Target Recognition and follow the tracks of the scheduling algorithm module, its algoritic module can be cut out and expands according to difference in functionality.
Radio Network System 6 is installed in the housing of robot, mainly comprises a wireless communication module 61 and relevant fixture.Wireless communication module 61 is fixed on the housing 12, and links to each other with control circuit board 51 by lead, power supply is provided and controlled by it by it.Wireless communication module 61 adopts communication device such as ZigBee and other equipment to communicate, and other equipment can be robot of the same type, other facilities that have wireless network such as household electrical appliances etc.
Target identification system 7 comprises the label that is attached to the target place more than one and the radio-frequency devices 71 of identification label.Radio-frequency devices 71 is fixed on the housing 12, and links to each other with control circuit board 51 by lead, power supply is provided and controlled by it by it.Radio-frequency devices 71 adopts the RFID technology, and the label of ad-hoc location is fixed in identification, and takes pictures in 3 pairs of specific regions of control imaging system.
Communication system 8 mainly comprises the wireless communication module 81(GSM/GPRS/CDMA more than 1), be loaded in the cavity of robot, link to each other with control circuit board 51, by its power supply and controlled by it.Wireless communication module 81 can setting and phone number or is had a remote computer terminal binding of communication interface, by the mode that sends and receive message detected image and sensor information are sent to mobile phone or computer terminal, and receive the order of sending from mobile phone or computer.
With reference to the accompanying drawings 8 and 9, energy management system 9 comprises chargeable battery 91, automatic charger structure 92, charger 93, electric power management circuit and software 94.Chargeable battery 91 is Ni-MH battery or lithium battery, is installed in the cavity of robot, links to each other with control circuit board 51, is the power supply of entire machine robot system; Automatic charger structure 92 is installed on the robot shells, and communicates between the fixing charger 93, and robot can find charger to charge voluntarily at any time, is full of when having task to carry out behind the electricity to remove automatically.Electric power management circuit and software 94 are contained on the control circuit board 51, carry out different power distribution under different patterns, to reach purpose of energy saving.Charger 93 comprises charger 931 and the cradle 932 that links to each other with the AC socket.On the cradle 932 recognition system is housed, robot can find the position of cradle, and can be sitting on the cradle exactly and charge.
Present embodiment only is to be used to illustrate technical application scheme of the present invention and unrestricted; those skilled in the art is to be understood that; technical scheme of the present invention is made amendment or is equal to replacement; but do not break away from aim of the present invention and scope, all should be encompassed within the claim protection domain of the present invention.
Claims (8)
1. the family expenses of a based target recognition technology move the security robot, and robot comprises following subsystem: framework, running gear, imaging system, sensing system, control system, Radio Network System, target identification system, communication system and energy management system;
Described framework comprises the chassis and the housing of robot, is the support of miscellaneous part, and other subsystems are mounted thereon;
Described running gear is wheeled mechanism, adopts differential type of drive, is installed in the described housing of robot, is fixed on the described chassis;
Described imaging system is contained in the top or the front portion of the described housing of robot;
Described control system comprises control circuit board and Control Software, and described control circuit board is installed in the robot cavity, is fixed on the chassis and housing of robot; In the CPU of described Control Software on described control circuit board;
Described sensing system comprises multiple sensors, is installed in the cavity that described housing of robot and described chassis constitute, on the described control circuit board, on described chassis and the described housing;
Described Radio Network System is installed in the cavity of described housing of robot and described chassis formation, links to each other with described control circuit board, is fixed on the described housing;
Described target identification system is installed in the cavity of described housing of robot and described chassis formation, links to each other with described control circuit board, is fixed on the described housing;
Described communication system is installed in the cavity of described housing of robot and described chassis formation, links to each other with described control circuit board, is fixed on the described housing;
Described energy management system comprises rechargeable battery, automatic charger structure, charger, electric power management circuit and software; Described rechargeable battery is installed in the cavity of robot, links to each other with described control circuit board; Described automatic charger structure is installed on the robot shells; Outside the machine-independent people of described charger, and pass through radio contact between the robot; Described electric power management circuit and software are contained on the described control circuit board;
The device and the information path that it is characterized in that the machine man-hour are: with robot and mobile phone or remote computer binding; The place posts label at impact point; Robot learning finds the position of each label; Set monitoring mode, time and the frequency of robot; Robot regularly starts watchdog routine according to the mode that sets, and detects monumented point, and image and other information are sent on master cellular phone or the computer; When doing fixed point monitoring, robot continuous collecting smog, sound and people information, and abnormal information sent on master cellular phone or the computer; Robot and intelligent appliance, fixing supervisory system intercom mutually by the mode of Internet of Things; Robot receives the control information that master cellular phone or computer send, and interrupts having set of task or carries out task outside the routine.
2. the family expenses according to the described based target recognition technology of claim 1 move the security robot, it is characterized in that: described imaging system has a two-degree-of-freedom cradle head camera, camera can rotate in the horizontal and vertical directions, so that can photograph the image of all angles; Described imaging system has also comprised an Intelligent light-sensitive system, the light around can responding to automatically, and when low-light (level), open camera LED on every side, so that robot obtains distinct image in dark surrounds.
3. the family expenses according to the described based target recognition technology of claim 1 move the security robot, it is characterized in that: described sensing system comprise anti-fall sensor, unsettled sensor, keep away the barrier sensor, collision ring, smoke transducer, human body pyroelectricity sensor and acoustic pickup, detect smog, human body and sound, guarantee the safety in the robot operational process; Described sensing system can also comprise electronic compass, gyroscope, acceleration transducer and temperature sensor.
4. the family expenses according to the described based target recognition technology of claim 1 move the security robot; it is characterized in that: described Radio Network System adopts ZigBee mode and other equipment to communicate; with other machines people, intelligent appliance and intelligent alarm device networking, transmit mutually and shared information.
5. the family expenses according to the described based target recognition technology of claim 1 move the security robot; it is characterized in that: described target identification system adopts the RF technology; the label of ad-hoc location is fixed in identification, and the control imaging system is carried out image and sensor information collection to the specific region.
6. the family expenses according to the described based target recognition technology of claim 1 move the security robot; it is characterized in that: described communication system adopts GSM, GPRS or CDMA universal wireless communication device; communicate by letter with the mobile phone of binding and the computer terminal that has an interface, send and receive message.
7. the family expenses according to the described based target recognition technology of claim 1 move the security robot; it is characterized in that: described energy management system has adopted autonomous charging technique and power management techniques; robot judges charging opportunity voluntarily, independently finds charger; and can under various states, adopt different power distribution, to reach purpose of energy saving.
8. the family expenses according to the described based target recognition technology of claim 1 move the security robot; it is characterized in that: described control system adopts embedded OS, has comprised robot autonomous walking, task setting, Alarm Communication, sensor information collection, Image Acquisition, Target Recognition and tracking and wireless communication algorithm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110191167A CN102253673B (en) | 2011-07-08 | 2011-07-08 | Household movable security robot based on target identification technique |
| PCT/CN2012/000943 WO2013007105A1 (en) | 2011-07-08 | 2012-07-09 | Household mobile security robot based on target identification technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110191167A CN102253673B (en) | 2011-07-08 | 2011-07-08 | Household movable security robot based on target identification technique |
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| Publication Number | Publication Date |
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| CN102253673A true CN102253673A (en) | 2011-11-23 |
| CN102253673B CN102253673B (en) | 2012-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110191167A Active CN102253673B (en) | 2011-07-08 | 2011-07-08 | Household movable security robot based on target identification technique |
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|---|---|
| CN (1) | CN102253673B (en) |
| WO (1) | WO2013007105A1 (en) |
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| CN115137255B (en) * | 2022-06-29 | 2023-11-21 | 深圳市优必选科技股份有限公司 | Charging abnormity processing method and device, readable storage medium and sweeping robot |
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| Publication number | Publication date |
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| WO2013007105A1 (en) | 2013-01-17 |
| CN102253673B (en) | 2012-09-12 |
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