CN103099586A - Cleaning method using cleaning robot by means of edgewise navigating and intro-expanding - Google Patents
Cleaning method using cleaning robot by means of edgewise navigating and intro-expanding Download PDFInfo
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- CN103099586A CN103099586A CN2013100713517A CN201310071351A CN103099586A CN 103099586 A CN103099586 A CN 103099586A CN 2013100713517 A CN2013100713517 A CN 2013100713517A CN 201310071351 A CN201310071351 A CN 201310071351A CN 103099586 A CN103099586 A CN 103099586A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000004888 barrier function Effects 0.000 claims abstract description 57
- 230000008569 process Effects 0.000 claims description 20
- 239000000428 dust Substances 0.000 claims description 8
- 230000009191 jumping Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000010926 purge Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
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- 239000012467 final product Substances 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- General Physics & Mathematics (AREA)
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- Electric Vacuum Cleaner (AREA)
Abstract
The invention aims at providing a cleaning method by using a cleaning robot, which can traverse regions which need to be cleaned in a plurality of rooms, and can reduce a repeated forwarding route, i.e., a cleaning method using the cleaning robot by means of edgewise navigating and intro-expanding. The cleaning robot advances along the outer wall of a wall body of the room, and the cleaning robot leaves away from the outer wall of the wall body for a plurality of times to move to the direction which is far away from the outer wall of the wall body to clean the ground. After the cleaning robot leaves away from the outer wall of the wall body at a certain distance or encounters a barrier every time, the cleaning robot firstly rotates for a preset angle, advances at a section of preset distance, and returns to the outer wall of the wall body, so that the traversing and the cleaning of the region which needs to be cleaned can be realized.
Description
Technical field
The present invention relates to the clean robot technical field, be specifically related to the control of advancing of clean robot.
Background technology
Along with the development of science and technology, the clean robot that possesses certain function has been come into family and working environment gradually, has alleviated people's work burden.These clean robots are with certain operational mode automatic scrubbing or utilize dust and dirt on the vacuum cleaner cleaning floor when move the need clear areas.How realize at present, relatively common are for aspect the cleaning of need cleaning area: the random direction clean method, utilize the clean method of multiple combination of paths, based on the clean method of setting up grating map, clean method with navigation system, etc.
The random direction clean method refers to that clean robot do not take path planning, runs into barrier during walking and turns at random the certain angle cleaning that walks on.This cleaning method is controlled simple, and does not need too many high-precision sensor, so cost is lower.But be based on the cleaning modes of its random direction walking, be easy to make some places not to be swept into, other places are repeated cleaning.Although theoretically in the situation that not binding hours can reach needing the covering fully of cleaning area, because the restriction of battery electric quantity on it makes, the covering fully that needs the cleaning area is difficult to realize.
Multiple combination of paths cleaning method is that circular flow combines with the isometric helix ray mode, along wall walking mode and stochastic model.This cleaning method does not need more expensive sensor, and not high to required precisions such as positioning control yet, contrasts single random direction cleaning mode and has improved sweeping efficiency yet.But owing to not having rule preferably aspect the several modes conversion, its cleaning path still has certain uncertainty, makes cleaning efficiency and effect unsatisfactory.
The combination of wound form path is to adopt from inside to outside along square wave path, limit clean method, or ecto-entad cleans the room with certain winding pattern; Meeting barrier advances and carries out clean operation along this barrier outer wall; Advancing along described barrier and carrying out when reaching the path that described winding pattern determines in the process of clean operation when clean robot, walking and carry out clean operation along the residual paths of being determined by described winding pattern.But due to according in being wound around the process that pattern cleans, clean robot is that the mode with enclosed travels through and cleans the room main region, and is higher to positioning accuracy and motion control required precision.And for the cleaning in a plurality of rooms, its adaptive capacity is relatively poor, because this cleaning method is difficult for finding the entrance in room, is difficult to a plurality of rooms are all traveled through cleaning one time.
At first to be walked along wall or by the wall barrier by clean robot to obtain the position data that needs the border, cleaning area based on the cleaning method of setting up the environment grating map, travel through first this need cleaning areas with predetermined manner again and obtain simultaneously barrier outline position data in this zone, set up the environment grating map.Travel through first this regional in or in thereafter time, the zone is cleaned, and remember according to direction of travel and the distance of clean robot the zone of having cleaned, relatively institute's grating map of building and purging zone obtain not purging zone, then purging zone is not mended is swept.This cleaning method stochastic model has before improved efficient, still, obviously has many deficiencies for large more room.For example, carry out along the limit walking on the border that at first needs to treat the cleaning area, obtaining boundary position data, and then travels through for zone to be cleaned and obtain simultaneously the barrier outline data, sets up at last grating map; Secondly, need larger internal memory to store grid information.On the other hand, increase along with travel distance, cumulative errors can be increasing, cause the cartographic information of building and clean robot self-position information larger distortion is arranged, thereby make the cleaning effect undesirable, unless install more more expensive sensor guarantee the reliability of the grating map of surveying and clean robot self-position.
Clean method with navigation system, the navigate mode of clean robot comprises electromagnetic navigation, range finding, vision guided navigation, sound etc., the employing of these navigation sensors and device, in conjunction with certain path planning, can make clean robot be easier to realize following functions: high-efficiency cleaning ground, avoiding obstacles and traversal a plurality of rooms.But these guiders are often expensive, make the clean robot cost and bring a high price, and are difficult for universal the use.
Summary of the invention
The purpose of this invention is to provide a kind of clean method of realizing the traversal for the need cleaning area that comprises many rooms, reducing the clean robot that repeats course.
For realizing that the technical scheme that the object of the invention adopts is such, a kind of clean method along the limit navigation to the clean robot of middle expansion, clean robot is advanced along the body of wall outer wall in room, in its process, described clean robot several times leave described body of wall outer wall and move and cleaning floor to the direction away from described body of wall outer wall.After described clean robot leaves body of wall outer wall certain distance at every turn or meets barrier, first rotate a predetermined angle, then the one section predeterminable range of advancing, then turn back to described body of wall outer wall, realize traversal and cleaning to the need cleaning area.
When the wall limit barrier that exists with the tight dust of described body of wall outer wall, described clean robot is regarded the face that does not contact with the body of wall outer wall of described wall limit barrier as the body of wall outer wall when advancing.
According to technological thought of the present invention, also provide a kind of initial from the optional position, and can effectively identify the clean robot control method of the barrier room in, i.e. a kind of the navigation along the limit to the clean method of the clean robot of middle expansion comprises the following steps:
When 1) described clean robot is initial in the room any set-point, seek the body of wall outer wall.
2) when running into obstacle, described clean robot stops, and with the obstacle that the runs into body of wall outer wall as supposition.Clean robot is advanced along the body of wall outer wall of described supposition.In its process, described clean robot several times leave described body of wall outer wall and move and cleaning floor to the direction away from described body of wall outer wall.After described clean robot leaves body of wall outer wall certain distance at every turn or meets barrier, first rotate a predetermined angle, then the one section predeterminable range of advancing, then turn back to described body of wall outer wall, realize traversal and cleaning to the need cleaning area.
3) described clean robot is according to the track of its operation, and the body of wall outer wall of the described supposition of judgement is the barrier in body of wall outer wall or room.If the body of wall outer wall that the body of wall outer wall of described supposition is namely the room stops or jumping to step 2).If the body of wall outer wall of described supposition is the barrier in the room, the barrier that deviates from described room is advanced, and jumps to afterwards step 2).
The present invention contrasts prior art and has following remarkable advantage:
1. clean robot by advancing along wall and moving from wall, can effectively be avoided drain sweep or repeat cleaning;
2. clean robot not only improves the sweeping efficiency in more spacious environment, can also cover barrier and concentrate the floor area in room.
3. clean robot adopts all the time along wall or wall limit barrier and moves and clean, and makes clean robot be easy to find the gateway in room, realizes the cleaning fully to each room, and has high sweeping efficiency.
Description of drawings
Device of the present invention can further illustrate by the non-limiting embodiment that accompanying drawing provides.
Fig. 1 is that in an embodiment, clean robot enters the schematic diagram in many rooms along wall
Fig. 2 is that in an embodiment, clean robot begins to advance from certain point along any direction and meets the operation schematic diagram of barrier;
Fig. 3 is the schematic diagram that in Fig. 2, clean robot is got rid of poverty, namely in Fig. 2 barrier as leaving the schematic diagram of barrier after body of wall is advanced a week;
Fig. 4 is the cleaning schematic diagram when in an embodiment, clean robot cleans the dining room;
Fig. 5 is the workflow diagram of clean robot in an embodiment.
Fig. 6 is the workflow diagram of clean robot in an embodiment.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples, only limits to following embodiment but should not be construed the above-mentioned subject area of the present invention.In the situation that do not break away from the above-mentioned technological thought of the present invention, according to ordinary skill knowledge and customary means, make various replacements and change, all should be included in the scope of the present invention.
Embodiment 1:
A kind of clean method along the limit navigation to the clean robot of middle expansion, clean robot is advanced along the body of wall outer wall in room.Clean robot is advanced along the body of wall outer wall in room.In its process, described clean robot several times leave described body of wall outer wall and move and cleaning floor to the direction away from described body of wall outer wall.After described clean robot leaves body of wall outer wall certain distance at every turn or meets barrier, first rotate a predetermined angle, then the one section predeterminable range of advancing, then turn back to described body of wall outer wall, realize traversal and cleaning to the need cleaning area.What deserves to be explained is, this section described predeterminable range and predetermined angle can be adjusted according to actual needs, for the movement that turns back to after body of wall with clean robot hereinafter distinguishes, the described predeterminable range of this section and predetermined angle are denoted as respectively predeterminable range I and predetermined angle I.When robot returns to and leave the body of wall outer wall to body of wall each time in addition, all need to change the direction of advancing, therefore can rotate before this a predetermined angle.
In the present embodiment, can control described clean robot and when ground be cleaned, when stop ground being cleaned.And described clean robot is when carrying out clean operation, and the scope that its bottom surface covers is the scope of its actual cleaning not necessarily.In the present embodiment, when defining described clean robot and carrying out clean operation, the minimum widith of the cleaning scope of its travel path width is w, and its span is generally the 300mm left and right with commercially available clean robot.
Usually, described clean robot needs to stop along described body of wall outer wall at least one Zhou Shicai that advances from start to end.Therefore, clean robot need be subjected to displacement along the ground of body of wall outer wall in the room, and the opportunity that this displacement occurs can be when described clean robot be got back to described body of wall outer wall each time, also can be when described clean robot leaves each time described body of wall outer wall and arrives the solstics, also can in leaving/return the way, perhaps have both at the same time.From this angle, no matter how described clean robot leaves the body of wall outer wall, how about get back to described body of wall outer wall, finally can both realize advancing a week around the body of wall outer wall.Need to prove, because described clean robot carries out cleaning on ground, room, for convenience of description with understanding, the body of wall outer wall or by the wall barrier all regard body of wall as and by the wall barrier at the downward projection line on ground, room.
More specifically:
Mode one: described clean robot first rotates a predetermined angle after turning back to each time (getting back to) described body of wall outer wall, then along the body of wall outer wall one section predeterminable range of advancing, then leaves the body of wall outer wall.In this paragraph, described predetermined angle and predeterminable range are denoted as respectively predeterminable range II and predetermined angle II.In the present embodiment, predeterminable range I and predeterminable range II can equate, are generally w or the value less than w.Described predetermined angle I and predetermined angle II also can equate, are generally 90 °.Natural is, described clean robot is the direction that the body of wall outer wall extends forward along body of wall outer wall direct of travel, and when it ran into corner, auto-steering got final product.
Mode two: the situation when needing the described clean robot of judgement to arrive the solstics, namely when described clean robot leaves each time described body of wall outer wall and arrives the solstics, in two kinds of situation and counter-measure: A) rotate the one section predeterminable range of advancing after a predetermined angle, then turn back to that section body of wall outer wall that leaves at last; Or B) rotate a predetermined angle, advance less than predeterminable range and after meeting barrier, then turn back to that section body of wall outer wall that leaves at last.
It is embodiment preferably that employing mode one and two haves both at the same time, and can realize the traversal in room.In embodiment, because the cleaning scope of the clean robot that adopts is not centrosymmetric image, or the clean robot that adopts is not easy to the multiple directions walking.In order to overcome above-mentioned situation, during when described clean robot is got back to described body of wall outer wall each time and/or arrival solstics, the predetermined angle of rotating is generally 90 °, then continues to advance.
The disclosed method of the present embodiment goes for the situation in many rooms.Because when door was opened, the body of wall outer wall in a plurality of rooms was continuous, described clean robot is to advance along the body of wall outer wall in room, periodically comes and goes therebetween, has finally traveled through a plurality of rooms.
Embodiment 2:
The present embodiment basic scenario only is to provide the mode of a kind of " to middle expansion " with embodiment 1.Namely to middle expansion time-division three kinds of situations: the distance between described solstics and body of wall outer wall is at least 1/2 of room width, or described solstics is the point that clean robot stops because running into barrier when advancing, or the distance between described solstics and body of wall outer wall is preset value.
Further, the distance between described solstics and body of wall outer wall can be set by the user, perhaps by the sensor that is arranged on clean robot, the room width is surveyed.Preferably, this distance be not less than between the border of leaving and its border, opposite on the clean robot travel path half of distance, need the cleaning area with ensuring coverage.
Certainly, if barrier is arranged in the room, described clean robot is to arrive by taking the air line default solstics.At this moment, usually can allow clean robot not arrive default solstics and namely rotate a predetermined angle, and just return after the one section predeterminable range of advancing, also can be understood as this moment described solstics is the point that clean robot stops because running into barrier when advancing.
In addition, if described clean robot runs into barrier in turning back to described body of wall outer wall way, clean robot detours along this barrier and avoids getting back to described body of wall outer wall after this barrier.
Embodiment 3:
The present embodiment basic scenario is with embodiment 2, just further openly tackles in the room barrier and arranges comparatively complicated situation.
Referring to Fig. 1, be two rooms laying some barriers shown in figure.In embodiment, when the wall limit barrier that exists with the tight dust of described body of wall outer wall, described clean robot is regarded the face that does not contact with the body of wall outer wall of described wall limit barrier as body of wall outer wall (as the barrier of position under the first room in Fig. 1) when advancing.In the present embodiment, clean robot " cleaning starting point " since the first room is advanced along the wall limit.Constantly return again owing to constantly leaving the wall limit in its process, be easy to go to the gateway in room, to realize the cleaning to a plurality of rooms.D point place in Fig. 1, clean robot has successfully entered the second room from the first room.In like manner, after described clean robot cleans the second room, also can successfully get back to the first room, and the zone of not cleaning is cleaned.
In embodiment, clean robot record the path of process.When clean robot marches to the path of process not, carry out clean operation; When clean robot marches to the path of process, can not carry out clean operation.In addition, described clean robot in traveling process, judgement at any time amount of dust on the area unit area of process; When on described unit are, amount of dust was greater than threshold value, described clean robot was carried out clean operation repeatedly along the path of having advanced, and then continues to advance.Fig. 4 has illustrated a kind of comparatively complicated situation, and the circle of figure center has been illustrated the bottom of dining table (dirt is more) in the dining room, and clean robot has carried out cleaning operation repeatedly at this.
Embodiment 4:
The present embodiment discloses a kind of clean method of the clean robot along limit navigation to middle expansion, is mainly described clean robot optional position in the room, and barrier in the initiative recognition room realizes that the room travels through.Particularly, comprise the following steps:
When 1) described clean robot is initial in the room any set-point, seek the body of wall outer wall;
2) when running into obstacle, described clean robot stops, and with the obstacle that the runs into body of wall outer wall as supposition.Clean robot is advanced along the body of wall outer wall of described supposition.In its process, described clean robot several times leave described body of wall outer wall and move and cleaning floor to the direction away from described body of wall outer wall.After described clean robot leaves body of wall outer wall certain distance at every turn or meets barrier, first rotate a predetermined angle, then the one section predeterminable range of advancing, then turn back to described body of wall outer wall, realize traversal and cleaning to the need cleaning area.In this step, the body of wall outer wall of described supposition may be real body of wall outer wall, and so described clean robot is just worked as embodiment 1～3.If but the body of wall outer wall of described supposition is barrier in the room, if work like that according to embodiment 1～3, be difficult to get rid of poverty, therefore need further judgement.
3) described clean robot is according to the track of its operation, and the body of wall outer wall of the described supposition of judgement is the barrier (generally inner next definite by judging whether to enter it) in body of wall outer wall or room.What deserves to be explained is, in general clean robot need along the body of wall outer wall of stating supposition after one week of operation accurately judgement around be barrier in real body of wall outer wall or room.
In this step, if the body of wall outer wall that the body of wall outer wall of described supposition is namely the room jumps to step 2) or stop.In other words, at this moment clean robot is directly to have sought the body of wall outer wall, can by the scheme implementation of embodiment 1～3, not only can quit work but also can continue to clean along described body of wall outer wall.
In this step, if the body of wall outer wall of described supposition is the barrier in the room, the barrier that deviates from described room of clean robot is advanced, and jumps to afterwards step 2), its objective is avoid robot always the obstacle thing advance and can not get rid of poverty.Certainly, clean robot deviates from after barrier in the room that runs in this step advances, also may again run into other barriers in the room, be recycled to step 2 this moment), and record the path that experiences, until robot when arriving actual body of wall outer wall, carry out with embodiment 1～3 similarly operation to complete the cleaning to the room.
Said process has been illustrated in Fig. 2～3:
Referring to Fig. 2, clean robot is from D
0Point begins to set out, to any direction begin to advance (in figure, robot advances to room middle part).Afterwards, clean robot has run into the isolated danger (all faces are not all by wall) at middle part, room.At this moment, clean robot is thought the isolated danger at middle part, room by mistake to be body of wall, i.e. " body of wall of supposition ", and carry out set clean operation.D1 point place in Fig. 2 is namely clean robot along " body of wall of supposition " the residing position after a week of advancing.
Fig. 3 is the continuity of Fig. 2, D
0All identical with Fig. 2 with the D1 point.In Fig. 3, clean robot judges according to the path that experiences the isolated danger that " body of wall of supposition " is the middle part, room at the D1 place, shows that namely most of zone in room is not cleaned.At this moment, clean robot need to deviate from isolated danger advances and searches out real body of wall, carries out afterwards set operation and can complete traversal and cleaning to the room.
Claims (9)
1. the clean method of the clean robot along limit navigation to middle expansion, it is characterized in that: clean robot is advanced along the body of wall outer wall in room; In its process, described clean robot several times leave described body of wall outer wall and move and cleaning floor to the direction away from described body of wall outer wall; After described clean robot leaves body of wall outer wall certain distance at every turn or meets barrier, first rotate a predetermined angle, then the one section predeterminable range of advancing, then turn back to described body of wall outer wall, realize traversal and cleaning to the need cleaning area.
2. the clean method of the clean robot along limit navigation to middle expansion according to claim 1, it is characterized in that: after described clean robot turns back to described body of wall outer wall each time, first rotate a predetermined angle, then along the body of wall outer wall one section predeterminable range of advancing, then leave the body of wall outer wall.
3. the clean method of the clean robot along limit navigation to middle expansion according to claim 2, it is characterized in that: when described clean robot leaves each time described body of wall outer wall and arrives the solstics: the one section predeterminable range of A) advancing after predetermined angle of rotation, then turn back to that section body of wall outer wall that leaves at last; Or B) rotate a predetermined angle, advance less than predeterminable range and after meeting barrier, then turn back to that section body of wall outer wall that leaves at last.
4. the clean method of the clean robot along limit navigation to middle expansion according to claim 3, it is characterized in that: the distance between described solstics and body of wall outer wall is at least 1/2 of room width, or described solstics is the point that clean robot stops because running into barrier when advancing, or the distance between described solstics and body of wall outer wall is preset value.
5. the clean method of clean robot along from limit navigation to middle expansion described according to 1～4 arbitrary claim, it is characterized in that: when the wall limit barrier that exists with the tight dust of described body of wall outer wall, described clean robot is regarded the face that does not contact with the body of wall outer wall of described wall limit barrier as the body of wall outer wall when advancing.
6. the clean method of clean robot along from limit navigation to middle expansion described according to 1～4 arbitrary claim is characterized in that: described clean robot when advancing, record the path of process; When clean robot marches to the path of process not, carry out clean operation; When clean robot marches to the path of process, do not carry out clean operation.
7. the clean method of clean robot along from limit navigation to middle expansion described according to 1～4 arbitrary claim is characterized in that: described clean robot in traveling process, judgement amount of dust on the area unit area of process; When on described unit are, amount of dust was greater than threshold value, described clean robot was carried out clean operation repeatedly along the path of having advanced.
8. the clean method of clean robot along from limit navigation to middle expansion described according to 1～4 arbitrary claim, it is characterized in that: if described clean robot runs into barrier in turning back to described body of wall outer wall way, detour along this barrier and avoid getting back to described body of wall outer wall after this barrier.
9. the clean method along the limit navigation to the clean robot of middle expansion, is characterized in that, comprises the following steps:
When 1) described clean robot is initial in the room any set-point, seek the body of wall outer wall;
2) when running into obstacle, described clean robot stops, and with the obstacle that the runs into body of wall outer wall as supposition; Clean robot is advanced along the body of wall outer wall of described supposition; In its process, described clean robot several times leave described body of wall outer wall and move and cleaning floor to the direction away from described body of wall outer wall; After described clean robot leaves body of wall outer wall certain distance at every turn or meets barrier, first rotate a predetermined angle, then the one section predeterminable range of advancing, then turn back to described body of wall outer wall, realize traversal and cleaning to the need cleaning area;
3) described clean robot is according to the track of its operation, and the body of wall outer wall of the described supposition of judgement is the barrier in body of wall outer wall or room; If the body of wall outer wall that the body of wall outer wall of described supposition is namely the room stops or jumping to step 2); If the body of wall outer wall of described supposition is the barrier in the room, the barrier that deviates from described room is advanced, and jumps to afterwards step 2).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310071351.7A CN103099586B (en) | 2013-03-06 | 2013-03-06 | A kind of clean method along limit navigation to the clean robot of middle expansion |
| PCT/CN2014/072266 WO2014135008A1 (en) | 2013-03-06 | 2014-02-19 | Edge-to-center cleaning method used by robot cleaner |
| TW103107496A TW201434546A (en) | 2013-03-06 | 2014-03-05 | Cleaning method for edgewise-navigating and centralizedly-stretching cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310071351.7A CN103099586B (en) | 2013-03-06 | 2013-03-06 | A kind of clean method along limit navigation to the clean robot of middle expansion |
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| CN103099586A true CN103099586A (en) | 2013-05-15 |
| CN103099586B CN103099586B (en) | 2016-03-02 |
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| CN201310071351.7A Active CN103099586B (en) | 2013-03-06 | 2013-03-06 | A kind of clean method along limit navigation to the clean robot of middle expansion |
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| TW (1) | TW201434546A (en) |
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| WO2014135008A1 (en) * | 2013-03-06 | 2014-09-12 | Jian Yi | Edge-to-center cleaning method used by robot cleaner |
| CN104932495A (en) * | 2015-05-13 | 2015-09-23 | 刘鹏军 | Cleaning robot system based on wireless network cooperation work |
| CN105283109A (en) * | 2014-05-02 | 2016-01-27 | 艾微波特公司 | Robotic vacuum cleaner and control method therefor |
| CN105388900A (en) * | 2015-12-25 | 2016-03-09 | 北京奇虎科技有限公司 | Control method and device for automatic sweeper |
| CN105824310A (en) * | 2015-01-08 | 2016-08-03 | 江苏美的清洁电器股份有限公司 | Robot walking control method and robot |
| CN105983967A (en) * | 2015-03-23 | 2016-10-05 | 发那科株式会社 | Robot control apparatus having function of detecting contact with object or person |
| CN106248083A (en) * | 2016-09-21 | 2016-12-21 | 苏州瑞得恩自动化设备科技有限公司 | The method for path navigation that a kind of robot travels in rectangular slope |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2014135008A1 (en) | 2014-09-12 |
| TW201434546A (en) | 2014-09-16 |
| CN103099586B (en) | 2016-03-02 |
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