CN103099586B - A kind of clean method along limit navigation to the clean robot of middle expansion - Google Patents
A kind of clean method along limit navigation to the clean robot of middle expansion Download PDFInfo
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- CN103099586B CN103099586B CN201310071351.7A CN201310071351A CN103099586B CN 103099586 B CN103099586 B CN 103099586B CN 201310071351 A CN201310071351 A CN 201310071351A CN 103099586 B CN103099586 B CN 103099586B
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000004888 barrier function Effects 0.000 claims abstract description 57
- 238000004140 cleaning Methods 0.000 claims abstract description 54
- 230000008569 process Effects 0.000 claims abstract description 19
- 239000000428 dust Substances 0.000 claims description 8
- 230000009191 jumping Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000004804 winding Methods 0.000 description 4
- 238000010926 purge Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 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
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
<b/> the object of this invention is to provide a kind of clean method needing the traversal of cleaning area, reduce the clean robot of repetition course realized for comprising many rooms.I.e. a kind of clean method along 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 to the direction away from described body of wall outer wall and cleaning floor.Leave body of wall outer wall certain distance at every turn at described clean robot or after meeting barrier, first rotate a predetermined angle, then one section of predeterminable range of advancing, then turn back to described body of wall outer wall, realize needing the traversal of cleaning area and cleaning.
Description
Technical field
The present invention relates to 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 possessing certain function comes into family and working environment gradually, alleviates the work burden of people.These clean robots are with certain operational mode automatic scrubbing or utilize the dust on vacuum clean floor and dirt when needing clear area to move.How realizing, in the cleaning needing cleaning area, at present, comparing and common are: random direction clean method, utilize the clean method of multiple combination of paths, based on setting up the clean method of grating map, there is the clean method of navigational system, etc.
Random direction clean method, refers to that clean robot does not take path planning, runs into barrier and then turn over certain angle at random and to walk on cleaning during walking.This cleaning method controls simple, and does not need too many high-precision sensor, and therefore cost is lower.But based on the cleaning modes that its random direction is walked, be easy to make some places not be swept into, cleaning is then repeated in other places.Although the covering completely to needing cleaning area can be reached theoretically when not binding hours, because the restriction of battery electric quantity on it makes needing the covering completely of cleaning area to be difficult to realize.
Multiple combination of paths cleaning method is that combine circular flow by isometric helix ray mode, along wall walking mode and random pattern.This cleaning method does not need sensor costly, and requires not high to positioning control equally accurate yet, contrasts single random direction cleaning mode and also improves sweeping efficiency.But due to not preferably rule in several modes conversion, its cleaning path still has certain uncertainty, make cleaning efficiency and effect unsatisfactory.
It is adopt from inside to outside that wound form path combines along square wave path, limit clean method, or ecto-entad cleans room with certain winding pattern; Meet barrier then advance along this barrier outer wall and perform clean operation; When clean robot advance along described barrier and perform in the process of clean operation reach path that described winding pattern determines time, walk along the residual paths determined by described winding pattern and perform clean operation.But owing to carrying out in the process of cleaning according to winding pattern, clean robot travels through in the mode of enclosed room main region and clean, and requires higher to positioning precision and motion control accuracy.Further, for the cleaning in multiple room, its adaptive faculty is poor, because this cleaning method not easily finds the entrance in room, is difficult to multiple room all to travel through cleaning one time.
First along wall or walk to obtain by wall barrier and need the position data on border, cleaning area by clean robot based on the cleaning method setting up environment grating map, travel through this first with predetermined manner again needs cleaning area to obtain barrier outline position data in this region simultaneously, sets up environment grating map.While traveling through this region first or thereafter in time, region is cleaned, and remember according to the direction of travel of clean robot and distance the region cleaned, compare built grating map and purging zone then obtain non-purging zone, then benefit carried out to non-purging zone sweep.This cleaning method comparatively before random pattern improve efficiency, but, for room more more, obviously there is many deficiencies.Such as, first need the border for the treatment of cleaning area to carry out along limit walking, to obtain boundary position data, and then carry out traveling through acquisition barrier outline data simultaneously for region to be cleaned, finally set up grating map; Secondly, larger internal memory is needed to store grid information.On the other hand, along with the increase of travel distance, cumulative errors can be increasing, built cartographic information and clean robot own location information is caused to have larger distortion, thus make cleaning effect undesirable, unless the reliability that more sensor costly ensures surveyed grating map and clean robot self-position is installed.
There is the clean method of navigational 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, clean robot can be made to be easier to realize following functions: the multiple room of high-efficiency cleaning ground, avoiding obstacles and traversal.But these guiders are often expensive, make clean robot cost and bring a high price, not easily universal use.
Summary of the invention
The object of this invention is to provide a kind of clean method needing the traversal of cleaning area, reduce the clean robot of repetition course realized for comprising many rooms.
The technical scheme adopted for realizing the object of the invention is such, a kind of clean method along 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 to the direction away from described body of wall outer wall and cleaning floor.Leave body of wall outer wall certain distance at every turn at described clean robot or after meeting barrier, first rotate a predetermined angle, then one section of predeterminable range of advancing, then turn back to described body of wall outer wall, realize needing the traversal of cleaning area and cleaning.
When existing with the wall limit barrier of the tight dust of described body of wall outer wall, described clean robot does not regard as body of wall outer wall with the face of body of wall wall contacts when advancing by described wall limit barrier.
According to technological thought of the present invention, also provide a kind of initial from optional position, and effectively can identify the clean robot control method of barrier in room, namely a kind of along limit navigation to the clean method of the clean robot of middle expansion, comprise the following steps:
1) when described clean robot is initial in room any set-point, find body of wall outer wall.
2) stop when described clean robot runs into obstacle, and using the body of wall outer wall of run into obstacle 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 to the direction away from described body of wall outer wall and cleaning floor.Leave body of wall outer wall certain distance at every turn at described clean robot or after meeting barrier, first rotate a predetermined angle, then one section of predeterminable range of advancing, then turn back to described body of wall outer wall, realize needing the traversal of cleaning area and cleaning.
3) track that runs according to it of described clean robot, judges that the body of wall outer wall of described supposition is the barrier in body of wall outer wall or room.If namely the body of wall outer wall of described supposition is the body of wall outer wall in room, stops or jumping to step 2).If the body of wall outer wall of described supposition is the barrier in room, then the barrier deviated from described room is advanced, and jumps to step 2 afterwards).
The present invention contrasts prior art and has following remarkable advantage:
1. clean robot is by advancing along wall and moving from wall, can effectively avoid drain sweep or repeat cleaning;
2. clean robot not only improves the sweeping efficiency in more spacious environment, can also cover the floor area that barrier comparatively concentrates room.
3. clean robot adopts and moves along wall or wall limit barrier and clean all the time, makes clean robot be easy to find the gateway in room, realizes the cleaning completely to each room, and have high sweeping efficiency.
Accompanying drawing explanation
The nonlimiting examples that device of the present invention can be provided by accompanying drawing further illustrates.
Fig. 1 is the schematic diagram that in an embodiment, clean robot enters many rooms along wall
Fig. 2 be in an embodiment clean robot from certain point along advancing any direction and meeting the operation schematic diagram of barrier;
Fig. 3 is the schematic diagram that in Fig. 2, clean robot is got rid of poverty, namely with barrier in Fig. 2 for body of wall advance one week after leave the schematic diagram of barrier;
Clean schematic diagram time Fig. 4 is clean robot cleaning dining room in an embodiment;
Fig. 5 is the workflow diagram of clean robot in an embodiment.
Fig. 6 is the workflow diagram of clean robot in an embodiment.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described, but should not be construed the above-mentioned subject area of the present invention and be only limitted to following embodiment.Without departing from the idea case in the present invention described above, according to ordinary skill knowledge and customary means, make various replacement and change, all should be included in the scope of the present invention.
embodiment 1:
Along limit navigation to a clean method for 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 to the direction away from described body of wall outer wall and cleaning floor.Leave body of wall outer wall certain distance at every turn at described clean robot or after meeting barrier, first rotate a predetermined angle, then one section of predeterminable range of advancing, then turn back to described body of wall outer wall, realize needing the traversal of cleaning area and cleaning.What deserves to be explained is, this section of described predeterminable range and predetermined angle can adjust according to actual needs, distinguish to turn back to the movement after body of wall with clean robot hereinafter, this section of described predeterminable range and predetermined angle are denoted as predeterminable range I and predetermined angle I respectively.When robot returns to body of wall each time and leaves body of wall outer wall in addition, all need to change the direction of advancing, therefore can rotate a predetermined angle before this.
In the present embodiment, described clean robot can be controlled and when ground is cleaned, when stop cleaning ground.And described clean robot is when carrying out clean operation, the scope that its bottom surface covers is its actual clean scope not necessarily.In the present embodiment, define described clean robot when carrying out clean operation, the minimum widith of the clean scope of its travel path Width is w, and its span, with commercially available clean robot, is generally about 300mm.
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 room, and the opportunity that this displacement occurs can when described clean robot gets back to described body of wall outer wall each time, also can when described clean robot leaves described body of wall outer wall each time and arrives solstics, also can leave/return in way, or have both at the same time.From this angle, no matter how described clean robot leaves body of wall outer wall, how about gets back to described body of wall outer wall, finally can both realize advancing one week around body of wall outer wall.It should be noted that, because described clean robot carries out cleaning at room floors, for convenience of description with understanding, body of wall outer wall or all regard as body of wall by wall barrier and by wall barrier at the downward projection line of room floors.
More specifically:
Mode one: after described clean robot turns back to each time (getting back to) described body of wall outer wall, first rotates a predetermined angle, then to advance one section of predeterminable range along body of wall outer wall, then leaves body of wall outer wall.In this paragraph, described predetermined angle and predeterminable range are denoted as predeterminable range II and predetermined angle II respectively.In the present embodiment, predeterminable range I and predeterminable range II can be equal, are generally the value of w or less than w.Described predetermined angle I and predetermined angle II also can be equal, are generally 90 °.It is axiomatic that described clean robot is the direction that body of wall outer wall extends forward along body of wall outer wall direct of travel, when it runs into corner, auto-steering.
Mode two: need situation when judging described clean robot arrival solstics, namely when described clean robot leaves described body of wall outer wall each time and arrives solstics, in two kinds of situation and counter-measure: A) rotate a predetermined angle after to advance one section of predeterminable range, then turn back to that section of body of wall outer wall finally left; Or B) rotate a predetermined angle, advancing is less than predeterminable range and after meeting barrier, then turns back to that section of body of wall outer wall finally left.
It is good embodiment that employing mode one and two haves both at the same time, and can realize the traversal in room.In embodiment, because the clean scope of adopted clean robot is not centrosymmetric image, or the clean robot adopted is not easy to multiple directions walking.In order to overcome above-mentioned situation, when described clean robot gets back to described body of wall outer wall each time and/or when arriving solstics, the predetermined angle of rotating is generally 90 °, then continues to advance.
Method disclosed in the present embodiment goes for the situation in many rooms.Because when door is opened, the body of wall outer wall in multiple room is continuous print, described clean robot is advanced along the body of wall outer wall in room, periodically comes and goes therebetween, finally traveled through multiple room.
embodiment 2:
The present embodiment basic scenario, with embodiment 1, is only to provide the mode of one " to middle expansion ".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 user, or is surveyed room width by the sensor be arranged on clean robot.Preferably, this distance is not less than the half of distance on clean robot travel path between left border and its border, opposite, needs cleaning area with ensuring coverage.
Certainly, if having barrier in room, then described clean robot is not by the solstics arriving and preset that takes the air line.Now, clean robot usually can be allowed not arrive default solstics and namely rotate a predetermined angle, and just return after one section of predeterminable range of advancing, also can be understood as now described solstics is the point that clean robot stops because running into barrier when advancing.
In addition, if described clean robot turn back to described body of wall outer wall way in run into barrier, then clean robot along this barrier detour avoid this barrier after get back to described body of wall outer wall.
embodiment 3:
The present embodiment basic scenario, with embodiment 2, is just openly tackled barrier in room further and is arranged comparatively complicated situation.
See being two rooms laying some barriers shown in Fig. 1, figure.In embodiment, when existing with the wall limit barrier of the tight dust of described body of wall outer wall, described clean robot does not regard as body of wall outer wall (barrier as position immediately below the first room in Fig. 1) when advancing by described wall limit barrier with the face of body of wall wall contacts.In the present embodiment, clean robot is advanced along wall limit " clean starting point " from the first room.Constantly return again owing to constantly leaving wall limit in its process, be easy to the gateway going to room, to realize the cleaning to multiple room.D point place in Fig. 1, clean robot successfully enters 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 not clean region is cleaned.
In embodiment, clean robot record the path of process.When clean robot march to without path time, perform clean operation; When clean robot marches to the path of process, clean operation can not be carried out.In addition, described clean robot in traveling process, at any time judge process area unit area on amount of dust; When in described unit area, amount of dust is greater than threshold value, described clean robot performs clean operation repeatedly along the path of having advanced, and then continues to advance.Fig. 4 illustrates a kind of comparatively complicated situation, and the circle of figure center illustrates the bottom (dirt is more) of dining table in dining room, and clean robot this has been cleaning operation repeatedly.
embodiment 4:
The present embodiment discloses a kind of clean method along limit navigation to the clean robot of middle expansion, and mainly described clean robot is from optional position in room, barrier in initiative recognition room, realizes room traversal.Particularly, comprise the following steps:
1) when described clean robot is initial in room any set-point, find body of wall outer wall;
2) stop when described clean robot runs into obstacle, and using the body of wall outer wall of run into obstacle 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 to the direction away from described body of wall outer wall and cleaning floor.Leave body of wall outer wall certain distance at every turn at described clean robot or after meeting barrier, first rotate a predetermined angle, then one section of predeterminable range of advancing, then turn back to described body of wall outer wall, realize needing the traversal of cleaning area and cleaning.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 just works as embodiment 1 ~ 3.If but the body of wall outer wall of described supposition is barrier in room, if work like that according to embodiment 1 ~ 3, is then difficult to get rid of poverty, therefore needs further judgement.
3) track that runs according to it of described clean robot, judges that the body of wall outer wall of described supposition is the barrier (generally by judging whether to enter its inside to determine) in body of wall outer wall or room.What deserves to be explained is, could accurately judge after in general clean robot needs to run one week along the body of wall outer wall stating supposition around be barrier in real body of wall outer wall or room.
In this step, if namely the body of wall outer wall of described supposition is the body of wall outer wall in room, jump to step 2) or stop.In other words, at this moment clean robot is directly sought body of wall outer wall, by the scheme implementation of embodiment 1 ~ 3, not only can be able to 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 room, then the barrier that clean robot deviates from described room is advanced, and jumps to step 2 afterwards), its objective is avoid robot always obstacle thing advance and can not get rid of poverty.Certainly, after the clean robot barrier deviated from the room that runs in this step is advanced, also other barriers in room may again be run into, now be recycled to step 2), and record experienced path, until when robot arrives actual body of wall outer wall, perform the similar operation of same embodiment 1 ~ 3 to complete the cleaning to room.
Fig. 2 ~ 3 illustrate said process:
See Fig. 2, clean robot is from D
0point starts to set out, and starts advance (Tu Zhong robot advances in the middle part of room) to any direction.Afterwards, clean robot encounters the isolated danger (all by wall) in the middle part of room.Now, clean robot thinks the isolated danger in the middle part of room by mistake to be body of wall, i.e. " assuming that body of wall ", and performs set clean operation.Namely D1 point place in Fig. 2 is clean robot advance one week along " assuming that body of wall " after residing for position.
Fig. 3 is the continuity of Fig. 2, D
0all identical with Fig. 2 with D1 point.In Fig. 3, according to experienced path, clean robot judges that " assuming that body of wall " is the isolated danger in the middle part of room at D1 place, namely show that most of region in room is not cleaned.Now, clean robot needs to deviate from isolated danger and advances and search out real body of wall, performs set operation afterwards and can complete traversal to room and cleaning.
Claims (7)
1., along limit navigation to a clean method for the clean robot of 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 to the direction away from described body of wall outer wall and cleaning floor; Leave body of wall outer wall certain distance or after meeting barrier at described clean robot at every turn, when described clean robot leaves described body of wall outer wall each time and arrives solstics: one section of predeterminable range of advancing after A) rotating a predetermined angle, then turn back to that section of body of wall outer wall finally left; Or B) rotate a predetermined angle, advancing is less than predeterminable range and after meeting barrier, then turns back to that section of body of wall outer wall finally left;
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.
2. the clean method along limit navigation to the clean robot of 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 to advance one section of predeterminable range along body of wall outer wall, then leave body of wall outer wall.
3. the clean method along limit navigation to the clean robot of middle expansion according to 1 ~ 2 arbitrary claim, it is characterized in that: when existing with the wall limit barrier of the tight dust of described body of wall outer wall, described clean robot does not regard as body of wall outer wall with the face of body of wall wall contacts when advancing by described wall limit barrier.
4. according to 1 ~ 2 arbitrary claim along limit navigation to the clean method of the clean robot of middle expansion, it is characterized in that: described clean robot when advancing, record the path of process; When clean robot march to without path time, perform clean operation; When clean robot marches to the path of process, do not carry out clean operation.
5. according to 1 ~ 2 arbitrary claim along limit navigation to the clean method of the clean robot of middle expansion, it is characterized in that: described clean robot in traveling process, judge process area unit area on amount of dust; When in described unit area, amount of dust is greater than threshold value, described clean robot performs clean operation repeatedly along the path of having advanced.
6. the clean method along limit navigation to the clean robot of middle expansion according to 1 ~ 2 arbitrary claim, it is characterized in that: if described clean robot turn back to described body of wall outer wall way in run into barrier, then along this barrier detour avoid this barrier after get back to described body of wall outer wall.
7., along limit navigation to a clean method for the clean robot of middle expansion, it is characterized in that, comprise the following steps:
1) when described clean robot is initial in room any set-point, find body of wall outer wall;
2) stop when described clean robot runs into obstacle, and using the body of wall outer wall of run into obstacle as supposition; Clean robot is advanced along the body of wall outer wall of described supposition; In its process, the body of wall outer wall that described clean robot several times leave described supposition moves to the direction away from described body of wall outer wall and cleaning floor; Described clean robot leave at every turn supposition body of wall outer wall certain distance or after meeting barrier, first rotate a predetermined angle, advancing again one section of predeterminable range, then turn back to the body of wall outer wall of described supposition, realizing needing the traversal of cleaning area and clean;
3) track that runs according to it of described clean robot, judges that the body of wall outer wall of described supposition is the barrier in body of wall outer wall or room; If namely the body of wall outer wall of described supposition is the body of wall outer wall in room, stops or jumping to step 2); If the body of wall outer wall of described supposition is the barrier in room, then the barrier deviated from described room is advanced, and jumps to step 2 afterwards).
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 CN103099586A (en) | 2013-05-15 |
| CN103099586B true 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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| CN (1) | CN103099586B (en) |
| TW (1) | TW201434546A (en) |
| WO (1) | WO2014135008A1 (en) |
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Also Published As
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| CN103099586A (en) | 2013-05-15 |
| WO2014135008A1 (en) | 2014-09-12 |
| TW201434546A (en) | 2014-09-16 |
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