CN103948354A - Ground cleaning robot and control method thereof - Google Patents
Ground cleaning robot and control method thereof Download PDFInfo
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- CN103948354A CN103948354A CN201410185401.9A CN201410185401A CN103948354A CN 103948354 A CN103948354 A CN 103948354A CN 201410185401 A CN201410185401 A CN 201410185401A CN 103948354 A CN103948354 A CN 103948354A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000003032 molecular docking Methods 0.000 claims description 55
- 230000015572 biosynthetic process Effects 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 3
- 230000008685 targeting Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000004519 manufacturing process Methods 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
- A47L9/2805—Parameters or conditions being sensed
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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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
- A47L2201/02—Docking stations; Docking operations
Abstract
The invention relates to a ground cleaning robot. The ground cleaning robot comprises a charging seat and a robot main body, wherein a transmission unit is arranged on the charging seat and comprises a pair of lateral transmitting elements which are arranged on the left side and the right side of the charging seat; each lateral transmitting element can alternatively transmit far signals and near signals with the same transmission angle and different transmission radiuses; the far signals and the near signals respectively form a far signal coverage area and a near signal coverage area; the right side part of the far signal coverage area on the left side and the left side part of the far signal coverage area on the right side are overlapped to form a butt joint area; the robot main body comprises rechargeable batteries and a receiving unit; the receiving unit at least comprises three receiving elements; the three receiving elements are respectively arranged at the front end, the front end left side and the front end right side of the robot main body. With arrangement of the three receiving elements and the two lateral transmitting elements on the charging seat, the robot can utilize a simple method to realize charging butt joint between the robot main body and the charging seat.
Description
Technical field
The present invention relates to a kind of robot for cleaning floor field.
Background technology
Robot for cleaning floor is a kind of full intelligent cleaning device, and this device carries out cleaning by autonomous on cleaned cleaning area in the situation that keeping an eye on and control without user.Common robot for cleaning floor in when work without be connected, rely on its inner rechargeable battery to realize on the ground movement as energy source and power with external power source always.But because the service time of rechargeable battery is limited, in use for some time, can run into unavoidably electric weight and exhaust the step that needs charging.Because most of robot for cleaning floors are after work a period of time, be difficult to accurately its current particular location of location, therefore, most robot for cleaning floor all needs an energy that robot body is directed to the external recharging apparatus that assigned address charges.When robot for cleaning floor is worked, this external recharging apparatus is be fixed on a constant position and be electrically connected with external power source all the time.
Patent publication No. is in CN101972129 A, to disclose a kind of robot cleaner system, and described robot cleaner system comprises Docking station, and described Docking station is used for: within the scope of the predetermined angle of the front side of described Docking station, form docking area; Be formed on the left side of docking area and the docking guide portion that right side does not overlap each other; And transmitting docking targeting signal, make, according to the arrival distance of docking targeting signal, the first docking guide portion and the second docking guide portion are divided into in docking guide portion.Robot cleaner system also comprises robot cleaner, described robot cleaner is for dock Boundary Moving between guide portion during targeting signal with second along the first docking guide portion to docking area when sensing docking, and along docking area, moves with execution when the arrival docking area and dock.In this system, in this system of robot, when robot cleaner docks with Docking station (being external recharging apparatus), robot cleaner must advance (when charging starts, robot is positioned at W1Huo W2 district) or turn around (when charging starts, robot is positioned at L district or Zone R) fall back on the first docking guide portion and the second border of docking between guide portion and just can achieve a butt joint, and the problem that this docking mode exists is exactly, when charging starts, robot is positioned at the situation of L district or Zone R, in the case, robot need to turn around towards the first docking guide portion and the second Boundary Moving docking between guide portion, and now due to robot cleaner is roughly moved back to cradle, the front end that is robot cleaner is contrary with cradle, therefore, this kind of robot cleaner must must be front at robot cleaner, rear portion all arranges receiving element could normal work.This will certainly increase the manufacturing cost of robot cleaner.
Summary of the invention
For above-mentioned technical problem, the first object of the present invention is to provide and a kind ofly only at robot body's first half, receiving element is set and just can realizes the robot for cleaning floor of efficient charge function.The second object of the present invention is to provide a kind of control method that can realize fast the robot for cleaning floor of charging.
In order to realize the first above-mentioned goal of the invention, the present invention adopts following technical scheme: a kind of robot for cleaning floor, is characterized in that: comprising:
Cradle, for being electrically connected with external power source, which is provided with charging terminal and the transmitter unit for transmitting in setting regions, described transmitter unit comprises a left side that is arranged on described cradle, one counter-lateral quadrents radiated element of right both sides, sidepiece radiated element described in each all can have same transmit angle by alternate emission, the signal far away of different transmitting radiuses and nearly signal, the transmitting radius of described signal far away is greater than the transmitting radius of described nearly signal, the described corresponding formation of signal far away signal coverage areas far away, the described nearly signal coverage areas of the corresponding formation of nearly signal, a left side for described nearly signal coverage areas, a left side for the described signal coverage areas far away of the same side is all dropped in right both sides of the edge, on right both sides of the edge, the right side part that is positioned at the described signal coverage areas far away in left side overlaps each other to form with the left part that is positioned at the described signal coverage areas far away on right side and docks region,
Robot body, it comprises rechargeable battery, connect terminal, receiving element, control module, thereby described connection terminal is electrically connected as the supplementary electric weight of described rechargeable battery for the charging terminal with described, the signal that described receiving element sends for receiving described transmitter unit, the signal controlling machine human body's that receiving element described in described control module utilization receives movement is to be connected to described charging terminal by connecting terminal, described receiving element at least comprises the first receiving element, the second receiving element, the 3rd receiving element, the second described receiving element is arranged on described robot body's front end, the first described receiving element is arranged on described robot body's front end left side, the 3rd described receiving element is arranged on described robot body's front end right side.
In technique scheme, preferably, the angle of departure of described sidepiece radiated element is more than or equal to 90 °.
In technique scheme, preferably, described sidepiece radiated element has illuminating source, lens combination and light emission controller.
In technique scheme, preferably, described signal far away and nearly signal are infrared signal.
In technique scheme, preferably, described transmitter unit also comprises the middle radiated element that is arranged on described cradle centre position, described middle radiated element can be launched registration signal, and the angle of departure angle of described registration signal is less than the described nearly signal of sidepiece radiated element transmitting and the angle of departure angle of signal far away.
In order to realize the second above-mentioned goal of the invention, the present invention adopts following technical scheme: a kind of method of controlling above-mentioned robot for cleaning floor, said method comprising the steps of:
Judge whether described robot body needs to move to described cradle place and charge;
When the described robot body of judgement is when need to charge, control module first control main body swings and/or rotates and makes described robot body's front end can face described cradle;
When described robot body's front end faces after described cradle, if the signal that the second described receiving element now receives is only for the signal far away in left side or be only the signal far away on right side, described robot body relies on the signal of the second receiving element to guide towards middle docking region and towards the direction of the cradle near described, moves until arrives and dock region simultaneously; If the signal that the second described receiving element now receives is for receive the signal far away in left side and the nearly signal in left side simultaneously, control module is controlled described robot body direction rotation predetermined angular to the right, and then relies on the signal guide of the second receiving element or the first receiving element to move to middle docking location; If the signal that the second described receiving element now receives is for receive the signal far away on right side and the nearly signal on right side simultaneously, control module is controlled described robot body direction rotation predetermined angular to the left, and then relies on the signal guide of the second receiving element or the 3rd receiving element to move to middle docking location;
When any one receiving element in described receiving element can receive the signal far away in left side and the signal far away on right side simultaneously, show that described robot body enters in described docking region.
In such scheme, preferably, if the signal that the second described receiving element now receives is only for the signal far away in left side or be only the signal far away on right side, described robot body towards middle docking region and simultaneously the mobile route when the direction of the cradle near described moves be S shape path or zigzag path or spiral yarn shaped path.
In such scheme, preferably, if the signal that described receiving element receives is for receive the signal far away in left side and the nearly signal in left side or receive the signal far away on right side and the nearly signal on right side simultaneously simultaneously, control module is controlled described robot body to the right or to anticlockwise predetermined angular, and then to the right or mobile to the left preset distance, if described robot body does not still enter docking region after moving preset distance, control main body is again to the right or to anticlockwise predetermined angular, then continue again to third side to mobile preset distance, until robot body enters docking region.
In such scheme, preferably, when described robot body enters behind docking region, described robot body again swings and/or rotates and makes robot body's front end face described cradle, then relies on the signal guide of the second receiving element to move towards cradle direction.
Beneficial effect of the present invention is: by three receiving elements being set and being provided with two sidepiece radiated elements on cradle, make this robot for cleaning floor can utilize open-and-shut method just can realize robot body and dock with the charging of cradle.
Accompanying drawing explanation
The structure chart that accompanying drawing 1 is robot for cleaning floor of the present invention;
Accompanying drawing 2 is the structure principle chart of the first sidepiece radiated element of the present invention;
Accompanying drawing 3 is the schematic diagram of transmitter unit in cradle of the present invention;
Accompanying drawing 4 is the docking operation figure of robot of the present invention and cradle;
Wherein: 1, robot body; 2, cradle; 11, the first receiving element; 12, the second receiving element; 21, charging terminal; 22, transmitter unit; 23, the first sidepiece radiated element; 24, the second sidepiece radiated element; 25, middle radiated element; 26, illuminating source; 27, lens combination.
The specific embodiment
Below in conjunction with embodiment shown in the drawings, the present invention is described in detail below:
Robot for cleaning floor as shown in Fig. 1, this robot for cleaning floor is a kind of robot for cleaning floor for floor suction, it is not in the situation that needing user to control in real time, in region to be cleaned, advance and by the ground from cleaning area, suck the device that impurity (for example, dust) comes automated cleaning region to be cleaned simultaneously.This robot for cleaning floor comprises robot body 1, cradle 2.
Robot body 1 comprises rechargeable battery (not shown), connects terminal (not shown), receiving element, control module.Thereby connect terminal for cradle 2 on charging terminal be electrically connected as the supplementary electric weight of rechargeable battery, receiving element is for receiving the signal that the transmitter unit on cradle 2 sends, and control module utilizes the signal controlling machine human body's 1 that receiving element receives movement to be connected on the charging terminal of cradle connecting terminal.In the present embodiment, receiving element has three receiving elements, and three receiving elements are separately positioned on the first receiving element 11 of robot body 1 front end, the second receiving element 12 that is arranged on robot body 1 front end left side and the 3rd receiving element (not shown) that is arranged on robot body 1 front end right side.
Cradle 2 is for being electrically connected with external power source, which is provided with charging terminal 21 and the transmitter unit 22 for transmitting in the setting regions of cradle front side, transmitter unit 22 comprise be arranged on cradle 2 left sides the first sidepiece radiated element 23, be arranged on the second sidepiece radiated element 24 of cradle 2 right sides and the middle radiated element 25 that is arranged on cradle 2 centre positions.
Concrete structure and the operation principle of the first sidepiece radiated element 23 as shown in Figure 2: the angle of departure of the first sidepiece radiated element 23 is all greater than 90 °, the first sidepiece radiated element 23 all has illuminating source 26, lens combination 27 and light emission controller (not shown).The first sidepiece radiated element 23 can have same transmit angle, different the first signal far away and the first nearly signal of launching radiuses by alternate emission, and the transmitting radius of the first signal far away is greater than the transmitting radius of the first nearly signal.Wherein, the first signal far away and the first nearly signal are infrared signal.
Equally, the second sidepiece radiated element 24 is identical with structure and the principle of the first sidepiece radiated element 23, it can have same transmit angle, different the second signal far away and the second nearly signal of launching radiuses by alternate emission, and the transmitting radius of the second signal far away is greater than the transmitting radius of the second nearly signal.
As shown in Figure 3, the corresponding first signal coverage areas A1 far away of formation of the first signal far away that the first sidepiece radiated element 23 sends, the corresponding first nearly signal coverage areas A2 of formation of the first nearly signal that the first sidepiece radiated element 23 sends, the corresponding second signal coverage areas A3 far away of formation of the second signal far away that the second sidepiece radiated element 24 sends, the corresponding second nearly signal coverage areas A4 of formation of nearly signal that the second sidepiece radiated element 24 sends, a left side of the first nearly signal coverage areas A2, a left side of the first signal coverage areas S1 far away of the same side is all dropped in right both sides of the edge, on right both sides of the edge, the right side part that is positioned at the first signal coverage areas A1 far away in left side overlaps each other to form with the left part that is positioned at the second signal coverage areas A3 far away on right side and docks region S1.
In accompanying drawing illustrated embodiment of the present invention, middle radiated element 25 can be launched registration signal, and the angle of departure angle of registration signal is less than the first sidepiece radiated element 23 and the first signal far away of the second sidepiece radiated element 24 transmittings and the angle of departure angle of the second signal far away.As described in Figure, shown in, the registration signal of middle radiated element 25 transmittings is corresponding has registration signal overlay area S2, most regions of this registration signal overlay area S2 are all positioned at docking region S1, and registration signal, because the angle of departure of signal is little, overlay area is little, is easier to aim at, therefore when robot body 1 moves to registration signal overlay area S2, will preferentially use the guide of this registration signal to cradle 2 places, to move straight.Certainly, if radiated element in the middle of this is not set, robot body 1 still can be in the left and right sides guide of signal far away or nearly signal be moved to cradle place and realize charging docking.
Robot body 1 has cleaning pattern and charge mode, and when in cleaning pattern, robot body 1 can carry out floor cleaning work; When robot body 1 forwards charge mode to, robot body 1 start to find cradle until with move to cradle place and realize charging and dock.
In addition, in order to prevent that three radiated elements on cradle from transmitting mutual the interference, three radiated elements are all mutually to stagger transmitting, the signal that hockets transmitting.
Explain in detail above-mentioned robot below and realize the method for charging:
Robot body 1 is when carrying out cleaning, under cleaning pattern, robot body 1 control module is wanted constantly according to the dump energy of rechargeable battery, this parameter such as duration of carrying out cleaning, to judge in time whether robot body 1 needs to move to cradle 2 places and charge.If when judgement robot body 1 need to charge, robot body will be transformed into charge mode by cleaning pattern at once.
The first step, robot body 1 swing and/or rotate and make robot body 1 front end face cradle 2, for robot body 1 subsequently can move prerequisite is provided towards cradle 2 with " positive direction ".Because the second receiving element 12 is arranged on robot body 1 front end, therefore be somebody's turn to do " positive direction " normally centerline direction of the second receiving element 12, the second receiving element 12 is the strongest in this " positive direction " upper signal strength signal intensity receiving, robot body 1 has namely determined robot body " positive direction " according to the strongest mode of searching signal strength signal intensity, robot body 1 front end faces cradle 2.
Second step, robot body 1, adjust after direction, start the RST that judges that the second receiving element 12 receives, by reference to the accompanying drawings 4, specifically there is following several situation:
If the signal that the second receiving element 12 now receives is only first signal far away in left side, be that robot body 1 is in A1-A2 region, as 1. number robot body position, robot body relies on the guide of the first signal far away that the second receiving element 12 receives towards the direction near cradle 2, to move subsequently to the right and simultaneously, now robot body 1 mobile route can select S shape path or zigzag path or spiral yarn shaped path (above-mentioned mobile route can make robot body 1 have not only to centre, move but also simultaneously to the mobile trend moving near cradle direction) until enter docking region S1.
If the signal that the second receiving element 12 now receives is only second signal far away on right side, be that robot body 1 is in A2-A4 region, as 2. number robot body position, robot body relies on the guide of the second signal far away that the second receiving element 12 receives towards the direction near cradle 2, to move subsequently left and simultaneously, until enter docking region S1.
If the signal that the second receiving element 12 now receives is for receive first signal far away in left side and the first nearly signal in left side simultaneously, be that robot body 1 is in A2 region, as 3. number robot body position, control module first control main body 1 to right rotation predetermined angular, and then rely on the signal guide that the second receiving element 12 or the first receiving element 11 receive to move preset distance to middle docking location, if moved after preset distance, robot body 1 does not still enter docking region, now robot body 1 is again to right rotation predetermined angular, and then rely on the signal guide that the second receiving element 12 or the first receiving element 11 receive to move preset distance to middle docking location, until enter docking region.
If the signal that the second receiving element 12 now receives is for receive second signal far away on right side and the second nearly signal on right side simultaneously, be that robot body 1 is in A4 region, as 4. number robot body position, control module first control main body 1 to anticlockwise predetermined angular, and then rely on the signal guide that the second receiving element 12 or the 3rd receiving element receive to move preset distance to middle docking location, if moved after preset distance, robot body 1 does not still enter docking region, now robot body 1 is again to right rotation predetermined angular, and then rely on the signal guide that the second receiving element 12 or the 3rd receiving element receive to move preset distance to middle docking location, until enter docking region.
If the signal that the second receiving element 12 now receives is for receive first signal far away in left side and second signal far away on right side simultaneously, be that robot body 1 is in S1 region, as 5. number robot body position, control module control main body 1 directly moves towards cradle 2.
The 3rd step, if robot body 1 enters after docking region S1, robot body 1 again swings and/or rotates and makes robot body 1 front end face cradle 2, then rely on the signal guide of the second receiving element 12 to move towards cradle 2 directions, in the moving process towards cradle 2, the second receiving element 12 will can receive the first signal far away and the second signal far away all the time simultaneously, to make robot body 1 remain in docking region S1, if in moving process, robot body 1 moves to outside docking region, control module is directed to robot body 1 in docking region S1 according to the method described above again.
In addition, in the present embodiment, due to radiated element 25 in the middle of being also provided with, because this centre radiated element 25 can be launched the registration signal with the little angle of departure, therefore, robot body 1 under charge mode, be that robot body 1 is in finding the process of cradle 2, when if each receiving element in receiving element can receive this registration signal, robot body 1 is transformed into immediately and utilizes this registration signal to guide near cradle, be robot body when selecting index signal, the registration signal that middle radiated element 25 sends is preferentially selected.
Above-described embodiment is only explanation technical conceive of the present invention and feature, and its object is to allow person skilled in the art can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences that spirit is done according to the present invention change or modify, within all should being encompassed in protection scope of the present invention.
Claims (9)
1. a robot for cleaning floor, is characterized in that: comprising:
Cradle, for being electrically connected with external power source, which is provided with charging terminal and the transmitter unit for transmitting in setting regions, described transmitter unit comprises a left side that is arranged on described cradle, one counter-lateral quadrents radiated element of right both sides, sidepiece radiated element described in each all can have same transmit angle by alternate emission, the signal far away of different transmitting radiuses and nearly signal, the transmitting radius of described signal far away is greater than the transmitting radius of described nearly signal, the described corresponding formation of signal far away signal coverage areas far away, the described nearly signal coverage areas of the corresponding formation of nearly signal, a left side for described nearly signal coverage areas, a left side for the described signal coverage areas far away of the same side is all dropped in right both sides of the edge, on right both sides of the edge, the right side part that is positioned at the described signal coverage areas far away in left side overlaps each other to form with the left part that is positioned at the described signal coverage areas far away on right side and docks region,
Robot body, it comprises rechargeable battery, connect terminal, receiving element, control module, thereby described connection terminal is electrically connected as the supplementary electric weight of described rechargeable battery for the charging terminal with described, the signal that described receiving element sends for receiving described transmitter unit, the signal controlling machine human body's that receiving element described in described control module utilization receives movement is to be connected to described charging terminal by connecting terminal, described receiving element at least comprises the first receiving element, the second receiving element, the 3rd receiving element, the second described receiving element is arranged on described robot body's front end, the first described receiving element is arranged on described robot body's front end left side, the 3rd described receiving element is arranged on described robot body's front end right side.
2. robot for cleaning floor according to claim 1, is characterized in that: the angle of departure of described sidepiece radiated element is more than or equal to 90 °.
3. robot for cleaning floor according to claim 1, is characterized in that: described sidepiece radiated element has illuminating source, lens combination and light emission controller.
4. robot for cleaning floor according to claim 3, is characterized in that: described signal far away and nearly signal are infrared signal.
5. robot for cleaning floor according to claim 1, it is characterized in that: described transmitter unit also comprises the middle radiated element that is arranged on described cradle centre position, described middle radiated element can be launched registration signal, and the angle of departure angle of described registration signal is less than the described nearly signal of sidepiece radiated element transmitting and the angle of departure angle of signal far away.
6. control, as power requires the method for the robot for cleaning floor as described in 1-5 any one, is characterized in that: said method comprising the steps of:
Judge whether described robot body needs to move to described cradle place and charge;
When the described robot body of judgement is when need to charge, control module first control main body swings and/or rotates and makes described robot body's front end can face described cradle;
When described robot body's front end faces after described cradle, if the signal that the second described receiving element now receives is only for the signal far away in left side or be only the signal far away on right side, described robot body relies on the signal of the second receiving element to guide towards middle docking region and towards the direction of the cradle near described, moves until arrives and dock region simultaneously; If the signal that the second described receiving element now receives is for receive the signal far away in left side and the nearly signal in left side simultaneously, control module is controlled described robot body direction rotation predetermined angular to the right, and then relies on the signal guide of the second receiving element or the first receiving element to move to middle docking location; If the signal that the second described receiving element now receives is for receive the signal far away on right side and the nearly signal on right side simultaneously, control module is controlled described robot body direction rotation predetermined angular to the left, and then relies on the signal guide of the second receiving element or the 3rd receiving element to move to middle docking location;
When any one receiving element in described receiving element can receive the signal far away in left side and the signal far away on right side simultaneously, show that described robot body enters in described docking region.
7. method according to claim 6, it is characterized in that: if the signal that the second described receiving element now receives only for the signal far away in left side or be only the signal far away on right side, described robot body towards middle docking region and simultaneously the mobile route when the direction of the cradle near described moves be S shape path or zigzag path or spiral yarn shaped path.
8. method according to claim 6, it is characterized in that: if the signal that described receiving element receives is for receive the signal far away in left side and the nearly signal in left side or receive the signal far away on right side and the nearly signal on right side simultaneously simultaneously, control module is controlled described robot body to the right or to anticlockwise predetermined angular, and then to the right or mobile to the left preset distance, if described robot body does not still enter docking region after moving preset distance, control main body is again to the right or to anticlockwise predetermined angular, then continue again to third side to mobile preset distance, until robot body enters docking region.
9. method according to claim 6, it is characterized in that: when described robot body enters behind docking region, described robot body again swings and/or rotates and makes robot body's front end face described cradle, then relies on the signal guide of the second receiving element to move towards cradle direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410185401.9A CN103948354B (en) | 2014-05-05 | 2014-05-05 | A kind of robot for cleaning floor and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410185401.9A CN103948354B (en) | 2014-05-05 | 2014-05-05 | A kind of robot for cleaning floor and control method thereof |
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| CN103948354A true CN103948354A (en) | 2014-07-30 |
| CN103948354B CN103948354B (en) | 2016-03-09 |
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| CN105242674A (en) * | 2015-11-20 | 2016-01-13 | 江苏美的清洁电器股份有限公司 | Sweeping robot back charging system and back charging control method thereof |
| WO2016050215A1 (en) * | 2014-09-30 | 2016-04-07 | 科沃斯机器人有限公司 | Self-propelled surface-traveling robot system and method for returning to primary charging base |
| CN105511456A (en) * | 2014-09-23 | 2016-04-20 | 苏州宝时得电动工具有限公司 | Control method for automatic walking equipment, and automatic work system |
| CN105511473A (en) * | 2016-01-08 | 2016-04-20 | 莱克电气股份有限公司 | Robot charging base and method for guiding robot to return and be chargedto charging |
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| CN106444736A (en) * | 2015-08-11 | 2017-02-22 | 苏州宝时得电动工具有限公司 | Automatic return system and control method |
| EP3170436A1 (en) * | 2015-11-20 | 2017-05-24 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Going back and charging system for sweeping robot and method for controlling the same |
| CN106998980A (en) * | 2014-12-10 | 2017-08-01 | 伊莱克斯公司 | Floor type is detected using laser sensor |
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