CN104216404B - Self-moving device and control method thereof - Google Patents
Self-moving device and control method thereof Download PDFInfo
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- CN104216404B CN104216404B CN201310213355.4A CN201310213355A CN104216404B CN 104216404 B CN104216404 B CN 104216404B CN 201310213355 A CN201310213355 A CN 201310213355A CN 104216404 B CN104216404 B CN 104216404B
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- 238000000034 method Methods 0.000 title claims description 19
- 238000004891 communication Methods 0.000 claims description 3
- 239000002699 waste material Substances 0.000 abstract description 9
- 239000000725 suspension Substances 0.000 abstract description 2
- 239000000428 dust Substances 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 5
- 238000007667 floating Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 206010057071 Rectal tenesmus Diseases 0.000 description 1
- 241000519996 Teucrium chamaedrys Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 208000012271 tenesmus Diseases 0.000 description 1
Classifications
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a self-moving device. The self-moving device comprises a body (1), more than two downward-looking sensors (2) and a control module, wherein the downward-looking sensors are arranged on the bottom of the body; and the control module is arranged in the body, is connected with the downward-looking sensors and controls actions of the body according to the quantity of suspension signals transmitted from the downward-looking sensors. The body carries out correct actions and is prevented from rotating to another suspended position and dropping; and a phenomenon that the self-moving device runs in an idling state when suspended and waste and possible pollution are caused is avoided.
Description
Technical field
The present invention relates to self-moving device, especially relevant with dropproof structure in self-moving device and control method.
Background technology
At present, with the popularization of the self-moving device class controlling intelligent household appliances such as intellective dust collector and intelligent sweeping, more next
More home-use intelligent appliances, to mitigate operating pressure, improve quality of the life.
It is likely that running into step in the courses of work such as intellective dust collector, if stopping in time machine can not can be led to fall
Under, cause machine breakdown, bring economic loss.It is thus desirable to the dropproof device of setting, current dust catcher is in anterior installation
Detector, when detecting abnormal conditions, dust catcher is retreated or left and right turn, prevents from falling.But, intellective dust collector etc.
It is also possible to machine is knocked in the course of work, or machine is directly lifted due to inspection machine or other purpose by user, this
The execution of Shi Ruguo machine retreats or left and right turn instruction, then may proceed to operate, this not only wastes the energy but also the rotation of round brush can
Dust can be made to trickle down again, cause secondary pollution.
As disclosed a kind of robot being provided with lower view sensor in United States Patent (USP) US7155308, view sensor detects instantly
During less than signal, robot executes go to action, thus evading falling（As from stair）The risk damaged.But this robot is sometimes
Still vacant state may be faced after turning left or turning right, now then have little time turning backward, lead to fall, or a wheel is suspended on
Recess dallies.In addition, working as this robot operation exception, artificially this robot is picked up when being checked or keeping in repair, robot
None- identified, still can execute go to action, thus causing energy waste or secondary pollution etc..
For solving the above problems, traditional intellective dust collector arranges travel switch, normal work generally at floating driving wheel
The gravity of body is relied on to depress driving wheel when making, travel switch does not sense hanging signal, when machine is raised, driving wheel is certainly
Dynamic tenesmus, travel switch generation action simultaneously senses hanging signal, controls machine to shut down entrance holding state.But setting is floating
Dynamic driving wheel needs larger space, and this is accomplished by body and has enough height.But, present intellective dust collector is in order to suitable
Answer wider cleaning region, especially for the cleaning of the furniture bottoms such as the less bed of some bottom spaces or cupboard,
Need intellective dust collector to have relatively low height, floating driving wheel and its travel switch cannot be installed on this kind of dust catcher.
Content of the invention
For the problems referred to above, the present invention provides a kind of self-moving device, can detect hanging situation in time so that certainly moving
Device carries out correct action, not only can prevent from falling but also be capable of identify that hanging action, thus reducing energy loss, it is to avoid
Cause possible pollution.
The technical problem to be solved is achieved by the following technical solution：
A kind of self-moving device, including：
Body；
Lower view sensor, described lower view sensor quantity is two or more, and described two above lower view sensors are all pacified
It is contained in the bottom of described body；
Control module, described control module is arranged on described in vivo, is connected with described lower view sensor, described control mould
Root tuber controls described body action according to the hanging number of signals that described lower view sensor sends.
In the present invention, under two or more, view sensor is arranged on body bottom portion, can conveniently carry out detecting vacant state, will
The hanging signal of diverse location is sent to control module, and control module judges position residing for body according to the hanging signal of varying number
Configuration state, so that body makes correct action, it is to avoid walk on and cause to fall to overhead positions, also avoids hanging space-time
Turn and cause to waste and possible pollution.Present configuration is simple, without manpower intervention, convenient and reliable, there is very good city
Field prospect.
Preferably, described two above lower view sensors are respectively positioned on the outer rim of described body bottom portion.By lower view sensor
It is arranged on the outer rim of body bottom portion, hanging signal can be detected earlier, body has more room for maneuver, it is to avoid because of excessive velocities
Have little time to turn to and lead to fall.
Preferably, described lower view sensor has three, one of front portion being located at described body, and two other is located at
The both sides of described body.In the past, left and right three orientation detections, are not in blind spot, also will not because avoiding overhead positions and
It is strayed into another overhead positions, lead to fall damage.
Preferably, described two above lower view sensors comprise the lower view sensor positioned at body bottom portion outer rim and position
Lower view sensor in the inner side of described body bottom portion driving wheel.View sensor under installing inside driving wheel, can be true further
Recognize body knock over or by people from ground lift or drive wheel suspension edge state so that timely stall in this condition,
Avoid causing energy waste and issuable pollution.
Preferably, also include alarm module, described alarm module is connected with the communication of described control module.By alarm module
Reported to the police, note, such that it is able to safeguard to the present invention in time, preventing bigger accident to lift operating personnel.
The present invention to solve above-mentioned technical problem also by following technical scheme：
A kind of control method of self-moving device, comprises the following steps：
Step（1）Plural lower view sensor positioned at body bottom portion gathers hanging signal；
Step（2）The hanging signal gathering is sent to control module by described lower view sensor；
Step（3）Described control module is entered to described body according to the hanging number of signals that described lower view sensor sends
Row is following to be controlled：
When only one described lower view sensor sends hanging signal, described control module controls described body to turn
To；
When there being described in two or more lower view sensor send hanging signal, described control module controls described body to enter
Enter interruption of work state.
In the present invention, under two or more, view sensor is arranged on body bottom portion, can conveniently carry out detecting vacant state, will
The hanging signal of diverse location is sent to control module, and control module judges position residing for body according to the hanging signal of varying number
Put, so that body makes correct action, it is to avoid go to another overhead positions and cause to fall, idle running when also avoiding hanging causes
Waste and possible pollution.Present configuration is simple, without manpower intervention, convenient and reliable, there are very good market prospects.
Another embodiment of control method of the present invention, comprises the following steps：
Step（1）Plural lower view sensor positioned at body bottom portion gathers hanging signal；
Step（2）The hanging signal gathering is sent to control module by described lower view sensor；
Step（3）Described control module is entered to described body according to the hanging number of signals that described lower view sensor sends
Row is following to be controlled：
When only one described lower view sensor sends hanging signal, described control module controls described body to turn
To；
When there being described in two or more lower view sensor send hanging signal, described control module controls described body to exist
First turning in time T, after arrival time T, if still there being lower view sensor described in two or more to send hanging signal, controlling
Make described body and enter interruption of work state, if only one described lower view sensor sends hanging signal, control described
Body continues to turn to, and sends hanging signal without described lower view sensor and then controls described body normal operation, wherein T
＞ 0.
In the present invention, under two or more, view sensor is arranged on body bottom portion, can conveniently carry out detecting vacant state, will
The hanging signal of diverse location is sent to control module, and control module judges position residing for body according to the hanging signal of varying number
Configuration state, and when view sensor sends hanging signal under two or more, further confirm that the position residing for body by time delay
Configuration state, so that body makes correct action, it is to avoid walks on or goes to another overhead positions and cause to fall, also avoids
When hanging, idle running causes to waste and possible pollution.Present configuration is simple, without manpower intervention, convenient and reliable, have very
Good market prospects.
Preferably, described T is 300～800 milliseconds.Buffer time is unsuitable long or too short, in case the present invention cannot be realized
Above-mentioned effect, or cause energy waste, lose the meaning of buffering.
Another embodiment of control method of the present invention, comprises the following steps：
Step（1）Plural lower view sensor positioned at body bottom portion gathers hanging signal, wherein, described two with
On lower view sensor comprise positioned at body bottom portion outer rim lower view sensor and be located at described body bottom portion driving wheel in
The lower view sensor of side；
Step（2）The hanging signal gathering is sent to control module by described lower view sensor；
Step（3）Described control module is entered to described body according to the hanging number of signals that described lower view sensor sends
Row is following to be controlled：
When only one lower view sensor sends hanging signal, described control module controls body to turn to；
When there being described in two or more lower view sensor send hanging signal, if comprise inside driving wheel lower regards
Sensor sends hanging signal, and described control module controls described body to enter interruption of work state；Otherwise, described control mould
Block controls described body to turn to.
In the present invention, under two or more, view sensor is arranged on body bottom portion, can conveniently carry out detecting hanging signal, will
The hanging signal of diverse location is sent to control module, and control module judges position residing for body according to the hanging signal of varying number
Put, and when under two or more, view sensor sends hanging signal, further, by the mark of this lower view sensor signal
Information, further confirms that body location state, so that body makes correct action, it is to avoid walk on or go to
Another overhead positions cause to fall, and idle running when also avoiding hanging causes to waste and possible pollution.Present configuration is simple, need not
Manpower intervention, convenient and reliable, there are very good market prospects.
Preferably, described control module is also connected with an alarm module, and described control module controls described body to enter and interrupts
Working condition is reported to the police simultaneously.Reported to the police by alarm module, noted such that it is able to right in time to lift operating personnel
The present invention is safeguarded, prevents bigger accident.
Brief description
Fig. 1 is the structural representation of the first embodiment of self-moving device of the present invention；
Fig. 2 is the structural representation of the second embodiment of self-moving device of the present invention.
Specific embodiment
The invention discloses a kind of self-moving device and its control method, this self-moving device can be intellective dust collector,
Intelligent sweeping can also be other can automatic moving midget plant, by carrying out detecting hanging signal to self-moving device,
And carry out signal identification, thus controlling this self-moving device to carry out corresponding action, thus reaching dropproof, energy-conservation, preventing dirt
The purpose of dye, and all automates in this process, any intervention that need not be artificial, and structure is simple, will not improve from mobile
The making of device and use cost, therefore have fabulous market value.
Below in conjunction with the accompanying drawings and two embodiments carry out launching explanation to the self-moving device of the present invention and its control method.
First embodiment：
In this embodiment, the self-moving device of the present invention includes body 1, lower view sensor 2, control module（In figure is not
Illustrate）And alarm module（In figure is not shown）.This body 1 is the main part of self-moving device, for implementing various actions, its
Bottom is provided with driving wheel 11,12, to facilitate from walking.
Lower view sensor 2 quantity is three（But it is not limited to three, can be two or four or more）, should
Three lower view sensors 2 are respectively positioned on the outer rim of body 1 bottom.One of front portion being located at body 1, two other is located at body
1 both sides.
This three lower view sensors 2 are infrared sensor（Be not limited to infrared sensor or ultrasonic sensor,
Angle sensor etc.）, comprise infrared transmitter and infrared remote receiver, when receiver receives the infrared signal that ground return is returned
When, judge to be in normal condition；When receiver does not receive reflected signal, judge to be in vacant state.
Control module is arranged in body 1, is connected with lower view sensor 2, and control module sends according to lower view sensor 2
Hanging number of signals control body 1 action.
Alarm module is also included in the present embodiment（Also dependent on needing to be not provided with this alarm module）, alarm module and control
Module communication connects, and is driven by control module, can be loudspeaker or alarm lamp, thus by blowing a whistle or optical flare etc.
Mode sends alarm signal to operator, reminds operator to note.
The control method of the self-moving device of the present embodiment has both of which, one：
The control method of self-moving device, comprises the following steps：
Step（1）Three lower view sensors 2 positioned at body 1 bottom gather hanging signal；
Step（2）The hanging signal gathering is sent to control module by lower view sensor 2；
Step（3）Control module is controlled to body 1 as follows according to the hanging number of signals that lower view sensor 2 sends
System：
When only one lower view sensor 2 sends hanging signal, control module controls body 1 to turn to；
When having that under two or more, view sensor 2 sends hanging signal, control module controls body 1 to enter interruption of work
State.
Under two or more, view sensor 2 sends hanging signal, then body 1 is likely to be to be in and knocks over or artificially lifted
State, now should timely enter interruption of work state, to avoid wasting the energy and to produce possible pollution.
It two：
The control method of self-moving device, comprises the following steps：
Step（1）Three lower view sensors 2 positioned at body 1 bottom gather hanging signal；
Step（2）The hanging signal gathering is sent to control module by lower view sensor 2；
Step（3）Control module is controlled to body 1 as follows according to the hanging number of signals that lower view sensor 2 sends
System：
When only one lower view sensor 2 sends hanging signal, control module controls body 1 to turn to；
When having that under two or more, view sensor 2 sends hanging signal, control module control body 1 in time T first
Turn to, after arrival time T, if still there being view sensor 2 under two or more to send hanging signal, in controlling body 1 to enter
Disconnected working condition, if only one lower view sensor 2 sends hanging signal, controls body 1 to continue to turn to, without
Lower view sensor 2 sends hanging signal and then controls body 1 normal operation, wherein T ＞ 0.
In this control method, it is provided with time delay, to facilitate detection body 1 status further, thus making more
Correct judgement, in order to avoid delay the certainly mobile operation of normally intelligence.In fact, when control module receive plural hanging
During signal, if body 1 is just in certain edge or corner, now turn at once, after time delay T, device would not sense hanging letter
Number or only sense a hanging signal；If body 1 is knocked over or artificially lifts or wheel has been suspended on edge, after time delay T,
Control module still can receive plural hanging signal.In the present embodiment, this delay time T is 300～800 milliseconds,
Most preferably 500 milliseconds.
Second embodiment：
In this embodiment, the self-moving device of the present invention also includes body 1, lower view sensor 2, control module（In figure
Not shown）And alarm module（In figure is not shown）.Wherein, have no in body 1, control module and alarm module and first embodiment
Essence is different, will not be described here.
In the present embodiment, lower view sensor 2 quantity is five（But it is not limited to five, can be the number of more than any two
Amount）, this five lower view sensors are respectively positioned at the outer rim of body 1 bottom and the inner side of body 1 bottom driving wheel 11,12.At this
In embodiment, three lower view sensors 2 are located at the outer rim of body 1 bottom, before one of lower view sensor 2 is located at body 1
Portion, two other lower view sensor 2 is located at the both sides of body 1.Two other lower view sensor 2 is located at body 1 bottom driving wheel
11st, 12 inner side, two driving wheels 11,12 correspond to two lower view sensors 2.
Because lower view sensor 2 present position is different, the lower view sensor of the diverse location that control module receives sends
Signal accordingly can carry position encoded information so that control module is identified, so that it is determined that the sender of signal be located at this
Which kind of position of body 1.It is of course also possible to different according to lower view sensor 2 position, it is respectively adopted different types of lower regarding and sense
Device, the lower view sensor 2 being such as arranged on the outer rim of local 1 bottom adopts infrared sensor, and is located at driving wheel 11,12 inner side
Lower view sensor 2 adopts ultrasonic sensor etc..No matter adopting same type or different types of lower view sensor, as long as controlling
Module effective can identify to it.Preferably scheme is that the hanging signal data itself that control module receives contains mark,
This mark can be position encoded information or lower view sensor 2 kind of information.The control method of the self-moving device of the present embodiment
Comprise the steps：
Step（1）Lower view sensor 2 positioned at five of body 1 bottom gathers hanging signal, wherein, regards sensing under three
Device 2 is located at body 1 bottom outer-edge, and two other is located at the inner side of body 1 bottom driving wheel 11,12；
Step（2）The hanging signal gathering is sent to control module by five lower view sensors 2；
Step（3）Control module is controlled to body 1 as follows according to the hanging number of signals that lower view sensor 2 sends
System：
When only one lower view sensor 2 sends hanging signal, control module controls body 1 to turn to；
When having that under two or more, view sensor 2 sends hanging signal, if comprising under driving wheel 11,12 inner side
View sensor 2 sends hanging signal, and control module controls body 1 to enter interruption of work state；Otherwise, control module controls this
Body 1 turns to.
Receive in control module and be located at the lower view sensor 2 of body 1 bottom outer-edge with lower inside driving wheel regarding biography
After the hanging signal that sensor 2 sends, need to be identified lower view sensor 2 positioned at body 1 according to the positional information in signal first
Bottom outer-edge or the inner side being located at driving wheel 11,12, then judge again and send instruction.Specifically, when plural
When sending hanging signal including at least a lower view sensor 2 being located at driving wheel 11,12 inner side in lower view sensor 2, control
Module judges that body 1 has been in vacant state（Possible body 1 is knocked over or artificially lifting device body 1 or wheel are suspended on certain
Edge）, send interruption of work status command.
In the present embodiment, it is provided with two lower view sensors 2 inside driving wheel 11,12, can be determined very accurately
Whether self-moving device is in the state being reversed and being raised, thus making correct judgement in time, to avoid wasting the energy
And produce possible pollution.
Above example is only in order to illustrate rather than restriction, although having carried out in detail to the present invention with reference to preferred embodiment
Describe in detail bright, it will be understood by those within the art that, the present invention can be modified or equivalent, without deviating from
The spirit and scope of the present invention, it all should be covered in the middle of scope of the presently claimed invention.
Claims (10)
1. a kind of self-moving device is it is characterised in that include：
Body (1)；
Lower view sensor (2), described lower view sensor (2) quantity is two or more, described two above lower view sensors (2)
It is installed in the bottom of described body (1)；
Control module, described control module is arranged in described body (1), is connected with described lower view sensor (2), described control
Module controls described body (1) action according to the hanging number of signals that described lower view sensor (2) sends,
Wherein, when only one described lower view sensor sends hanging signal, described control module controls described body (1)
Turn to；When there being described in two or more lower view sensor send hanging signal, described control module controls described body (1) to enter
Enter interruption of work state.
2. self-moving device as claimed in claim 1 is it is characterised in that described two above lower view sensor (2) all positions
Outer rim in described body (1) bottom.
3. self-moving device as claimed in claim 2 is it is characterised in that described lower view sensor (2) has three, and wherein one
The individual front portion positioned at described body (1), two other is located at the both sides of described body (1).
4. self-moving device as claimed in claim 1 is it is characterised in that described two above lower view sensor (2) comprises
Positioned at body (1) bottom outer-edge lower view sensor (2) and be located at described body (1) bottom driving wheel inner side lower regarding biography
Sensor (2).
5. self-moving device as claimed in claim 1 is it is characterised in that also include alarm module, described alarm module and institute
State control module communication to connect.
6. a kind of control method of self-moving device is it is characterised in that comprise the following steps：
The plural lower view sensor (2) that step (1) is located at body (1) bottom gathers hanging signal；
The hanging signal gathering is sent to control module by the described lower view sensor (2) of step (2)；
The hanging number of signals that the described control module of step (3) sends according to described lower view sensor (2) is to described body (1)
Controlled as follows：
When only one described lower view sensor sends hanging signal, described control module controls described body (1) to turn to；
When there being described in two or more lower view sensor send hanging signal, described control module controls described body (1) to enter
Enter interruption of work state.
7. a kind of control method of self-moving device is it is characterised in that comprise the following steps：
The plural lower view sensor (2) that step (1) is located at body (1) bottom gathers hanging signal；
The hanging signal gathering is sent to control module by the described lower view sensor (2) of step (2)；
The hanging number of signals that the described control module of step (3) sends according to described lower view sensor (2) is to described body (1)
Controlled as follows：
When only one described lower view sensor sends hanging signal, described control module controls described body (1) to turn to；
When there being described in two or more lower view sensor send hanging signal, described control module controls described body (1) to exist
First turning in time T, after arrival time T, if still there being lower view sensor described in two or more to send hanging signal, controlling
Make described body (1) and enter interruption of work state, if only one described lower view sensor sends hanging signal, control
Described body (1) continues to turn to, and sends hanging signal without described lower view sensor and then controls described body (1) normal
Operation, wherein T ＞ 0.
8. the control method of self-moving device as claimed in claim 7 is it is characterised in that described T is 300～800 milliseconds.
9. a kind of control method of self-moving device is it is characterised in that comprise the following steps：
The plural lower view sensor (2) that step (1) is located at body (1) bottom gathers hanging signal, wherein, described two
Above lower view sensor (2) comprises positioned at the lower view sensor (2) of body (1) bottom outer-edge and positioned at described body (1)
The lower view sensor (2) of the inner side of bottom driving wheel (11,12)；
The hanging signal gathering is sent to control module by the described lower view sensor (2) of step (2)；
The hanging number of signals that the described control module of step (3) sends according to described lower view sensor (2) is to described body (1)
Controlled as follows：
When only one lower view sensor sends hanging signal, described control module controls body (1) to turn to；
When there being described in two or more lower view sensor send hanging signal, if comprising inside driving wheel (11,12)
Lower view sensor sends hanging signal, and described control module controls described body (1) to enter interruption of work state；Otherwise, institute
Stating control module controls described body (1) to turn to.
10. described self-moving device as arbitrary in claim 6-9 control method it is characterised in that described control module also
Connect an alarm module, described control module controls described body (1) entrance interruption of work state to be reported to the police simultaneously.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310213355.4A CN104216404B (en) | 2013-05-31 | 2013-05-31 | Self-moving device and control method thereof |
| EP14804380.5A EP3007023B1 (en) | 2013-05-31 | 2014-05-29 | Self-moving device and control method therefor |
| PCT/CN2014/078784 WO2014190919A1 (en) | 2013-05-31 | 2014-05-29 | Self-moving device and control method therefor |
| JP2016515639A JP6815197B2 (en) | 2013-05-31 | 2014-05-29 | Self-propelled device and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310213355.4A CN104216404B (en) | 2013-05-31 | 2013-05-31 | Self-moving device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104216404A CN104216404A (en) | 2014-12-17 |
| CN104216404B true CN104216404B (en) | 2017-02-15 |
Family
ID=51988013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310213355.4A Active CN104216404B (en) | 2013-05-31 | 2013-05-31 | Self-moving device and control method thereof |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3007023B1 (en) |
| JP (1) | JP6815197B2 (en) |
| CN (1) | CN104216404B (en) |
| WO (1) | WO2014190919A1 (en) |
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| CN108720729A (en) * | 2017-04-14 | 2018-11-02 | 科沃斯机器人股份有限公司 | Clean robot |
| CN208002738U (en) * | 2017-05-03 | 2018-10-26 | 深圳市银星智能科技股份有限公司 | Cleaning equipment |
| US10905298B2 (en) | 2017-05-03 | 2021-02-02 | Shenzhen Silver Star Intelligent Technology Co., Ltd. | Cleaning equipment |
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| CN110215153B (en) * | 2018-03-02 | 2024-03-26 | 科沃斯机器人股份有限公司 | Cleaning robot and operation control method thereof |
| CN112204486B (en) | 2018-04-03 | 2024-08-09 | 尚科宁家运营有限公司 | Time-of-flight sensor arrangement for robot navigation and method for positioning using the same |
| CN108724143A (en) * | 2018-05-31 | 2018-11-02 | 深圳市银星智能科技股份有限公司 | Mobile robot and its control method |
| EP3829824A4 (en) | 2018-08-01 | 2022-06-15 | SharkNinja Operating LLC | Robotic vacuum cleaner |
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Also Published As
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|---|---|
| CN104216404A (en) | 2014-12-17 |
| WO2014190919A1 (en) | 2014-12-04 |
| JP2016520389A (en) | 2016-07-14 |
| JP6815197B2 (en) | 2021-01-20 |
| EP3007023B1 (en) | 2018-11-28 |
| EP3007023A1 (en) | 2016-04-13 |
| EP3007023A4 (en) | 2017-04-19 |
| EP3007023A8 (en) | 2016-12-21 |
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