CN104644061B - 带有矫正装置的自移动机器人及其矫正方法 - Google Patents

带有矫正装置的自移动机器人及其矫正方法 Download PDF

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Publication number
CN104644061B
CN104644061B CN201310591136.XA CN201310591136A CN104644061B CN 104644061 B CN104644061 B CN 104644061B CN 201310591136 A CN201310591136 A CN 201310591136A CN 104644061 B CN104644061 B CN 104644061B
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China
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main body
self
correcting
sensor
frame
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Chinese (zh)
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CN104644061A (zh
Inventor
周四海
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Ecovacs Robotics Suzhou Co Ltd
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Ecovacs Robotics Suzhou Co Ltd
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Priority to CN201310591136.XA priority Critical patent/CN104644061B/zh
Priority to PCT/CN2014/091380 priority patent/WO2015074532A1/fr
Publication of CN104644061A publication Critical patent/CN104644061A/zh
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN201310591136.XA 2013-11-20 2013-11-20 带有矫正装置的自移动机器人及其矫正方法 Active CN104644061B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201310591136.XA CN104644061B (zh) 2013-11-20 2013-11-20 带有矫正装置的自移动机器人及其矫正方法
PCT/CN2014/091380 WO2015074532A1 (fr) 2013-11-20 2014-11-18 Robot automoteur doté d'appareil de correction, et procédé de correction de celui-ci

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310591136.XA CN104644061B (zh) 2013-11-20 2013-11-20 带有矫正装置的自移动机器人及其矫正方法

Publications (2)

Publication Number Publication Date
CN104644061A CN104644061A (zh) 2015-05-27
CN104644061B true CN104644061B (zh) 2017-09-19

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CN201310591136.XA Active CN104644061B (zh) 2013-11-20 2013-11-20 带有矫正装置的自移动机器人及其矫正方法

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CN (1) CN104644061B (fr)
WO (1) WO2015074532A1 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106909140B (zh) * 2015-12-22 2021-02-09 苏州宝时得电动工具有限公司 路线回归方法及系统
CN105816106B (zh) * 2016-05-31 2019-10-18 台州市霸业智能科技有限公司 智能扫地机器人
CN106239528B (zh) * 2016-08-30 2019-04-09 宁波菜鸟智能科技有限公司 扫地机器人的路径清扫方法
CN106325276B (zh) * 2016-09-21 2019-06-25 苏州瑞得恩光能科技有限公司 机器人在斜坡平面上直线行驶的判定方法及控制方法
CN106970623B (zh) * 2017-04-18 2021-05-25 杭州匠龙机器人科技有限公司 智能清洁装置及其网格路径作业方法
CN108646733B (zh) * 2018-04-27 2021-08-10 杭州艾豆智能科技有限公司 一种自动矫正的移动机器人的矫正方法
CN109491397B (zh) * 2019-01-14 2021-07-30 傲基科技股份有限公司 割草机器人及其割草区域划定方法
CN110162061B (zh) * 2019-06-06 2022-06-24 深圳怪虫机器人有限公司 一种光伏清洁机器人直线清洁路径的方法
CN113748826B (zh) * 2020-06-01 2022-10-28 上海山科机器人有限公司 自主作业设备和自主作业系统
CN115486765B (zh) * 2022-09-26 2023-06-27 茅台学院 一种自移动机器人及其矫正方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1284177A (zh) * 1997-11-27 2001-02-14 阳光及自动化公司 移动机器人及其控制系统的改进
EP1930797A2 (fr) * 2006-12-07 2008-06-11 Samsung Gwangju Electronics Co., Ltd. Appareil pour induire la mise au poste automatique d'un robot
EP1967116A1 (fr) * 2007-03-05 2008-09-10 MIELE & CIE. KG Procédé de nettoyage d'une surface au sol à l'aide d'un appareil de nettoyage automobile, en particulier d'un robot aspirateur
CN102018481A (zh) * 2009-09-11 2011-04-20 德国福维克控股公司 驱动清洁机器人的方法
CN103217926A (zh) * 2012-01-20 2013-07-24 苏州宝时得电动工具有限公司 自动工作设备及其控制方法
CN203609373U (zh) * 2013-11-20 2014-05-28 苏州科沃斯商用机器人有限公司 带有矫正装置的自移动机器人

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005080834A (ja) * 2003-09-08 2005-03-31 Matsushita Electric Ind Co Ltd 自律走行装置
JP2005346477A (ja) * 2004-06-03 2005-12-15 Toshiba Tec Corp 自律走行体
CN201759498U (zh) * 2010-09-01 2011-03-16 莱克电气股份有限公司 自动修正旋转角度的智能吸尘器
US9596971B2 (en) * 2011-10-21 2017-03-21 Samsung Electronics Co., Ltd. Robot cleaner and control method for the same
KR101970541B1 (ko) * 2012-04-06 2019-04-22 삼성전자주식회사 로봇 청소기 및 그 제어 방법
CN202714801U (zh) * 2012-08-17 2013-02-06 乐金电子(天津)电器有限公司 智能吸尘器控制系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1284177A (zh) * 1997-11-27 2001-02-14 阳光及自动化公司 移动机器人及其控制系统的改进
EP1930797A2 (fr) * 2006-12-07 2008-06-11 Samsung Gwangju Electronics Co., Ltd. Appareil pour induire la mise au poste automatique d'un robot
EP1967116A1 (fr) * 2007-03-05 2008-09-10 MIELE & CIE. KG Procédé de nettoyage d'une surface au sol à l'aide d'un appareil de nettoyage automobile, en particulier d'un robot aspirateur
CN102018481A (zh) * 2009-09-11 2011-04-20 德国福维克控股公司 驱动清洁机器人的方法
CN103217926A (zh) * 2012-01-20 2013-07-24 苏州宝时得电动工具有限公司 自动工作设备及其控制方法
CN203609373U (zh) * 2013-11-20 2014-05-28 苏州科沃斯商用机器人有限公司 带有矫正装置的自移动机器人

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CN104644061A (zh) 2015-05-27
WO2015074532A1 (fr) 2015-05-28

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