CN104765363A - Intelligent floor sweeping robot and control method thereof - Google Patents
Intelligent floor sweeping robot and control method thereof Download PDFInfo
- Publication number
- CN104765363A CN104765363A CN201410752775.4A CN201410752775A CN104765363A CN 104765363 A CN104765363 A CN 104765363A CN 201410752775 A CN201410752775 A CN 201410752775A CN 104765363 A CN104765363 A CN 104765363A
- Authority
- CN
- China
- Prior art keywords
- preset value
- robot
- barrier
- conditioned
- less
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a control method of an intelligent floor sweeping robot, comprising the following steps; a detection signal for detecting an obstacle is transmitted, and a reflected signal reflected back by the obstacle is received; the situation of detection signal transmitting and reflected signal receiving is detected; the robot decelerates when a first preset condition is met; and the robot steers when a second preset condition is met. The invention further discloses an intelligent floor sweeping robot. By adopting the control method and the intelligent floor sweeping robot of the invention, the problem that the floor around an obstacle cannot be swept clean if the robot steers once the obstacle is detected can be avoided on one hand, and on the other hand, the situation in which the robot steers only when bumping into an obstacle and the robot and a furnace colliding the robot are damaged can be avoided.
Description
Technical field
The present invention relates to Study of Intelligent Robot Control field, particularly relate to a kind of Intelligent robot for sweeping floor and control method thereof.
Background technology
In the prior art, Intelligent robot for sweeping floor lacks the cleaning works that effective mechanism is carried out when barrier exists.Be exactly one detect that namely barrier leaves, or be exactly just leave after colliding barrier.In front a kind of mode, robot cannot be swept into the ground at obstacles borders place, and usually can cause has more rubbish to remain near barrier, is unfavorable for improving overall sweeping efficiency; In rear a kind of mode, robot is collided by direct and barrier and determines the existence of barrier, thus change motion path, collision is unfavorable for the serviceable life keeping robot frequently on the one hand, on the other hand, collision also can cause damage in various degree to the furniture placed in domestic environment.
Summary of the invention
Technical matters to be solved by this invention is, provides a kind of Intelligent robot for sweeping floor and control method thereof, avoids robot and furniture to be damaged because colliding while can improving cleaning efficiency.
In order to solve the problems of the technologies described above, on the one hand, The embodiment provides a kind of control method of Intelligent robot for sweeping floor, comprising: the detectable signal of emission detection barrier and receive the reflected signal that this barrier reflects; Detect the situation of described emission detection signal and reception reflected signal; Meet first pre-conditioned time, described robot performs speed-down action; Meet second pre-conditioned time, described robot performs go to action.
In a kind of embodiment, the described first pre-conditioned intensity comprising described reflected signal is greater than the first preset value, the described second pre-conditioned intensity comprising described reflected signal is greater than the second preset value or the described second pre-conditioned distance comprised between described robot and the barrier that detects is less than the 4th preset value, and described first preset value is less than described second preset value.
Further, when the intensity of described reflected signal is greater than the second preset value, robot performs go to action and comprises described robot and turn to, until the reflected signal strength detected is less than the 3rd preset value; Or the distance between described robot and the barrier that detects when being less than the 4th preset value robot perform go to action and comprise described robot and turn to, until and distance between described barrier be greater than the 5th preset value.
In concrete a kind of embodiment, described 3rd preset value is identical with described first preset value.
Preferably, the radius of clean-up that described 4th preset value and described robot limit are swept associates and arranges, with the ground making described robot can be swept into obstacles borders place when described 4th preset value position turns to.
In another kind of embodiment, the described first pre-conditioned distance comprised between described robot and barrier is less than the first preset value, the described second pre-conditioned distance comprised between described robot and barrier is less than the second preset value, and described first preset value is greater than described second preset value.
Preferably, the radius of clean-up that described second preset value and described robot limit are swept associates and arranges, with the ground making described robot can be swept into obstacles borders place when described second preset value position turns to.
Further, when the distance between described robot and barrier is less than the second preset value, described robot performs the action turned to and comprises described robot and turn to while move, until the distance between described robot and barrier is greater than the 3rd preset value.
Particularly, described robot is according to described emission detection signal and receive the distance that time of reflected signal determines between described robot and barrier.
On the other hand, The embodiment provides a kind of Intelligent robot for sweeping floor, comprising: can emission detection signal transmitter and receive the receiver of detectable signal reflected signal, controller; Described controller detects the situation of described transmitter emission detection signal and described reflector reflects signal, when meeting first and being pre-conditioned, controls described robot and performs speed-down action; When meeting second and being pre-conditioned, control described robot and perform go to action.
In a kind of embodiment, the described first pre-conditioned intensity comprising described reflected signal is greater than the first preset value, the described second pre-conditioned intensity comprising described reflected signal is greater than the second preset value or the described second pre-conditioned distance comprised between described robot and the barrier that detects is less than the 4th preset value, and described first preset value is less than described second preset value.
In another kind of embodiment, the described first pre-conditioned distance comprised between described robot and barrier is less than the first preset value, the described second pre-conditioned distance comprised between described robot and barrier is less than the second preset value, and described first preset value is greater than described second preset value.
Preferably, the radius of clean-up that described second preset value and described robot limit are swept associates and arranges, with the ground making described robot can be swept into obstacles borders place when described second preset value position turns to.
Preferably, described transmitter and receiver be arranged in parallel.
Embodiment of the present invention tool has the following advantages or beneficial effect:
The embodiment of the present invention arrange two pre-conditioned, when robot for the situation of the transmitter and receiver transmitting and receiving signal that detect barrier meet first pre-conditioned time, robot performs speed-down action; When robot for the situation of the transmitter and receiver transmitting and receiving signal that detect barrier meet first pre-conditioned time, robot performs go to action.On the one hand, can avoid robot in time detecting that barrier turns to, cause ground near barrier cannot clean clean problem; Robot can be avoided on the other hand to collide barrier and just to carry out turning to the furniture causing damaging robot and colliding with it.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram moved when Intelligent robot for sweeping floor detects barrier in the embodiment of the present invention;
Fig. 2 be in a kind of specific embodiment of the present invention robot probe to the process flow diagram moved during barrier;
Fig. 3 be in the another kind of specific embodiment of the present invention robot probe to the process flow diagram moved during barrier;
Fig. 4 is for the transmitter of detecting obstacles thing and the scheme of installation of receiver in the embodiment of the present invention;
Fig. 5 is the schematic diagram that when transmitter and receiver be arranged in parallel in the embodiment of the present invention, its signal is overlapping;
Fig. 6 is transmitter and receiver is angled its signal is overlapping when arranging schematic diagram in the embodiment of the present invention;
Fig. 7 is the structural representation of Intelligent robot for sweeping floor in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Below with reference to the accompanying drawings embodiments of the invention are described.See Fig. 1, it is the process flow diagram moved when Intelligent robot for sweeping floor in the embodiment of the present invention detects barrier.This motor pattern comprises the following steps:
S101: robot is constantly detecting obstacles thing in cleaning motion process;
S102: measuring robots emission detection signal and the situation receiving this detectable signal reflected signal; Preset first pre-conditioned and second pre-conditioned;
S103: judge whether satisfied first pre-conditioned; In this way, then carry out step S104, as no, then return back to step S102;
S104: robot runs slowly;
S105: in the process that robot runs slowly, judges whether satisfied second pre-conditioned; In this way, then carry out step S106, as no, then continue step S104;
S106: robot performs go to action.
It should be noted that, in step S104 meet first pre-conditioned time robot run slowly be included in detect satisfied first pre-conditioned time robot adjust its travelling speed, make its travelling speed lower than after travelling speed before, run with the travelling speed after this adjustment; Also can be, robot detect satisfied first pre-conditioned after, run with ever-reduced travelling speed, namely there is the acceleration for negative value.It should be noted that, meet first pre-conditioned time, operate to preferably embodiment with a negative acceleration.
In one embodiment, the first pre-conditioned intensity being set to reflected signal is greater than the first preset value, and the second pre-conditioned intensity being set to reflected signal is greater than the second preset value.First preset value is less than the second preset value.Particular flow sheet please refer to Fig. 2, comprising following steps:
S201: robot is detecting obstacles thing in cleaning motion process;
S202: measuring robots emission detection signal and the situation receiving the reflected signal that this detectable signal reflects; And the first preset value of reflected signal strength is set, the second preset value.
S203: judge whether the intensity of the reflected signal received is greater than the first preset value; In this way, then perform step S204, as no, then return back to step S202.
S204: robot runs slowly;
S205: judge whether the intensity of the reflected signal received is greater than the second preset value, in this way, then performs step S206, as no, then returns back to step S204;
S206: robot turns to;
S207: judge whether the intensity receiving reflected signal is less than the 3rd preset value, then terminates this mode of operation in this way, as otherwise return back to step S206;
S208: terminate this mode of operation.
In a kind of embodiment, the 3rd preset value is set to identical with the first preset value.If the intensity of reflected signal that namely robot detects when turning to is less than the first preset value, then robot stops turning to.
In another embodiment, the 3rd preset value is set to zero, and namely robot turns to until no longer barrier detected.
In step S204, when robot detects that the intensity of reflected signal is greater than the first preset value, robot performs speed-down action and comprises robot when detecting that the intensity of reflected signal is greater than the first preset value, robot carries out uniform motion with the speed after this adjustment after adjusting the travelling speed before its travelling speed makes it to be less than.Also can be, when robot detects that the intensity of reflected signal is greater than the first preset value, run, namely constantly reduce travelling speed with a negative acceleration, wherein, the acceleration operation can fixed with also can with the acceleration operation of a change.It should be noted that, when the distance that robot detects between itself and barrier is less than the first preset value, operate to preferably embodiment with a negative acceleration, thus when robot can be made to run to position that reflected signal strength is greater than the second preset value turns to, there is lower travelling speed.
It should be noted that, in step S205 the second pre-conditioned reflected signal strength that can receive for robot be greater than the second preset value also the distance that can be set between robot and barrier be less than the 4th preset value.That is, robot performs speed-down action when the intensity of the reflected signal received is greater than the first preset value, performs go to action when the intensity of the reflected signal received is greater than the second preset value.Also can be that robot performs speed-down action when the intensity of the reflected signal received is greater than the first preset value, when the distance between barrier is less than the 4th preset value, perform go to action.
Wherein, preferably, the radius of clean-up that the 4th preset value and robot limit are swept associates and arranges, and enables the distance of robot between barrier be the ground that the 4th preset value is swept near obstacles borders when turning to, thus improves the cleaning efficiency of robot.
In addition, the action carrying out turning to when robot when detecting and distance between barrier is less than the 4th preset value comprises robot and carries out turning to until the distance between itself and barrier is greater than the 5th preset value.The setting of the 5th preset value can be arranged with reference to the distance of robot when reflected signal strength is the first preset value and between barrier.
Please refer to Fig. 3, in another kind of embodiment, the first pre-conditioned distance between robot and barrier is less than the first preset value, and second is pre-conditionedly less than the second preset value for the distance between robot and barrier, and the first preset value is greater than the second preset value.
This mode of operation specifically comprises the following steps:
S301: robot is detecting obstacles thing when carrying out cleaning campaign;
S302: the situation of measuring robots emission detection signal and reception reflected signal;
S303: judge whether the distance between robot and barrier is less than the first preset value; In this way, then perform step S304, as no, then return back to step S302;
S304: robot runs slowly;
S305: judge whether the distance between robot and barrier is less than the second preset value, in this way, then performs step S306, as no, then returns back to step S304;
S306: robot turns to and moves.
In step s 302, robot determines between itself and barrier according to emission detection signal and time interval of reflected signal of receiving this detectable signal distance.
In step s 304, when distance between robot and barrier is less than the first preset value, robot perform speed-down action comprise robot detect and distance between barrier is less than the first preset value time, robot carries out uniform motion with the speed after this adjustment after adjusting the travelling speed before its travelling speed makes it to be less than.Also can be, when robot detects and distance between barrier is less than the first preset value, run with a negative acceleration, namely constantly reduce travelling speed, can also can with the acceleration operation of a change with a fixing acceleration operation.It should be noted that, when the distance that robot detects between itself and barrier is less than the first preset value, operate to preferably embodiment with a negative acceleration.
In step S305, the radius of clean-up that the setting of the second preset value and robot limit are swept associates and arranges, thus can be swept into the ground at obstacles borders place when making robot be parked in the second preset value position, thus improves cleaning efficiency.
It should be noted that, the preset value in the preset value in the present embodiment and a upper embodiment is unrelated setting.
Further, the distance between robot and barrier is less than the second preset value and carries out turning to and moving, until the distance between robot and barrier is greater than the 3rd preset value.Wherein the 3rd preset value can be set to identical with the first preset value, also can be different.
With reference to figure 4, be wherein depicted as the structural representation that in the embodiment of the present invention, transmitter 41 and receiver 42 be arranged in parallel.When transmitter 41 and receiver 42 be arranged in parallel, the intensity of reflected signal with apart from linearly proportional, can detection range is far away better barrier 43.Therefore, for detecting transmitter and the receiver of barrier, be arranged in parallel in one preferably embodiment.
Please refer to Fig. 5, be wherein depicted as the schematic diagram of its signal domain of launching when transmitter 41 be arranged in parallel with receiver 42.Transmitter 41 and receiver 42 are provided with light pipe 53, this light pipe 53 also can not be set in other embodiments.The signal domain that transmitter 41 transmits is 51, the signal domain of receiver 42 Received signal strength is 52, both overlapping regions are 512, when barrier in region 512 and the intensity of reflected signal that receives of receiver 42 is enough time, namely robot judges that there is barrier in its front.
Please refer to Fig. 6, be wherein depicted as the schematic diagram of its signal domain of launching when transmitter 41 is arranged with receiver 42 is angled.The signal domain that transmitter 41 is launched is 61, and the signal domain of receiver 42 Received signal strength is 62, and both signal overlapping domains are 612.That is, when barrier is in signal overlapping domains 612, the signal that transmitter 41 is launched can be received device 42 through barrier reflection and receive, thus robot can judge the existence of barrier.Transmitter 41 shown in Fig. 6 is more suitable for the nearer barrier of detection range with the angled setting of receiver 42, examines with being therefore applicable to.
Please refer to Fig. 7, the embodiment of the present invention also provides a kind of Intelligent robot for sweeping floor, comprises controller (not shown), can the transmitter 71 of emission detection signal, can receive the receiver 72 of detectable signal reflected signal.The situation control that controller receives reflected signal according to transmitter emission detection signal and receiver carries out corresponding actions, when controller detect situation that the transmitter emission detection signal of robot and receiver receive reflected signal meet first pre-conditioned time, control performs speed-down action, when the situation that the transmitter emission detection signal of controller measuring robots and receiver receive reflected signal meet second pre-conditioned time, control performs go to action.Thus, do not collide barrier when robot can be enable barrier to be detected, and the ground near barrier can be swept into, improve cleaning efficiency.
Embodiment of the present invention tool has the following advantages or beneficial effect:
The embodiment of the present invention arrange two pre-conditioned, when robot for the situation of the transmitter and receiver transmitting and receiving signal that detect barrier meet first pre-conditioned time, robot performs speed-down action; When robot for the situation of the transmitter and receiver transmitting and receiving signal that detect barrier meet first pre-conditioned time, robot performs go to action.On the one hand, can avoid robot in time detecting that barrier turns to, cause ground near barrier cannot clean clean problem; Robot can be avoided on the other hand to collide barrier and just to carry out turning to the furniture causing damaging robot and colliding with it.
Above-described embodiment, does not form the restriction to this technical scheme protection domain.The amendment done within any spirit at above-mentioned embodiment and principle, equivalently to replace and improvement etc., within the protection domain that all should be included in this technical scheme.
Claims (14)
1. a control method for Intelligent robot for sweeping floor, comprising:
The detectable signal of emission detection barrier and receive the reflected signal that this barrier reflects;
Detect the situation of described emission detection signal and reception reflected signal;
Meet first pre-conditioned time, described robot performs speed-down action;
Meet second pre-conditioned time, described robot performs go to action.
2. the method for claim 1, it is characterized in that, the described first pre-conditioned intensity comprising described reflected signal is greater than the first preset value, the described second pre-conditioned intensity comprising described reflected signal is greater than the second preset value or the described second pre-conditioned distance comprised between described robot and the barrier that detects is less than the 4th preset value, and described first preset value is less than described second preset value.
3. method as claimed in claim 2, is characterized in that, when the intensity of described reflected signal is greater than the second preset value, robot performs go to action and comprises described robot and turn to, until the reflected signal strength detected is less than the 3rd preset value; Or the distance between described robot and the barrier that detects when being less than the 4th preset value robot perform go to action and comprise described robot and turn to, until and distance between described barrier be greater than the 5th preset value.
4. method as claimed in claim 3, it is characterized in that, described 3rd preset value is identical with described first preset value.
5. method as claimed in claim 2, is characterized in that, the radius of clean-up that described 4th preset value and described robot limit are swept associates and arranges, with the ground making described robot can be swept into obstacles borders place when described 4th preset value position turns to.
6. the method for claim 1, it is characterized in that, the described first pre-conditioned distance comprised between described robot and barrier is less than the first preset value, the described second pre-conditioned distance comprised between described robot and barrier is less than the second preset value, and described first preset value is greater than described second preset value.
7. method as claimed in claim 6, is characterized in that, the radius of clean-up that described second preset value and described robot limit are swept associates and arranges, with the ground making described robot can be swept into obstacles borders place when described second preset value position turns to.
8. method as claimed in claim 7, it is characterized in that, when distance between described robot and barrier is less than the second preset value, described robot performs the action turned to and comprises described robot and turn to while move, until the distance between described robot and barrier is greater than the 3rd preset value.
9. the method as described in any one of claim 6-8, is characterized in that, described robot is according to described emission detection signal and receive the distance that time of reflected signal determines between described robot and barrier.
10. an Intelligent robot for sweeping floor, comprising: can emission detection signal transmitter and receive the receiver of detectable signal reflected signal, controller; Described controller detects the situation of described transmitter emission detection signal and described reflector reflects signal, when meeting first and being pre-conditioned, controls described robot and performs speed-down action; When meeting second and being pre-conditioned, control described robot and perform go to action.
11. robots as claimed in claim 10, it is characterized in that, the described first pre-conditioned intensity comprising described reflected signal is greater than the first preset value, the described second pre-conditioned intensity comprising described reflected signal is greater than the second preset value or the described second pre-conditioned distance comprised between described robot and the barrier that detects is less than the 4th preset value, and described first preset value is less than described second preset value.
12. robots as claimed in claim 10, it is characterized in that, the described first pre-conditioned distance comprised between described robot and barrier is less than the first preset value, the described second pre-conditioned distance comprised between described robot and barrier is less than the second preset value, and described first preset value is greater than described second preset value.
13. robots as claimed in claim 12, is characterized in that, the radius of clean-up that described second preset value and described robot limit are swept associates and arranges, and can be swept into the ground at obstacles borders place to make described robot in described second preset value position.
14. robots as described in any one of claim 10-13, it is characterized in that, described transmitter and receiver be arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410752775.4A CN104765363B (en) | 2014-12-10 | 2014-12-10 | Intelligent robot for sweeping floor and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410752775.4A CN104765363B (en) | 2014-12-10 | 2014-12-10 | Intelligent robot for sweeping floor and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104765363A true CN104765363A (en) | 2015-07-08 |
| CN104765363B CN104765363B (en) | 2018-04-24 |
Family
ID=53647271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410752775.4A Active CN104765363B (en) | 2014-12-10 | 2014-12-10 | Intelligent robot for sweeping floor and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104765363B (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269583A (en) * | 2015-10-29 | 2016-01-27 | 青岛海尔智能家电科技有限公司 | Robot motion control method and device and robot |
| CN106338996A (en) * | 2016-10-20 | 2017-01-18 | 上海物景智能科技有限公司 | Safe control method and system for mobile robot |
| CN106618390A (en) * | 2016-12-06 | 2017-05-10 | 厦门视贝智能电器有限公司 | Sweeper system and method for preventing sweeper from mistakenly touching charge base |
| CN106821157A (en) * | 2017-04-14 | 2017-06-13 | 小狗电器互联网科技（北京）股份有限公司 | The cleaning method that a kind of sweeping robot is swept the floor |
| CN107092259A (en) * | 2017-06-08 | 2017-08-25 | 纳恩博（北京）科技有限公司 | The anti-fall method and device of robot |
| CN107289929A (en) * | 2017-08-08 | 2017-10-24 | 珠海市微半导体有限公司 | The detection method and system and chip of barrier are encountered by a kind of robot |
| CN107647826A (en) * | 2017-09-08 | 2018-02-02 | 上海斐讯数据通信技术有限公司 | A kind of method of sweeping robot and sweeping robot detecting obstacles thing |
| CN107997689A (en) * | 2017-12-01 | 2018-05-08 | 深圳市沃特沃德股份有限公司 | The barrier-avoiding method and device of sweeping robot and sweeping robot |
| CN108209773A (en) * | 2018-01-04 | 2018-06-29 | 深圳市银星智能科技股份有限公司 | The intelligent barrier avoiding method of clean robot and clean robot |
| CN108519355A (en) * | 2018-02-10 | 2018-09-11 | 广东雷洋智能科技股份有限公司 | Clean robot barrier reflects material power judgment method |
| CN108999633A (en) * | 2018-08-17 | 2018-12-14 | 宁波敬业控股集团有限公司 | A kind of underground delivery system having navigation feature and control method |
| CN109074071A (en) * | 2016-03-31 | 2018-12-21 | 株式会社未来机械 | Work robot and edge detector |
| CN109298711A (en) * | 2018-09-26 | 2019-02-01 | 北京洪泰同创信息技术有限公司 | Intelligentized Furniture, transmitter and intelligentized Furniture control system |
| CN109407670A (en) * | 2018-12-07 | 2019-03-01 | 江苏美的清洁电器股份有限公司 | The distance measurement method and device thereof and sweeping robot of sweeping robot |
| CN109822598A (en) * | 2017-11-23 | 2019-05-31 | 智棋科技股份有限公司 | Robot system and the method for controlling robot |
| WO2019104733A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳市沃特沃德股份有限公司 | Sweeping robot and obstacle avoidance method and device for sweeping robot |
| CN110755000A (en) * | 2019-10-25 | 2020-02-07 | 珠海格力电器股份有限公司 | Sweeping robot control method and device and sweeping robot |
| CN112155475A (en) * | 2020-08-17 | 2021-01-01 | 何安霞 | Remote control system of intelligent floor sweeping robot |
| WO2021022627A1 (en) * | 2019-08-02 | 2021-02-11 | 深圳市越疆科技有限公司 | Housing of mechanical device and robot |
| WO2021031427A1 (en) * | 2019-08-21 | 2021-02-25 | 追创科技(苏州)有限公司 | Sweeping robot and automated control method for sweeping robot |
| CN112835347A (en) * | 2019-11-04 | 2021-05-25 | 美智纵横科技有限责任公司 | Method and device for avoiding obstacles and sweeping robot |
| CN113243860A (en) * | 2017-08-17 | 2021-08-13 | 追创科技(苏州)有限公司 | Sweeping robot and roller fault detection method thereof |
| CN114115210A (en) * | 2020-08-25 | 2022-03-01 | 莱克电气绿能科技(苏州)有限公司 | Obstacle avoidance method and device for self-moving equipment and obstacle avoidance equipment |
| CN114587204A (en) * | 2021-07-05 | 2022-06-07 | 北京石头世纪科技股份有限公司 | Cleaning method and cleaning control device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030028993A1 (en) * | 2001-08-07 | 2003-02-13 | Jeong-Gon Song | Robot cleaner, system thereof and method for controlling same |
| US20050171637A1 (en) * | 2004-01-30 | 2005-08-04 | Funai Electric Co., Ltd. | Self-running cleaner with collision obviation capability |
| US20060010638A1 (en) * | 2004-07-14 | 2006-01-19 | Sanyo Electric Co. Ltd. | Cleaner |
| CN101863029A (en) * | 2009-04-16 | 2010-10-20 | 燕成祥 | Edge-along moving device |
| CN102038470A (en) * | 2009-10-09 | 2011-05-04 | 泰怡凯电器(苏州)有限公司 | Automatic-moving ground treatment robot and ground-abutting treatment control method thereof |
| CN102039595A (en) * | 2009-10-09 | 2011-05-04 | 泰怡凯电器(苏州)有限公司 | Self-moving ground handling robot and facing ground handling control method thereof |
| CN103376801A (en) * | 2012-04-13 | 2013-10-30 | 科沃斯机器人科技(苏州)有限公司 | Self moving ground-handling robot and cleaning control method thereof |
| CN103941307A (en) * | 2014-01-13 | 2014-07-23 | 苏州爱普电器有限公司 | Cleaning robot and controlling method thereof for avoiding barriers |
| CN204120955U (en) * | 2014-10-10 | 2015-01-28 | 莱克电气股份有限公司 | Robot cleaner |
-
2014
- 2014-12-10 CN CN201410752775.4A patent/CN104765363B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030028993A1 (en) * | 2001-08-07 | 2003-02-13 | Jeong-Gon Song | Robot cleaner, system thereof and method for controlling same |
| US20050171637A1 (en) * | 2004-01-30 | 2005-08-04 | Funai Electric Co., Ltd. | Self-running cleaner with collision obviation capability |
| US20060010638A1 (en) * | 2004-07-14 | 2006-01-19 | Sanyo Electric Co. Ltd. | Cleaner |
| CN101863029A (en) * | 2009-04-16 | 2010-10-20 | 燕成祥 | Edge-along moving device |
| CN102038470A (en) * | 2009-10-09 | 2011-05-04 | 泰怡凯电器(苏州)有限公司 | Automatic-moving ground treatment robot and ground-abutting treatment control method thereof |
| CN102039595A (en) * | 2009-10-09 | 2011-05-04 | 泰怡凯电器(苏州)有限公司 | Self-moving ground handling robot and facing ground handling control method thereof |
| CN103376801A (en) * | 2012-04-13 | 2013-10-30 | 科沃斯机器人科技(苏州)有限公司 | Self moving ground-handling robot and cleaning control method thereof |
| CN103941307A (en) * | 2014-01-13 | 2014-07-23 | 苏州爱普电器有限公司 | Cleaning robot and controlling method thereof for avoiding barriers |
| CN204120955U (en) * | 2014-10-10 | 2015-01-28 | 莱克电气股份有限公司 | Robot cleaner |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269583A (en) * | 2015-10-29 | 2016-01-27 | 青岛海尔智能家电科技有限公司 | Robot motion control method and device and robot |
| CN105269583B (en) * | 2015-10-29 | 2022-05-10 | 青岛海尔智能家电科技有限公司 | Robot motion control method and device and robot |
| CN109074071A (en) * | 2016-03-31 | 2018-12-21 | 株式会社未来机械 | Work robot and edge detector |
| CN109074071B (en) * | 2016-03-31 | 2021-10-08 | 株式会社未来机械 | Work robot and edge detector |
| CN106338996A (en) * | 2016-10-20 | 2017-01-18 | 上海物景智能科技有限公司 | Safe control method and system for mobile robot |
| CN106338996B (en) * | 2016-10-20 | 2019-05-31 | 上海物景智能科技有限公司 | A kind of method and system of mobile robot security control |
| CN106618390A (en) * | 2016-12-06 | 2017-05-10 | 厦门视贝智能电器有限公司 | Sweeper system and method for preventing sweeper from mistakenly touching charge base |
| CN106821157A (en) * | 2017-04-14 | 2017-06-13 | 小狗电器互联网科技（北京）股份有限公司 | The cleaning method that a kind of sweeping robot is swept the floor |
| CN107092259A (en) * | 2017-06-08 | 2017-08-25 | 纳恩博（北京）科技有限公司 | The anti-fall method and device of robot |
| CN107289929A (en) * | 2017-08-08 | 2017-10-24 | 珠海市微半导体有限公司 | The detection method and system and chip of barrier are encountered by a kind of robot |
| CN113243860A (en) * | 2017-08-17 | 2021-08-13 | 追创科技(苏州)有限公司 | Sweeping robot and roller fault detection method thereof |
| CN107647826A (en) * | 2017-09-08 | 2018-02-02 | 上海斐讯数据通信技术有限公司 | A kind of method of sweeping robot and sweeping robot detecting obstacles thing |
| CN109822598A (en) * | 2017-11-23 | 2019-05-31 | 智棋科技股份有限公司 | Robot system and the method for controlling robot |
| CN107997689A (en) * | 2017-12-01 | 2018-05-08 | 深圳市沃特沃德股份有限公司 | The barrier-avoiding method and device of sweeping robot and sweeping robot |
| WO2019104733A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳市沃特沃德股份有限公司 | Sweeping robot and obstacle avoidance method and device for sweeping robot |
| CN107997689B (en) * | 2017-12-01 | 2020-06-05 | 深圳市无限动力发展有限公司 | Sweeping robot and obstacle avoidance method and device thereof |
| CN108209773A (en) * | 2018-01-04 | 2018-06-29 | 深圳市银星智能科技股份有限公司 | The intelligent barrier avoiding method of clean robot and clean robot |
| CN108519355A (en) * | 2018-02-10 | 2018-09-11 | 广东雷洋智能科技股份有限公司 | Clean robot barrier reflects material power judgment method |
| CN108999633A (en) * | 2018-08-17 | 2018-12-14 | 宁波敬业控股集团有限公司 | A kind of underground delivery system having navigation feature and control method |
| CN109298711A (en) * | 2018-09-26 | 2019-02-01 | 北京洪泰同创信息技术有限公司 | Intelligentized Furniture, transmitter and intelligentized Furniture control system |
| CN109407670B (en) * | 2018-12-07 | 2022-03-04 | 美智纵横科技有限责任公司 | Distance detection method and device of sweeping robot and sweeping robot |
| CN109407670A (en) * | 2018-12-07 | 2019-03-01 | 江苏美的清洁电器股份有限公司 | The distance measurement method and device thereof and sweeping robot of sweeping robot |
| WO2021022627A1 (en) * | 2019-08-02 | 2021-02-11 | 深圳市越疆科技有限公司 | Housing of mechanical device and robot |
| WO2021031427A1 (en) * | 2019-08-21 | 2021-02-25 | 追创科技(苏州)有限公司 | Sweeping robot and automated control method for sweeping robot |
| CN110755000A (en) * | 2019-10-25 | 2020-02-07 | 珠海格力电器股份有限公司 | Sweeping robot control method and device and sweeping robot |
| CN112835347A (en) * | 2019-11-04 | 2021-05-25 | 美智纵横科技有限责任公司 | Method and device for avoiding obstacles and sweeping robot |
| CN112835347B (en) * | 2019-11-04 | 2022-04-08 | 美智纵横科技有限责任公司 | Method and device for avoiding obstacles and sweeping robot |
| CN112155475A (en) * | 2020-08-17 | 2021-01-01 | 何安霞 | Remote control system of intelligent floor sweeping robot |
| CN114115210A (en) * | 2020-08-25 | 2022-03-01 | 莱克电气绿能科技(苏州)有限公司 | Obstacle avoidance method and device for self-moving equipment and obstacle avoidance equipment |
| CN114587204A (en) * | 2021-07-05 | 2022-06-07 | 北京石头世纪科技股份有限公司 | Cleaning method and cleaning control device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104765363B (en) | 2018-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104765363A (en) | Intelligent floor sweeping robot and control method thereof | |
| KR101021267B1 (en) | Cleaning robot system and its method for controlling | |
| US8972060B2 (en) | Control method for cleaning robots | |
| EP3133459A1 (en) | Local obstacle avoidance walking method of self-moving robot | |
| CN103376801B (en) | From moving land disposal robot and the control method of cleaning thereof | |
| CN103941306B (en) | Cleaning robot and method for controlling same to avoid obstacle | |
| US9687130B2 (en) | Control method for cleaning robots | |
| CN105223951A (en) | Self-movement robot | |
| CN103941307A (en) | Cleaning robot and controlling method thereof for avoiding barriers | |
| CN105361817A (en) | Automatic docking system of robot | |
| CN103576678A (en) | Automatic return system and method for controlling automatic walking equipment to return to stopping station | |
| CN103941735A (en) | Floor cleaning robot and method for controlling robot to avoid obstacle | |
| CN103151813B (en) | The charging system of clean robot and automatic method and the charging station returning station charging thereof | |
| CN102385383A (en) | Traveling vehicle and method of controlling the same | |
| CN103092206A (en) | Traversal path planning method of pipeline robot | |
| WO2014190919A1 (en) | Self-moving device and control method therefor | |
| CN110162055B (en) | Automatic working system | |
| CN109567673A (en) | A kind of sweeping robot cleaning display control method | |
| JP3206661U (en) | Self-propelled collision prevention, collision mitigation and wall running system | |
| CN202453735U (en) | Anti-collision system for automatic guided vehicle at intersections | |
| CN102963698B (en) | Method and system for control of operation of transitional machine | |
| CN101149623A (en) | Pipe external climbing control device | |
| CN207216423U (en) | A kind of AGV navigation vehicles based on omnidirectional ultrasonic obstacle avoidance system | |
| CN202910039U (en) | Blowing and sucking air pipe support frame assembly of textile machinery cleaning machine | |
| CA2796638A1 (en) | Method and apparatus for using robots to wash trucks used in mining and other dirty environments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xiao Shuangliang Inventor after: Wu Wanshui Inventor after: Zhang Guodong Inventor before: Xiao Shuangliang Inventor before: Wu Wanshui |
|
| COR | Change of bibliographic data | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 518110 Guangdong Province, Shenzhen city Longhua District Guanlan Street sightseeing road Silver Star High-tech Industrial Park building A1 Patentee after: Shenzhen Silver Star Intelligent Technology Co.,Ltd. Address before: 518110 Guangdong city of Shenzhen province Baoan District Guanlan street community rich industrial garden Huiqing Ao Bei Science Park building D plant Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |