CN105115490A - Method for determining indoor active area, and apparatus thereof - Google Patents
Method for determining indoor active area, and apparatus thereof Download PDFInfo
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- CN105115490A CN105115490A CN201510420205.XA CN201510420205A CN105115490A CN 105115490 A CN105115490 A CN 105115490A CN 201510420205 A CN201510420205 A CN 201510420205A CN 105115490 A CN105115490 A CN 105115490A
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- indoor
- mapped point
- movable region
- point
- range
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention provides a method for determining an indoor active area, and an apparatus thereof. The method comprises the following steps: determining an indoor range; selecting a plurality of plotting points in the indoor range, and carrying out 360DEG scanning at each of the plotting points to obtain active areas measured at all the plotting points; and determining the indoor active area according to the active areas measured at all the plotting points. 360DEG scanning is carried out at all the plotting points in the indoor range in the embodiment of the invention, and the indoor active are is determined according to the active areas measured at all the plotting areas, so detection using infrared rays or ultrasonic waves emitted by a robot is not needed when the robot walks close to the wall, and the efficiency is high; and the indoor active area determination is realized on the dependence of 360DEG scanning at all the plotting points not detection of walking close to the wall, so the objects not close to the wall can also be correctly detected, thereby the high determination accuracy of the indoor active area is ensured.
Description
Technical field
The application relates to robotics, particularly relates to a kind of method and the device of determining indoor movable region.
Background technology
At present, along with the development of intellectual technology, robot is comparatively general have been come in family life, such as: sweeping robot, mopping robot etc.
Existing robot adopts the detection modes such as infrared or ultrasound wave; according to robot itself router algorithm or paste wall walk one week; by constantly launching infrared ray or ultrasound wave in advancing; and receive metope or reflections off objects ripple; guarantee that robot itself does not hit wall, constantly revise to obtain room general outline in advancing.
Then, existing mode is constantly launched infrared ray or ultrasound wave due to needs and is received metope or reflections off objects ripple in advancing, consuming time longer, efficiency is lower, and accuracy is not high, and object center, room not being pasted to wall cannot correctly detect usually.
Prior art deficiency is:
Existing robot probe room Internal periphery required time is longer, and accuracy is lower.
Summary of the invention
The embodiment of the present application proposes a kind of method and the device of determining indoor movable region, longer to solve robot probe room Internal periphery required time in prior art, and the technical matters that accuracy is lower.
The embodiment of the present application provides a kind of method determining indoor movable region, comprises the steps:
Determine indoor range;
In described indoor range, choose several mapped point, carry out 360 degree of scannings in each mapped point, obtain the movable region that each mapped point place records;
According to the movable region that described each mapped point place records, determine indoor movable region.
The embodiment of the present application provides a kind of device determining indoor movable region, comprising:
First determination module, for determining indoor range;
Mapping module, for choosing several mapped point in described indoor range, carrying out 360 degree of scannings in each mapped point, obtaining the movable region that each mapped point place records;
Second determination module, for the movable region recorded according to described each mapped point place, determines indoor movable region.
Beneficial effect is as follows:
The method in the indoor movable region of the determination that the embodiment of the present application provides and device, first indoor range is determined, several mapped point are chosen in indoor range, 360 degree of scannings are carried out in each mapped point, obtain the movable region that each mapped point place records, according to the movable region that each mapped point place records, indoor movable region can be determined, because each mapped point in the embodiment of the present application in indoor range carries out 360 degree of scannings, indoor movable region is determined according to the movable region that each mapped point place records, in advancing without the need to robot subsides wall, constantly transmitting infrared ray or ultrasound wave detect, efficiency is higher, and because the embodiment of the present application is not rely on to paste wall walking detection, but rely on 360 degree of scannings of each mapped point, therefore the embodiment of the present application for the object not pasting wall also can be correct detect, guarantee that the accuracy in indoor movable region is higher.
Accompanying drawing explanation
The specific embodiment of the application is described below with reference to accompanying drawings, wherein:
Fig. 1 shows in the embodiment of the present application the schematic flow sheet determining that the method in indoor movable region is implemented;
Fig. 2 shows the schematic diagram carrying out in indoor arbitrfary point in the embodiment of the present application scanning;
Fig. 3 shows in the embodiment of the present application the schematic diagram determining indoor range;
Fig. 4 shows the floor map of ornaments in room in the embodiment of the present application;
Fig. 5 to show in the embodiment of the present application each point position schematic diagram in room;
Fig. 6 shows the profile schematic diagram of B point laser ranging in the embodiment of the present application;
Fig. 7 shows the superposition schematic diagram of A point and B point institute measuring wheel exterior feature in the embodiment of the present application;
Fig. 8 shows in the embodiment of the present application the structural representation of the device determining indoor movable region.
Embodiment
In order to the technical scheme and advantage that make the application are clearly understood, be described in more detail below in conjunction with the exemplary embodiment of accompanying drawing to the application, obviously, described embodiment is only a part of embodiment of the application, instead of all embodiments is exhaustive.And when not conflicting, the embodiment in this explanation and the feature in embodiment can be combined with each other.
For the deficiencies in the prior art, the embodiment of the present application proposes a kind of method and the device of determining indoor movable region, is described below.
Fig. 1 shows in the embodiment of the present application the schematic flow sheet determining that the method in indoor movable region is implemented, and as shown in the figure, describedly determines that the method in indoor movable region can comprise the steps:
Step 101, determine indoor range;
Step 102, in described indoor range, choose several mapped point, carry out 360 degree of scannings in each mapped point, obtain the movable region that each mapped point place records;
Step 103, the movable region recorded according to described each mapped point place, determine indoor movable region.
First the embodiment of the present application determines indoor range, and indoor range can be the overall profile in room, the space also namely fenced up by the shelter such as metope, glass.In indoor range, may have more putting on article, cause indoor movable region generally can be less than indoor range, be collision free wall or article, and robot is generally that work such as cleaning, sweep is carried out in movable region in indoor.Such as: in the room of life staying idle at home, the original area in room is 18 flat, may be placed with the furniture such as bed, cupboard in room, these furniture occupy certain area, therefore, the movable region in room then for removing the part of these furniture positions, the domain of walk of Ye Ji robot.
The method that the embodiment of the present application provides, consider in indoor range the object that may there are some and paste wall or do not paste wall, therefore, in indoor range, choose several mapped point, robot can move to each mapped point, carries out 360 degree of scannings in each mapped point.In concrete enforcement, the modes such as laser ranging of the prior art, infrared distance measuring, ultrasonic ranging can be utilized to scan, the detailed process of the application to scanning does not repeat at this.
Robot move to each mapped point go scanning time, first can carry out in current location the position relationship that the scanning such as 360 laser rangings tentatively judges self position and self and mapped point, then can advance towards certain mapped point, can according to turning to and the parameters such as travel distance in traveling process, determine the position relationship of self and mapped point in real time, thus finally can move to appointed place (also i.e. mapped point).If because some reason creates error, 360 degree of range findings can be carried out in current location immediately, again determine the position relationship of self position, self and mapped point.
Carry out 360 scannings in each mapped point, obtain the movable region that each mapped point records, lap between the movable region that each mapped point records, may be there is, also may there is a mapped point and measure and the part that another mapped point does not measure.Think in the embodiment of the present application that region that each mapped point can measure is within movable region, indoor, thus finally determine indoor movable region.
The embodiment of the present application, after determining indoor range, by choosing several mapped point in described indoor range, being carried out 360 degree in each mapped point and being scanned the movable region obtaining each mapped point place and record, thus finally obtaining indoor movable region.Due to the method that the embodiment of the present application provides, only need to carry out 360 degree of scannings at the mapped point place chosen and can determine indoor movable region, to advance around room without the need to pasting wall or other algorithms and constantly to launch the lasting detections such as infrared ray, the time detected is shorter, efficiency is higher, can be very fast determine indoor movable region, save the time greatly.
In addition, due to the method that the embodiment of the present application provides, utilize several mapped point 360 degree scanning, indoor movable region is determined according to the movable region that each mapped point records, be not that subsides wall is walked or (these modes can only detect the region of passing by by modes such as certain rule walkings, and generally can only paste the edge walking of barrier at present), effectively can detect the article position (also i.e. all mapped point region that all can not measure) of indoor placement, accuracy is higher compared to existing technology.After obtaining movable region, the very high indoor of accuracy, follow-uply planning department can perfectly travel through/track route accordingly.
In addition, because the embodiment of the present application obtains the precise boundary in indoor movable region, robot is after any current location carries out 360 degree of range findings, the data obtained of finding range 360 degree are carried out overlapping with the precise boundary in movable region, described indoor and are contrasted, and can obtain the exact position from the movable region in indoor.Also namely, robot can determine self exact position in a room at any time.
In enforcement, describedly determine indoor range, be specifically as follows: carry out 360 degree of scannings in indoor arbitrfary point, the rectangle that two parallel lines of lie farthest away horizontal in the profile obtained and two parallel lines of longitudinal lie farthest away surround is defined as indoor range.
In concrete enforcement, robot can carry out 360 degree of laser rangings in the arbitrfary point of indoor, scanning obtains the effigurate profile of tool, Fig. 2 shows the schematic diagram carrying out in indoor arbitrfary point in the embodiment of the present application scanning, as shown in the figure, the profile represented by dotted line is the result after A point carries out 360 degree of laser rangings.
After obtaining above-mentioned profile, the rectangle that two parallel lines of lie farthest away horizontal in this profile and two parallel lines of longitudinal lie farthest away surround is defined as indoor range by the embodiment of the present application, Fig. 3 shows in the embodiment of the present application the schematic diagram determining indoor range, as shown in the figure, the rectangle MNQP that horizontal two parallel lines MP, NQ of lie farthest away and two parallel lines MN, PQ of longitudinal lie farthest away surround is then the determined indoor range of the embodiment of the present application.
The embodiment of the present application determines indoor range by the way, the maximum area obtaining room can be surveyed and drawn, thus good support can be provided for follow-up movable region mapping, avoid because indoor range determines that inaccurate to cause mapped point to be chosen improper, and then cause the testing result in indoor movable region inaccurate.
In enforcement, describedly in described indoor range, choose several mapped point, be specifically as follows: in described indoor range, centered by the mid point of described indoor range, choose several isometric mapping points.
The embodiment of the present application, when choosing mapped point, centered by the mid point of the above-mentioned indoor range determined, can choose the mapped point that several are equidistant.If indoor range is rectangle, square, then can using cornerwise intersection point as center; If indoor range is circular, then can centered by the center of circle; Other shapes in like manner.
The embodiment of the present application is by centered by the mid point of indoor range, choose isometric mapping point, the setting of mapped point can be made more reasonable, guarantee follow-up when each mapped point scans, indoor all places that can be scanned can be scanned rationally, accurately.
In enforcement, described mapped point can be no less than 4, and the spacing between every two mapped point can be not less than 1/3 of described indoor range width.
In concrete enforcement, consider that interior architecture general is at present mostly the quadrilaterals such as square, rectangle, therefore, in the embodiment of the present application, mapped point can be set to be no less than 4.Spacing between every two mapped point can be not less than 1/3 of indoor range width, to avoid the situation because too other regions indoor are not scanned close to the region overlap causing recording is more between mapped point.
In enforcement, the described movable region recorded according to described each mapped point place, determine indoor movable region, be specifically as follows:
The movable region that described each mapped point place records is superposed, obtains indoor article putting position; Described indoor article putting position is the room area that all mapped point all do not measure;
Movable region, described indoor is the room area removing described indoor article putting position.
In concrete enforcement, the movable region that each mapped point place records can be difform polygon, when these polygons superpose, may occur that subregion is overlapping, some region may be that 1 or several mapped point measure, the region populations that these all mapped point record can think indoor movable region, the position being placed with article is then thought in the region that all mapped point all do not measure in indoor range, may be barrier for robot, accordingly, remove the region after all indoor article putting positions and also can think indoor movable region.
For the ease of the enforcement of the application, be described with example below.
Fig. 4 shows the floor map of ornaments in room in the embodiment of the present application, as shown in the figure, supposes to comprise cabinet for TV and sofa in room.
The embodiment of the present application can first in current room any point carry out 360 degree of laser scannings, thus a profile can be obtained, robot can also be obtained from the position in this profile simultaneously.As shown in Figure 4, in figure, dotted line frame is carry out 360 degree of laser scannings at an A place to survey and draw the room contour obtained.
By the rectangle that two parallel lines of lie farthest away horizontal in the profile obtained and two parallel lines of longitudinal lie farthest away fence up, preliminary judgement is the wall in room or actual movable region.
Using the mid point in the movable region of above-mentioned preliminary judgement temporarily as the central point in room, and centered by this puts, choose several isometric mapping points.Generally, the quantity of mapped point can be no less than 4, and the spacing of two mapped point can be no less than 1/3 of the movable peak width of anticipation.
Fig. 5 to show in the embodiment of the present application each point position schematic diagram in room, as shown in the figure, supposes that the center in room is for position shown in Fig. 5 stain, and some A, B, C, D are respectively 4 equidistant mapped point of distance center, room.
The absolute distance obtained according to self-position and the range finding of robot and angle, robot can move in above-mentioned 4 mapped point successively.In concrete enforcement, if straight line cannot arrive next point, then can move to described next mapped point according to welt Mobile Method or other algorithms; If finally still have no idea to move to described next mapped point, then choose from the nearest some mapped point as an alternative of this mapped point.
Robot can carry out 360 degree of laser rangings successively in each mapped point, obtains the range information that each mapped point records.
Such as: robot moves to B point from A point, carry out 360 degree of laser rangings at B point, Fig. 6 shows the profile schematic diagram of B point laser ranging in the embodiment of the present application.Robot can move to C point from B point again, D point carries out 360 degree of laser rangings respectively, and the application is not with diagram.
The surveying and mapping data of these 4 points is superposed, obtains following several types:
1) lap is the region that two points or more points can be seen;
2) there are data but there is no overlapping part, for only in the region that 1 point can be seen;
3) part do not comprised completely, for putting the region of object in room.
Fig. 7 shows the superposition schematic diagram of A point and B point institute measuring wheel exterior feature in the embodiment of the present application, as shown in the figure, is described for room the first half, and the octagon of cabinet for TV and sofa centre is lap, also namely in the region that A point and B point can be seen; The Delta Region of cabinet for TV both sides is have data but do not have overlapping part, also namely in the region that A point or B point just can be seen; The part of region then for not comprising completely at cabinet for TV place, thus can determine that this region is placed with object (barrier).
Again further respectively after C point and D point carry out 360 degree of laser rangings, can obtain the part that 4 points all do not comprise is cabinet for TV and sofa region, accordingly, robot can determine that these two positions are laying for goods position (there is barrier), can not collide or pass through, can only detour.
To sum up, the maximum area of mapping is got in superposition, can obtain the relatively accurate profile in room and laying for goods data.In concrete enforcement, the height of degree of accuracy depend on mapped point number, the spacing of mapped point and the complexity in room.
Robot can determine self any time position in a room according to turning to of self with travel distance etc., even if because some situation creates error, also 360 degree of annular range findings can be carried out in any current location, the room contour gone out according to new data and anticipation before carries out coincidence contrast, can obtain self exact position current.
After obtaining above-mentioned precise information, robot can travel through room according to self algorithm, cleaning etc., guarantees that robot can not bump against wall.
Based on same inventive concept, a kind of device determining indoor movable region is additionally provided in the embodiment of the present application, to a kind of, the principle of dealing with problems due to these equipment determines that the method in indoor movable region is similar, therefore the enforcement of these equipment see the enforcement of method, can repeat part and repeats no more.
Fig. 8 shows in the embodiment of the present application the structural representation of the device determining indoor movable region, as shown in the figure, describedly determines that the device in indoor movable region can comprise:
First determination module 801, for determining indoor range;
Mapping module 802, for choosing several mapped point in described indoor range, carrying out 360 degree of scannings in each mapped point, obtaining the movable region that each mapped point records;
Second determination module 803, for the movable region recorded according to described each mapped point, determines indoor movable region.
In enforcement, the rectangle that two parallel lines of lie farthest away horizontal in the profile obtained and two parallel lines of longitudinal lie farthest away surround, specifically for carrying out 360 degree of scannings in indoor arbitrfary point, is defined as indoor range by described first determination module.
In enforcement, described mapping module, specifically in described indoor range, centered by the mid point of described indoor range, is chosen several isometric mapping points, is carried out 360 degree of scannings in each mapped point, obtain the movable region that each mapped point records.
In enforcement, the mapped point that described mapping module is chosen is no less than 4, and the spacing between every two mapped point is not less than 1/3 of described indoor range width.
In enforcement, described second determination module superposes specifically for the movable region described each mapped point recorded, and obtains indoor article putting position; Described indoor article putting position is the room area that all mapped point all do not measure, and movable region, described indoor is the room area removing described indoor article putting position.
For convenience of description, each several part of the above device is divided into various module or unit to describe respectively with function.Certainly, the function of each module or unit can be realized in same or multiple software or hardware when implementing the application.
Those skilled in the art should understand, the embodiment of the application can be provided as method, system or computer program.Therefore, the application can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the application can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code.
The application describes with reference to according to the process flow diagram of the method for the embodiment of the present application, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
Although described the preferred embodiment of the application, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the application's scope.
Claims (10)
1. determine the method in indoor movable region, it is characterized in that, comprise the steps:
Determine indoor range;
In described indoor range, choose several mapped point, carry out 360 degree of scannings in each mapped point, obtain the movable region that each mapped point place records;
According to the movable region that described each mapped point place records, determine indoor movable region.
2. the method for claim 1, it is characterized in that, describedly determine indoor range, be specially: carry out 360 degree of scannings in indoor arbitrfary point, the rectangle that two parallel lines of lie farthest away horizontal in the profile obtained and two parallel lines of longitudinal lie farthest away surround is defined as indoor range.
3. the method for claim 1, is characterized in that, describedly in described indoor range, chooses several mapped point, is specially: in described indoor range, centered by the mid point of described indoor range, chooses several isometric mapping points.
4. method as claimed in claim 3, it is characterized in that, described mapped point is no less than 4, and the spacing between every two mapped point is not less than 1/3 of described indoor range width.
5. the method for claim 1, is characterized in that, the described movable region recorded according to described each mapped point place, determines indoor movable region, is specially:
The movable region that described each mapped point place records is superposed, obtains indoor article putting position; Described indoor article putting position is the room area that all mapped point all do not measure;
Movable region, described indoor is the room area removing described indoor article putting position.
6. determine the device in indoor movable region, it is characterized in that, comprising:
First determination module, for determining indoor range;
Mapping module, for choosing several mapped point in described indoor range, carrying out 360 degree of scannings in each mapped point, obtaining the movable region that each mapped point place records;
Second determination module, for the movable region recorded according to described each mapped point place, determines indoor movable region.
7. device as claimed in claim 6, it is characterized in that, the rectangle that two parallel lines of lie farthest away horizontal in the profile obtained and two parallel lines of longitudinal lie farthest away surround, specifically for carrying out 360 degree of scannings in indoor arbitrfary point, is defined as indoor range by described first determination module.
8. device as claimed in claim 6, it is characterized in that, described mapping module is specifically in described indoor range, centered by the mid point of described indoor range, choose several isometric mapping points, carry out 360 degree of scannings in each mapped point, obtain the movable region that each mapped point place records.
9. device as claimed in claim 8, it is characterized in that, the mapped point that described mapping module is chosen is no less than 4, and the spacing between every two mapped point is not less than 1/3 of described indoor range width.
10. device as claimed in claim 6, it is characterized in that, described second determination module superposes specifically for the movable region recorded at described each mapped point place, obtains indoor article putting position; Described indoor article putting position is the room area that all mapped point all do not measure, and movable region, described indoor is the room area removing described indoor article putting position.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510420205.XA CN105115490A (en) | 2015-07-16 | 2015-07-16 | Method for determining indoor active area, and apparatus thereof |
| PCT/CN2016/089900 WO2017008742A1 (en) | 2015-07-16 | 2016-07-13 | Method and device for determining indoor approachable area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510420205.XA CN105115490A (en) | 2015-07-16 | 2015-07-16 | Method for determining indoor active area, and apparatus thereof |
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| CN105115490A true CN105115490A (en) | 2015-12-02 |
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| CN201510420205.XA Pending CN105115490A (en) | 2015-07-16 | 2015-07-16 | Method for determining indoor active area, and apparatus thereof |
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| WO (1) | WO2017008742A1 (en) |
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| WO2017008742A1 (en) * | 2015-07-16 | 2017-01-19 | Cloudminds (Shenzhen) Robotics Systems Co., Ltd. | Method and device for determining indoor approachable area |
| CN110362079A (en) * | 2019-07-11 | 2019-10-22 | 珠海市一微半导体有限公司 | The traversal control method and chip and clean robot of robot |
| CN111374603A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Control method and chip for partitioned cleaning of vision robot and intelligent sweeping robot |
| CN112155487A (en) * | 2019-08-21 | 2021-01-01 | 追创科技(苏州)有限公司 | Sweeping robot, control method of sweeping robot and storage medium |
| CN112183476A (en) * | 2020-10-28 | 2021-01-05 | 深圳市商汤科技有限公司 | Obstacle detection method and device, electronic equipment and storage medium |
| WO2021036562A1 (en) * | 2019-08-30 | 2021-03-04 | 华为技术有限公司 | Prompting method for fitness training, and electronic device |
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| WO2017008742A1 (en) * | 2015-07-16 | 2017-01-19 | Cloudminds (Shenzhen) Robotics Systems Co., Ltd. | Method and device for determining indoor approachable area |
| CN111374603A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Control method and chip for partitioned cleaning of vision robot and intelligent sweeping robot |
| CN110362079A (en) * | 2019-07-11 | 2019-10-22 | 珠海市一微半导体有限公司 | The traversal control method and chip and clean robot of robot |
| CN112155487A (en) * | 2019-08-21 | 2021-01-01 | 追创科技(苏州)有限公司 | Sweeping robot, control method of sweeping robot and storage medium |
| WO2021036562A1 (en) * | 2019-08-30 | 2021-03-04 | 华为技术有限公司 | Prompting method for fitness training, and electronic device |
| CN112183476A (en) * | 2020-10-28 | 2021-01-05 | 深圳市商汤科技有限公司 | Obstacle detection method and device, electronic equipment and storage medium |
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