CN105137992B - The control system and its control method and control circuit board of Intelligent cleaning robot - Google Patents
The control system and its control method and control circuit board of Intelligent cleaning robot Download PDFInfo
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- CN105137992B CN105137992B CN201510554321.0A CN201510554321A CN105137992B CN 105137992 B CN105137992 B CN 105137992B CN 201510554321 A CN201510554321 A CN 201510554321A CN 105137992 B CN105137992 B CN 105137992B
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Abstract
The invention discloses the control system of Intelligent cleaning robot and its control methods and control circuit board.Wherein, control system includes mode control module, for entering helicon mode receiving work order, gradually cleans specified region in superset in a manner of involute；When barrier is encountered for the first time in the left or right side of Intelligent cleaning robot, the first preset time is first retreated, turns 10 degree of angles in the opposite direction again, then keep straight on；Enter roaming mode if not encountering barrier again in the second preset time, it carries out cleaning on the ground using the walking path intersected back and forth and ensures to cover entire cleaning region, region is specified to realize automatic cleaning, reduces the labor intensity and human cost of people.
Description
Technical field
The present invention relates to electronic element of circuit board device layout designs, in particular to the control system of Intelligent cleaning robot and
Its control method and control circuit board.
Background technique
Currently, the cleaning of the indoor environments such as family, hotel, office building is required to manually use dust catcher, the labour of people is strong
Degree is big, and human cost is high.And robot can be used to complete work in every automatically, but be rarely used for completing automated cleaning.If energy
Dust catcher will be reduced to the labor intensity of people in conjunction with machine.
There is plurality of component on circuit board, such as.Field-effect tube is that a kind of tool there are three electrode is respectively as follows: grid
The large power semiconductor device of pole G, source S and drain D, also known as metal-oxide-semiconductor.Metal-oxide-semiconductor have it is small in size, structure is relatively easy,
The features such as function is strong is more commonly used one of semiconductor devices.The device is widely used in various electronic equipments and electronics
It is multi-purpose to make controllable constant-current, amplification, noncontacting switch etc. in product.
After the component on circuit board is powered on a period of time, a large amount of heat will be inevitably generated, if not
Heat can be discharged in time, may result in the decline of circuit runnability, or even cause failure, damage circuit board, reduction circuit
The normal service life of plate.Currently, the control circuit board of common device people's automatic dust catcher in the market, because of each circuit components
Compact layout, therefore thermal diffusivity is bad, and the interference free performance of control circuit board is poor.
Thus the prior art could be improved and improve.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide the control systems of Intelligent cleaning robot
System and its control method and control circuit board, can be automatically performed cleaning.
In order to achieve the above object, this invention takes following technical schemes:
A kind of control system of Intelligent cleaning robot comprising: mode control module, for receive work order into
Enter helicon mode, gradually cleans specified region in superset in a manner of involute；When the left or right side of Intelligent cleaning robot
When encountering barrier for the first time, the first preset time is first retreated, turns 10 degree of angles in the opposite direction again, then keep straight on；If the
Barrier is not encountered in two preset times again and then enters roaming mode, using intersect walking path back and forth on the ground into
Row, which cleans, ensures to cover entire cleaning region.
In the control system of the Intelligent cleaning robot, the mode control module is also used in Intelligent cleaning machine
When barrier is encountered in the left or right side of people again, then retreats the first preset time, turns 10 degree of angles, then in the opposite direction again
Straight trip；Enter roaming mode if not encountering barrier again in the second preset time, using the walking road intersected back and forth
Diameter, which carries out cleaning on the ground, ensures to cover entire cleaning region.
In the control system of the Intelligent cleaning robot, first preset time is 0.12 second.
In the control system of the Intelligent cleaning robot, second preset time is 3-8 seconds.
A kind of control method of the control system of Intelligent cleaning robot comprising following steps:
A, enter helicon mode receiving work order, gradually clean specified region in superset in a manner of involute；
B, when Intelligent cleaning robot left or right side for the first time encounter barrier when, first retreat the first preset time,
Turn 10 degree of angles in the opposite direction again, then keep straight on；
C, enter roaming mode if not encountering barrier again in the second preset time, using the row intersected back and forth
Walking path and carrying out cleaning on the ground ensures to cover entire cleaning region.
In the control method, after step c, the control method further include:
D, when barrier is encountered again in the left or right side of Intelligent cleaning robot, the first preset time, again is first retreated
Turn 10 degree of angles in the opposite direction, keep straight on again；Then circulation step C and D is until completing cleaning.
A kind of control circuit board of Intelligent cleaning robot comprising main PCB plate and infrared acquisition pcb board, the main PCB
Plate is connect with the infrared acquisition pcb board by connector；The positive left side of the main PCB plate is provided with the first field-effect
Pipe, the second field-effect tube, the first motor driving chip and the second motor driving chip, first field-effect tube, second effect
The positive left upper portion positioned at main PCB plate should be managed, the first motor driving chip and the second motor driving chip are located at main PCB plate
Positive left lower；The positive right side central of the main PCB plate is provided with for controlling the whole of Intelligent cleaning robot
The MCU chip of body function, the top of the middle section of main PCB plate are provided with the first touch-switch, the second touch-switch and several
LED light, the middle section at the back side of the main PCB plate are welded with Schottky diode, in the right side at the back side of main PCB plate
Portion is provided with several sampling resistors, and left upper portion, left lower, the lower right side at the back side of the main PCB plate are each provided with two
A connector holder being electrically connected with infrared acquisition pcb board.
In the control circuit board of the Intelligent cleaning robot, three pins of the Schottky diode are welded on
On the main PCB plate；The Schottky diode is 11 ~ 15mm and the master at a distance from the back side upper end of the main PCB plate
The distance of the back side lower end of pcb board is 28 ~ 32mm；First field-effect tube is at a distance from the front upper portion of the main PCB plate
For 1.27 ~ 3mm, at a distance from the positive left end of the main PCB plate be 25-28mm, second field-effect tube and the main PCB
The distance of the front upper portion of plate is 11 ~ 12mm, at a distance from the positive left end of the main PCB plate is 8 ~ 10mm.
In the control circuit board of the Intelligent cleaning robot, the first motor driving chip and the main PCB plate
The distance of positive left end be 11 ~ 11.5mm, at a distance from the positive lower end of the main PCB plate be 16.5 ~ 17.5mm；Described
Two motor driving chip is 35 ~ 36mm at a distance from the positive left end of the main PCB plate and the positive lower end of the main PCB plate
Distance be 16.5 ~ 17.5mm.
In the control circuit board of the Intelligent cleaning robot, the front right end of the MCU chip and the main PCB plate
Distance be 11.5 ~ 12mm, at a distance from the positive lower end of the main PCB plate be 24 ~ 25mm；First touch-switch and institute
The distance for stating the front upper portion of main PCB plate is 21 ~ 23mm, at a distance from the front right end of the main PCB plate is 33 ~ 35mm；Institute
It is 21 ~ 23mm and the positive left end of the main PCB plate that the second touch-switch, which is stated, at a distance from the front upper portion of the main PCB plate
Distance be 33 ~ 35mm.
Compared to the prior art, the control system and its control method and control of Intelligent cleaning robot provided by the invention
Circuit board, control system include mode control module, for entering helicon mode receiving work order, in a manner of involute
Specified region is gradually cleaned in superset；When barrier is encountered for the first time in the left or right side of Intelligent cleaning robot, successively
The first preset time is moved back, turns 10 degree of angles in the opposite direction again, then keep straight on；If do not encountered again in the second preset time
Barrier then enters roaming mode, carries out cleaning on the ground using the walking path intersected back and forth ensuring to cover entire clear area
Domain reduces the labor intensity and human cost of people so that realizing automatic cleaning specifies region.
Detailed description of the invention
Fig. 1 is the effect diagram of the helicon mode of the control system of Intelligent cleaning robot of the present invention.
Fig. 2 is the effect diagram of the roaming mode of the control system of Intelligent cleaning robot of the present invention.
Fig. 3 is the positive structure schematic of the control circuit board of Intelligent cleaning robot of the present invention.
Fig. 4 is the structure schematic diagram of the control circuit board of Intelligent cleaning robot of the present invention.
Specific embodiment
Intelligent cleaning robot combines the core technology of robot and dust catcher, can be in left unguarded easily
Complete the full-automatic cleaning of the indoor environments such as realization family, hotel, office building.Intelligent cleaning robot of the invention is using intelligence
Change cleaning technology, is a kind of intelligent purging system that soft and hardware combines, hardware is by several infrared detectors, bottom dust
Detector and drop sensor, hairbrush glue brush side brush velocity-measuring system etc. composition, in conjunction with traditional behavioral techniques and sensor skill
On the basis of art, chooses most effective behavior collocation and construct whole system, the raising for keeping the working efficiency of whole system very big.
The control system and its control method and control circuit board of present invention offer Intelligent cleaning robot, to make the present invention
Purpose, technical solution and effect it is clearer, clear, as follows in conjunction with drawings and embodiments further specifically to the present invention
It is bright.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not intended to limit the present invention.
The control system that the present invention provides a kind of Intelligent cleaning robot includes: mode control module (unlabeled in figure),
For entering helicon mode receiving work order, specified region gradually is cleaned in superset in a manner of involute, such as cleans road
Diameter as direction of the arrows shown in fig, concentrates the specified region of cleaning centered on cleaning point to rotate the direction spread around.Work as intelligence
When barrier is encountered for the first time in the left or right side of clean robot, first retreats the first preset time, turns in the opposite direction again
Then 10 degree of angles are kept straight on；Enter roaming mode if not encountering barrier again in the second preset time, using intersect come
The walking path returned, which carries out cleaning on the ground, ensures to cover entire cleaning region, as shown in Fig. 2, the black rectangle frame in Fig. 2
Indicate that Intelligent cleaning robot, arrow indicate the walking path of Intelligent cleaning robot, black heavy line indicates barrier, so anti-
It is multiple to be completed until cleaning.It is of course also possible to which the working time to Intelligent cleaning robot is timed, when timing reaches
When, it is automatically stopped cleaning.
Specifically, first preset time is 0.12 second, it is preferably 5 seconds that second preset time, which is 3-8 seconds,.
The present invention correspondingly provides a kind of control method of the control system of Intelligent cleaning robot, includes the following steps:
S10, enter helicon mode receiving work order, gradually clean specified region in superset in a manner of involute；
S20, when Intelligent cleaning robot left or right side for the first time encounter barrier when, first retreat first it is default when
Between, turn in the opposite direction again 10 degree of angles, then keep straight on；
S30, enter roaming mode if not encountering barrier again in the second preset time, back and forth using intersection
Walking path, which carries out cleaning on the ground, ensures to cover entire cleaning region.
During cleaning, Intelligent cleaning robot is likely to encounter barrier again, therefore the control method is also
Include:
S40, when barrier is encountered again in the left or right side of Intelligent cleaning robot, first retreat the first preset time,
Turn 10 degree of angles in the opposite direction again, keep straight on again；Then circulation step S30 and S40 is until completing cleaning.Referring specifically to
The corresponding embodiment of above-mentioned control system.
Fig. 3 and Fig. 4 are please referred to, the control circuit board that the present invention correspondingly provides a kind of Intelligent cleaning robot includes master
Pcb board 10 and infrared acquisition pcb board (not shown), the main PCB plate 10 pass through connector with the infrared acquisition pcb board
Connection.The main PCB plate 10 is the circuit board with control function, and obverse and reverse has all welded a large amount of circuit elements device
Part.
Wherein, the positive left side of the main PCB plate 10 is provided with the first field-effect tube Q1, the second field-effect tube Q2,
One motor driving chip U1 and the second motor driving chip U2, the first field-effect tube Q1, the second field-effect tube Q2 are located at master
The positive left upper portion of pcb board 10, the first motor driving chip U1 and the second motor driving chip U2 are located at main PCB plate 10
Positive left lower；The positive right side central of the main PCB plate 10 is provided with for controlling the whole of Intelligent cleaning robot
The MCU chip U3 of body function, the top of the middle section of main PCB plate 10 are provided with the first touch-switch Q4, the second touch-switch
Q5 and several LED lights, the middle section at the back side of the main PCB plate 10 are welded with Schottky diode D1, main PCB plate 10
The right side central at the back side be provided with several sampling resistors, the left upper portion at the back side of the main PCB plate 10, left lower, the right side
Side lower part is each provided with two connector holders being electrically connected with infrared acquisition pcb board.
The control circuit board of Intelligent cleaning robot provided by the invention exists field-effect tube and the setting of motor driving chip
Main PCB plate 10 specifies region, makes the working effect of control circuit board more preferably；And main PCB plate 10 passes through with infrared acquisition pcb board
Connector connection, improves the anti-external interference performance of control circuit board.
When it is implemented, the width of the main PCB plate 10 is 70.5 ~ 71.5mm, length is 114.5 ~ 115.5mm, main PCB
The size of plate 10 is small, so that the volume of Intelligent cleaning robot is also corresponding smaller.It is provided on infrared acquisition pcb board infrared
Pipe will be handled by connector by detecting in MCU chip U3 that inductive signal is transmitted on main PCB plate 10.And main PCB
Plate 10 is connect with infrared acquisition pcb board by connector, and the anti-external interference performance of control circuit board is improved.
Wherein, the first field-effect tube Q1 and the second field-effect tube Q2 is high-power MOS tube, and MCU chip U3 is 32
Position high-performance MCU.The first field-effect tube Q1 is 1.27 ~ 3mm and institute at a distance from the front upper portion of the main PCB plate 10
The distance for stating the positive left end of main PCB plate 10 is 25-28mm, the front of the second field-effect tube Q2 and the main PCB plate 10
The distance of upper end is 11 ~ 12mm, at a distance from the positive left end of the main PCB plate 10 is 8 ~ 10mm.
Three pins of the Schottky diode D1 are welded on the main PCB plate 10；The Schottky diode
D1 is 11 ~ 15mm at a distance from the back side upper end of the main PCB plate 10, at a distance from the back side lower end of the main PCB plate 10 is
28~32mm；
The first motor driving chip U1 is 11 ~ 11.5mm and institute at a distance from the positive left end of the main PCB plate 10
The distance for stating the positive lower end of main PCB plate 10 is 16.5 ~ 17.5mm；The second motor driving chip U2 and the main PCB plate
The distance of 10 positive left end is 35 ~ 36mm, at a distance from the positive lower end of the main PCB plate 10 is 16.5 ~ 17.5mm, thus
The setting of driving chip will not influence MCU chip U3, its work is made to reach optimum efficiency.
The MCU chip U3 is 11.5 ~ 12mm and the main PCB plate at a distance from the front right end of the main PCB plate 10
The distance of 10 positive lower end is 24 ~ 25mm；The first touch-switch Q4 is at a distance from the front upper portion of the main PCB plate 10
To be 33 ~ 35mm at a distance from 21 ~ 23mm, with the front right end of the main PCB plate 10；The second touch-switch Q5 and the master
The distance of the front upper portion of pcb board 10 is 21 ~ 23mm, at a distance from the positive left end of the main PCB plate 10 is 33 ~ 35mm.
The vertical interval of the MCU chip U3 and the second motor driving chip U2 is 44 ~ 46mm and first horse
Vertical interval up to driving chip U1 is 68.5 ~ 70.5mm；The second field-effect tube Q2 and the first motor driving chip
The spacing of U1 is 28.3 ~ 30.3mm, the spacing of the first field-effect tube Q1 and the second motor driving chip U2 is 29 ~ 31mm；
The spacing of the second touch-switch Q5 and the second motor driving chip U2 is 19 ~ 23mm;The second touch-switch Q5
Spacing with the first touch-switch Q4 is 33 ~ 35mm.
The LED light includes the first LED light LED1, the second LED light LED2, third LED light LED3 and the 4th LED light
LED4；The first LED light LED1 is 1 ~ 2mm and the main PCB plate 10 at a distance from the front upper portion of the main PCB plate 10
Positive lower end distance be 43.5 ~ 44.5mm；The front upper portion of the second LED light LED2 and the main PCB plate 10 away from
From for 1 ~ 2mm, be 46 ~ 47mm at a distance from the front right end of the main PCB plate 10；The third LED light LED3 and the master
The distance of the front upper portion of pcb board 10 is 1 ~ 2mm, at a distance from the positive lower end of the main PCB plate 10 is 66 ~ 67mm；It is described
4th LED light LED4 is 1 ~ 2mm at a distance from the front upper portion of the main PCB plate 10 and the front right end of the main PCB plate 10
Distance be 69 ~ 70mm.LED light is set to the front upper of main PCB plate 10 by the present invention, saves cost, while by
Farther out in field-effect tube and motor driving chip and MCU chip U3, the interference to MCU chip U3 is greatly reduced.
The sampling resistor is adopted including the first sampling resistor R1, the second sampling resistor R2, third sampling resistor R3 and the 4th
Sample resistance R4.First sampling resistor R1 is 11 ~ 15mm and the main PCB plate at a distance from the back side right end of the main PCB plate 10
The distance at 10 back sides lower end is 28 ~ 34mm；The second sampling resistor R2 is at a distance from the back side right end of the main PCB plate 10
It 25 ~ 29mm, is 30 ~ 36mm at a distance from 10 back side lower end of main PCB plate；The third sampling resistor R3 and the main PCB
The distance of the back side right end of plate 10 is 22 ~ 26mm, at a distance from 10 back side lower end of main PCB plate is 15 ~ 21mm；Described 4th
Under sampling resistor R4 is 27.7 ~ 31.7mm and 10 back side of main PCB plate at a distance from the back side right end of the main PCB plate 10
The distance at end is 15 ~ 21mm.The spacing of Schottky diode D1 and the second sampling resistor R2 are 20.5 ~ 24.5mm;, with described the
The spacing of one sampling resistor R1 is 35 ~ 39mm.
Wherein, the connector holder includes the first connector SN1, the second connector SN2, third connector SN3, the 4th company
Connect device SN4, the 5th connector SN5 and the 6th connector SN6, the first connector SN1 and the back side right end of the main PCB plate 10
Distance is that the distance of the back side lower end of 1 ~ 3mm, the main PCB plate 10 is 0.5 ~ 1.5mm；The second connector SN2 with it is described
The distance of the back side left end of main PCB plate 10 is 18 ~ 19mm, at a distance from the back side lower end of the main PCB plate 10 is 2 ~ 3.5mm；
The third connector SN3 is 1 ~ 3mm and 10 back side of main PCB plate at a distance from the back side left end of the main PCB plate 10
The distance of upper end is 2 ~ 4mm；The 4th connector SN4 at a distance from 10 back side left end of main PCB plate for 14 ~ 16mm, with
The distance of the back side upper end of the main PCB plate 10 is 2 ~ 4mm；The back side of the 5th connector SN5 and the main PCB plate 10 is left
The distance at end is 1 ~ 3mm, at a distance from 10 back side lower end of main PCB plate is 2 ~ 4mm；The 6th connector SN6 with it is described
The distance of 10 back side right end of main PCB plate is 1 ~ 3mm, the distance of 10 back side lower end of the main PCB plate is 10 ~ 12mm.
The present invention is suitable by electronic component device rational deployment, the spacing in the control circuit board to Intelligent cleaning robot
Preferably, thermal diffusivity is good, avoids the defect for causing circuit runnability to decline because of poor heat radiation.
Further, the MCU chip includes mode control module, for entering helicon mode receiving work order,
A certain specific region gradually is cleaned in superset in a manner of involute；When barrier is encountered for the first time in left or right side, successively
It moves back 0.12 second, turn 10 degree of angles in the opposite direction again, then keep straight on；Enter if not encountering barrier again in 3-8 seconds
Roaming mode, carrying out cleaning on the ground using the walking path intersected back and forth ensures to cover entire cleaning region.
In conclusion the present invention realizes automated cleaning, human cost is reduced, but also due to by field-effect tube and horse
Main PCB plate is arranged at up to driving chip and specifies region, therefore main PCB plate performance is preferable；So that the control of Intelligent cleaning robot
Circuit board performance is in optimum state, improves the anti-external interference performance of control circuit board.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (7)
1. a kind of control system of Intelligent cleaning robot characterized by comprising mode control module, for receiving work
Make instruction and enter helicon mode, gradually cleans specified region in superset in a manner of involute；When a left side for Intelligent cleaning robot
When barrier is encountered for the first time in side or right side, the first preset time is first retreated, turns 10 degree of angles in the opposite direction again, is then straight
Row；Enter roaming mode if not encountering barrier again in the second preset time, using the walking path intersected back and forth
Carrying out cleaning on the ground ensures to cover entire cleaning region；
The mode control module is also used to when barrier is encountered again in the left or right side of Intelligent cleaning robot, then is retreated
First preset time turns 10 degree of angles in the opposite direction again, then keeps straight on；If barrier is not encountered in the second preset time again
Hinder object then to enter roaming mode, carries out cleaning on the ground using the walking path intersected back and forth ensuring to cover entire clear area
Domain；
First preset time is 0.12 second；
Second preset time is 5 seconds.
2. a kind of control method of the control system of Intelligent cleaning robot as described in claim 1, which is characterized in that including such as
Lower step:
A, enter helicon mode receiving work order, gradually clean specified region in superset in a manner of involute；
B, when Intelligent cleaning robot left or right side for the first time encounter barrier when, first retreat the first preset time, again to
Opposite direction turns 10 degree of angles, then keeps straight on；
C, enter roaming mode if not encountering barrier again in the second preset time, using the walking road intersected back and forth
Diameter, which carries out cleaning on the ground, ensures to cover entire cleaning region.
3. control method according to claim 2, which is characterized in that after step c, the control method is also wrapped
It includes:
D, when barrier is encountered again in the left or right side of Intelligent cleaning robot, the first preset time is first retreated, again to phase
Anti- direction turns 10 degree of angles, keeps straight on again；Then circulation step C and D is until completing cleaning.
4. a kind of control circuit board of Intelligent cleaning robot, which is characterized in that including main PCB plate and infrared acquisition pcb board, institute
It states main PCB plate and is connect with the infrared acquisition pcb board by connector；The positive left side of the main PCB plate is provided with first
Field-effect tube, the second field-effect tube, the first motor driving chip and the second motor driving chip, first field-effect tube,
Two field-effect tube are located at the positive left upper portion of main PCB plate, and the first motor driving chip and the second motor driving chip are located at
The positive left lower of main PCB plate；The positive right side central of the main PCB plate is provided with for controlling Intelligent cleaning machine
The MCU chip of the allomeric function of people, the top of the middle section of main PCB plate are provided with the first touch-switch, the second touch-switch
With several LED lights, the middle section at the back side of the main PCB plate is welded with Schottky diode, the back side of main PCB plate
Right side central is provided with several sampling resistors, and left upper portion, left lower, the lower right side at the back side of the main PCB plate are respectively set
The connector holder being electrically connected there are two setting with infrared acquisition pcb board；It is provided in the MCU chip as described in claim 1
Control system.
5. the control circuit board of Intelligent cleaning robot according to claim 4, which is characterized in that two pole of Schottky
Three pins of pipe are welded on the main PCB plate；The back side upper end of the Schottky diode and the main PCB plate away from
From for 11 ~ 15mm, be 28 ~ 32mm at a distance from the back side lower end of the main PCB plate；First field-effect tube and the master
The distance of the front upper portion of pcb board is 1.27 ~ 3mm, at a distance from the positive left end of the main PCB plate is 25-28mm, described
Two field-effect tube are 11 ~ 12mm at a distance from the front upper portion of the main PCB plate, with the positive left end of the main PCB plate away from
From for 8 ~ 10mm.
6. the control circuit board of Intelligent cleaning robot according to claim 4, which is characterized in that first motor drives
Dynamic chip is at a distance from the positive left end of the main PCB plate for 11 ~ 11.5mm, at a distance from the positive lower end of the main PCB plate
For 16.5 ~ 17.5mm；The second motor driving chip is 35 ~ 36mm and institute at a distance from the positive left end of the main PCB plate
The distance for stating the positive lower end of main PCB plate is 16.5 ~ 17.5mm.
7. the control circuit board of Intelligent cleaning robot according to claim 4, which is characterized in that the MCU chip with
The distance of the front right end of the main PCB plate is 11.5 ~ 12mm, at a distance from the positive lower end of the main PCB plate be 24 ~
25mm；First touch-switch at a distance from the front upper portion of the main PCB plate for 21 ~ 23mm, with the main PCB plate just
The distance of face right end is 33 ~ 35mm；Second touch-switch at a distance from the front upper portion of the main PCB plate for 21 ~ 23mm,
With at a distance from the positive left end of the main PCB plate be 33 ~ 35mm.
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| CN107179083A (en) * | 2017-07-25 | 2017-09-19 | 中央民族大学 | Intelligent robot paths planning method and system |
| CN108762259B (en) * | 2018-05-11 | 2020-12-15 | 杭州晶一智能科技有限公司 | Mowing robot traversal path planning method based on wireless signal intensity |
| CN109276191B (en) * | 2018-11-01 | 2020-06-05 | 珠海市一微半导体有限公司 | Path cleaning method, system and chip of cleaning robot |
| CN110199234A (en) * | 2019-04-03 | 2019-09-03 | 深圳拓邦股份有限公司 | A kind of helix gradually opens mowing method, system and device |
| CN110456789A (en) * | 2019-07-23 | 2019-11-15 | 中国矿业大学 | A kind of complete coverage path planning method of clean robot |
| CN112947408B (en) * | 2021-01-19 | 2021-12-03 | 佛山市顺德区一拓电气有限公司 | Control method and device for cleaning equipment |
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