CN105496317A - 清洁机器人从楼梯到中间平台到楼梯的连续性过渡方法 - Google Patents
清洁机器人从楼梯到中间平台到楼梯的连续性过渡方法 Download PDFInfo
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- CN105496317A CN105496317A CN201610013274.3A CN201610013274A CN105496317A CN 105496317 A CN105496317 A CN 105496317A CN 201610013274 A CN201610013274 A CN 201610013274A CN 105496317 A CN105496317 A CN 105496317A
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- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000004140 cleaning Methods 0.000 title claims abstract description 38
- 230000007704 transition Effects 0.000 title claims abstract description 37
- 230000008569 process Effects 0.000 claims description 23
- 230000009471 action Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 2
- 238000010408 sweeping Methods 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 10
- 238000013461 design Methods 0.000 description 5
- 230000009194 climbing Effects 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
-
- 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
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610013274.3A CN105496317B (zh) | 2014-06-04 | 2014-06-04 | 清洁机器人从楼梯到中间平台到楼梯的连续性过渡方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410245199.4A CN103989443B (zh) | 2014-06-04 | 2014-06-04 | 楼梯清洁机器人从楼梯到中间平台到楼梯的过渡方法 |
CN201610013274.3A CN105496317B (zh) | 2014-06-04 | 2014-06-04 | 清洁机器人从楼梯到中间平台到楼梯的连续性过渡方法 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410245199.4A Division CN103989443B (zh) | 2014-06-04 | 2014-06-04 | 楼梯清洁机器人从楼梯到中间平台到楼梯的过渡方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105496317A true CN105496317A (zh) | 2016-04-20 |
CN105496317B CN105496317B (zh) | 2017-09-29 |
Family
ID=51303974
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610013274.3A Expired - Fee Related CN105496317B (zh) | 2014-06-04 | 2014-06-04 | 清洁机器人从楼梯到中间平台到楼梯的连续性过渡方法 |
CN201610012211.6A Expired - Fee Related CN105595924B (zh) | 2014-06-04 | 2014-06-04 | 有效实现楼梯清洁机器人从楼梯到中间平台到楼梯过渡的方法 |
CN201410245199.4A Expired - Fee Related CN103989443B (zh) | 2014-06-04 | 2014-06-04 | 楼梯清洁机器人从楼梯到中间平台到楼梯的过渡方法 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610012211.6A Expired - Fee Related CN105595924B (zh) | 2014-06-04 | 2014-06-04 | 有效实现楼梯清洁机器人从楼梯到中间平台到楼梯过渡的方法 |
CN201410245199.4A Expired - Fee Related CN103989443B (zh) | 2014-06-04 | 2014-06-04 | 楼梯清洁机器人从楼梯到中间平台到楼梯的过渡方法 |
Country Status (1)
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CN (3) | CN105496317B (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114569002A (zh) * | 2022-03-18 | 2022-06-03 | 广州大学 | 智能清洁机器人及其控制方法 |
CN114794991A (zh) * | 2022-06-02 | 2022-07-29 | 南通大学 | 一种楼梯清洁机器人的不转身下楼梯控制方法 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105824313A (zh) * | 2016-03-15 | 2016-08-03 | 深圳市华讯方舟科技有限公司 | 障碍物躲避方法及装置 |
CN107943021B (zh) * | 2017-10-19 | 2021-03-30 | 布法罗机器人科技(成都)有限公司 | 一种自适应上下楼梯控制系统和方法 |
CN108078498A (zh) * | 2017-10-30 | 2018-05-29 | 苏州花坞信息科技有限公司 | 一种智能楼梯清洁机器人的楼梯面清洁方法 |
CN108415421A (zh) * | 2018-01-26 | 2018-08-17 | 广东宝乐机器人股份有限公司 | 一种提高移动机器人边角覆盖率的方法 |
CN110448231B (zh) * | 2019-08-12 | 2021-04-13 | 侨银城市管理股份有限公司 | 一种适用于市政阶梯的清扫装置 |
CN111214173A (zh) * | 2019-11-21 | 2020-06-02 | 三峡大学 | 一种履带式爬楼的吸尘装置及方法 |
CN110861095B (zh) * | 2019-12-09 | 2021-03-19 | 上海高仙自动化科技发展有限公司 | 机器人控制方法、机器人和可读存储介质 |
CN111759241B (zh) * | 2020-06-24 | 2021-10-15 | 湖南格兰博智能科技有限责任公司 | 一种扫地机器人清扫路径规划及导航控制方法 |
WO2022041236A1 (zh) * | 2020-08-31 | 2022-03-03 | 苏州珊口智能科技有限公司 | 移动机器人的行进控制方法、路径规划方法及移动机器人 |
CN113854892B (zh) * | 2021-10-21 | 2022-08-02 | 唐山学院 | 一种自动规划路径的清洁装置 |
CN114569028A (zh) * | 2022-04-28 | 2022-06-03 | 南京福亿智能机器人科技有限公司 | 用于机器人爬楼的控制方法、装置、设备及存储介质 |
Citations (5)
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CN1883889A (zh) * | 2005-06-22 | 2006-12-27 | 王冬雷 | 一种适用于清洁机器人的路径规划 |
CN101313829A (zh) * | 2007-05-31 | 2008-12-03 | 三星光州电子株式会社 | 清洁机器人 |
US20090088900A1 (en) * | 2007-10-01 | 2009-04-02 | Samsung Electronics Co., Ltd. | Ultrasonic distance sensor and robot cleaner using the same |
KR101281512B1 (ko) * | 2007-04-06 | 2013-07-03 | 삼성전자주식회사 | 로봇청소기 및 그 제어방법 |
CN203195609U (zh) * | 2013-04-02 | 2013-09-18 | 宋晓龙 | 越层清洁机器人 |
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DE2364002C2 (de) * | 1973-12-21 | 1983-02-24 | Frey, Helmut, Dr.jur., 8000 München | Orientierungsvorrichtung für ein Gerätesystem, das sich zur Bearbeitung einer Fläche auf dieser bewegt |
US6752400B2 (en) * | 2000-06-09 | 2004-06-22 | Shimadzu Mectem, Inc. | Moving unit |
RU2220643C2 (ru) * | 2001-04-18 | 2004-01-10 | Самсунг Гванджу Электроникс Ко., Лтд. | Автоматическое чистящее устройство, автоматическая чистящая система и способ управления этой системой (варианты) |
SE0201740D0 (sv) * | 2002-06-07 | 2002-06-07 | Electrolux Ab | Electroniskt diregeringssystem |
JP2009234534A (ja) * | 2008-03-28 | 2009-10-15 | Ihi Corp | 移動ロボット |
JP2009241246A (ja) * | 2008-03-31 | 2009-10-22 | Kazuya Yoshida | 不整地移動体用の半自律走行法 |
TWI423779B (zh) * | 2011-01-28 | 2014-01-21 | Micro Star Int Co Ltd | 清潔機器人及其控制方法 |
CN202681848U (zh) * | 2012-04-18 | 2013-01-23 | 燕山大学 | 基于真空吸附原理的壁面清洁机器人 |
CN102631172B (zh) * | 2012-04-20 | 2013-05-08 | 南通大学 | 升降伸缩式楼道清洁机器人 |
-
2014
- 2014-06-04 CN CN201610013274.3A patent/CN105496317B/zh not_active Expired - Fee Related
- 2014-06-04 CN CN201610012211.6A patent/CN105595924B/zh not_active Expired - Fee Related
- 2014-06-04 CN CN201410245199.4A patent/CN103989443B/zh not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1883889A (zh) * | 2005-06-22 | 2006-12-27 | 王冬雷 | 一种适用于清洁机器人的路径规划 |
KR101281512B1 (ko) * | 2007-04-06 | 2013-07-03 | 삼성전자주식회사 | 로봇청소기 및 그 제어방법 |
CN101313829A (zh) * | 2007-05-31 | 2008-12-03 | 三星光州电子株式会社 | 清洁机器人 |
US20090088900A1 (en) * | 2007-10-01 | 2009-04-02 | Samsung Electronics Co., Ltd. | Ultrasonic distance sensor and robot cleaner using the same |
CN203195609U (zh) * | 2013-04-02 | 2013-09-18 | 宋晓龙 | 越层清洁机器人 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114569002A (zh) * | 2022-03-18 | 2022-06-03 | 广州大学 | 智能清洁机器人及其控制方法 |
CN114794991A (zh) * | 2022-06-02 | 2022-07-29 | 南通大学 | 一种楼梯清洁机器人的不转身下楼梯控制方法 |
CN114794991B (zh) * | 2022-06-02 | 2024-01-16 | 南通大学 | 一种楼梯清洁机器人的不转身下楼梯控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN103989443B (zh) | 2016-03-02 |
CN105496317B (zh) | 2017-09-29 |
CN105595924B (zh) | 2017-10-17 |
CN105595924A (zh) | 2016-05-25 |
CN103989443A (zh) | 2014-08-20 |
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CB03 | Change of inventor or designer information |
Inventor after: Zhao Nansheng Inventor after: Zhang Lei Inventor after: Yao Xingtian Inventor after: Ma Yonglin Inventor after: Huang Liping Inventor after: Shuai Liguo Inventor after: Huang Xi Inventor before: Zhang Lei Inventor before: Yao Xingtian Inventor before: Ma Yonglin Inventor before: Zhao Nansheng Inventor before: Shuai Liguo Inventor before: Huang Xi Inventor before: Huang Liping |
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Granted publication date: 20170929 Termination date: 20180604 |
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