CN107028559A - A kind of sweeper and its anti-fall method - Google Patents
A kind of sweeper and its anti-fall method Download PDFInfo
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- CN107028559A CN107028559A CN201710276748.8A CN201710276748A CN107028559A CN 107028559 A CN107028559 A CN 107028559A CN 201710276748 A CN201710276748 A CN 201710276748A CN 107028559 A CN107028559 A CN 107028559A
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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
- 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
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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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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of sweeping robot, including body and control unit, the bottom margin of body sets dropproof detection unit, and dropproof detection unit detection robot is in different states, including normal, liftoff, suspension and falls state；The bottom of body sets walking unit and cleaning unit；Control unit is connected with dropproof detection unit, the walking unit and the cleaning unit respectively, and described control unit is responsible for being in different state control walking units and the corresponding mode of operation of cleaning unit execution according to the robot.It can be seen that the sweeping robot that the present invention is provided is by setting the dropproof detection unit to detect that the robot is in different states, robot is according to the different corresponding different working modes of execution, so that the robot that provides of the present invention has makes the function most appropriately reacted according to different situations of falling, avoid causing inefficiency due to frequently retreating, so as to improve the operating efficiency of sweeping robot.
Description
Technical field
The present invention relates to sweeping robot field, a kind of sweeping robot and its anti-fall method are particularly related to.
Background technology
With the development and the progress of science and technology of society, intelligent sweeping comes into average family, existing intelligent floor-sweeping
Machine, in order to prevent it from falling from eminence, causes machine breakdown, general to use infrared induction ranging, is installed on the outside of robot base
Multiple infrared induction distance measuring sensors, after sensor emission infrared signal, receive infrared signal, according to the infrared letter of reception
Number change whether judge machine in falling state, as long as but this detection mode detect after signal changes and just sentence
It is set to and falls state, at this moment run into doubtful situation about falling such as ditch, aperture, or very short step etc. can be all judged to falling
Fall, machine can carry out dropproof protection and generally retreat.
It is this recognize the mode fallen cause but performed in the situation that some be able to should normally run it is dropproof
Protection, causes machine frequently to retract or turn to, greatly reduces the operating efficiency of sweeping robot.
The content of the invention
In view of this, it is an object of the invention to propose that a kind of adaptation is a variety of to fall state and the high sweeper of operating efficiency
Device people and its anti-fall method.
The sweeping robot provided based on the above-mentioned purpose present invention, including body and control unit, the bottom of the body
Edge sets dropproof detection unit, and the dropproof detection unit detects that the robot is in different states, including just
Often, liftoff, suspension and state is fallen；The bottom of the body sets walking unit and cleaning unit；Described control unit point
It is not connected with the dropproof detection unit, the walking unit and the cleaning unit, described control unit is responsible for basis
The robot is in different states and controls the walking unit and cleaning unit to perform corresponding mode of operation.
Further, the dropproof detection unit includes three infrared signal sensors, and three infrared signals are passed
Sensor is respectively arranged at the front end and left and right ends of the body bottom portion direction of advance；
The infrared signal sensor includes infrared signal emitter and corresponding infrared signal receiving apparatus.
Further, the walking unit includes two driving wheels and a stabilizer.
Further, the cleaning unit includes cleaning brush and cleaning round brush.
It is preferred that, the stabilizer is universal wheel.
It is preferred that, the cleaning brush is two, is symmetrically arranged on the two bottom sides of the body.
On the other hand the present invention also provides sweeping robot anti-fall method, including：Dropproof detection unit detects institute
State robot and be in different states, including normal, liftoff, suspension and fall state；
Control unit receives information of the robot in different states that the dropproof detection unit is detected,
The corresponding different control information of generation is sent to walking unit and cleaning unit；
It is corresponding that the walking unit and cleaning unit drive the robot to perform according to the different control information
Mode of operation.
Further, the dropproof detection unit is included in the front end and a left side of the direction of advance of the robot base
Right three positions in two ends are arranged in pairs infrared launcher and infrared receiving device respectively；
The dropproof detection unit, which detects method of the robot in different states, to be included：
The infrared signal of the infrared launcher transmitting perpendicular to the ground, the infrared receiving device is received by ground return
The infrared signal, when the infrared receiving device receive signal suddenly disappear or change than it is larger when, connect three infrared
The reception signal data of receiving apparatus is sent to described control unit；
Described control unit is judged at the robot according to the signal data of three infrared receiving devices of reception
In normal, liftoff, suspension and fall state and include：
When the signal data of three infrared receiving devices keeps the change of identical waveform simultaneously, the robot machine is judged
In normal；
When the signal data of three infrared receiving devices is in maximum simultaneously, judge that the robot machine is in liftoff
State；
When the first infrared receiving device signal data in setting time always be more than other two signal datas, and
The signal data of first infrared receiving device has been maxed out value, judges robot in the first infrared receiving device side
In falling state；
When the second infrared receiving device signal data in setting time always be more than other two signal datas, and
The signal data of second infrared receiving device has certain fluctuating range, judges robot in second infrared receiving device one
Side is in suspension state；
Further, the robot is in different states and also includes crossing over gap or circular hole state；
The dropproof detection unit, which detects method of the robot in different states, also to be included：The control
Unit judges that the robot is according to the signal data of three infrared receiving devices of reception and crosses over gap or circular hole
State：
When the signal data of the 3rd infrared signal sensor changes, and transformation period is less than setting minimum value, judges
The side of the 3rd infrared signal sensor, which is in, crosses over gap or circular hole state.
Further, the walking unit and cleaning unit drive the robot to hold according to the different control information
The corresponding mode of operation of row includes：
When judging to be in normally and cross over gap or circular hole state in the normal robot that states, the robot is performed just
Norm formula, the walking unit is normally walked, and the cleaning unit is normally cleaned；
Liftoff state is in when stating robot described in judgement, the robot starts alert program and sends alarm signal, institute
State walking unit and stop walking, the cleaning unit stops cleaning；
When judging the robot wherein side in suspension state, the robot starts automatic pattern of getting rid of poverty, described
Walking unit turns to walking, and the cleaning unit is normally cleaned；
Fall state when judging that the robot wherein side is in, the robot, which starts, retracts pattern, the walking
Unit is walked the walking of a period of time rear steering round about, and the cleaning unit stops cleaning normal clear after walking is turned to
Sweep.
The sweeping robot that the present invention is provided as can be seen here is described for detecting by setting the dropproof detection unit
Robot is in different states, including normal, liftoff, suspension and falls state, so that robot is according to different execution
Corresponding different working modes, it is to avoid robot a variety of falls the situation hair that situation can only be retreated running into
It is raw so that the robot that the present invention is provided has falls the function that situation makes most appropriate reaction according to difference, it is to avoid due to
Inefficiency is frequently retreated, so as to improve the operating efficiency of sweeping robot.
Brief description of the drawings
The embodiment schematic diagram for the sweeping robot that Fig. 1 provides for the present invention；
The embodiment upward view for the sweeping robot that Fig. 2 provides for the present invention；
The embodiment schematic diagram for the sweeping robot anti-fall method that Fig. 3 provides for the present invention；
The signal waveform embodiment schematic diagram for the infrared launcher transmitting that Fig. 4 provides for the present invention；
Infrared receiving device receives waveform embodiment and shown when Fig. 5 is in normal condition for the sweeping robot that the present invention is provided
It is intended to；
Infrared receiving device receives waveform embodiment and shown when Fig. 6 is in liftoff state for the sweeping robot that the present invention is provided
It is intended to；
Infrared receiving device receives waveform and implemented when Fig. 7 falls state for the sweeping robot that the present invention is provided in side
Illustrate and be intended to,
Infrared receiving device receives waveform and implemented when Fig. 8 is in side suspension state for the sweeping robot that the present invention is provided
Illustrate and be intended to；
Infrared receiving device is received when Fig. 9 is in side toggle ground plane material quality status for the sweeping robot that the present invention is provided
Waveform embodiment schematic diagram.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The entity of individual same names non-equal or the parameter of non-equal, it is seen that " first " " second " should not only for the convenience of statement
The restriction to the embodiment of the present invention is interpreted as, subsequent embodiment no longer illustrates one by one to this.
The sweeping robot that the present invention is provided, including body 1 and control unit (not indicating in the text), the bottom of body 1
Edge sets dropproof detection unit 2, and dropproof detection unit 2 detects the robot in different states, including normally,
Liftoff, suspension and fall state；The bottom of body 1 sets walking unit 3 and cleaning unit 4；Described control unit respectively with
Dropproof detection unit 2, walking unit 3 and cleaning unit 4 are connected, and described control unit is responsible for being according to the robot
Different states controls the robot body 1 to perform corresponding different working modes.
The power unit 2 provides energy for the operation of intelligent sweeping body 1.It is preferred that, power unit 2 of the present invention is carried
The energy of confession is the electric energy of rechargeable battery.
Further dropproof detection unit 2 includes three infrared signal sensors 201,202,203, three infrared signals
Sensor is respectively arranged at the front end and left and right ends of the bottom direction of advance of body 1；Three infrared signal sensors are included
Including infrared signal emitter and corresponding infrared signal receiving apparatus.
Further, walking unit 3 includes two driving wheels 301 and a stabilizer 302；It is preferred that, stabilizer 302 is
Universal wheel.
Further, cleaning unit 4 includes cleaning brush 401 and cleaning round brush 402；It is preferred that, cleaning brush 401 is two
It is individual, symmetrically it is arranged on the two bottom sides of body 1.
Existing robot sets fall arrest system, when run into it is any it is doubtful fall situation when can all perform identical and prevent
Fall instruction, usually retreat.It can be seen that the sweeping robot that the present invention is provided is by setting dropproof detection unit 2, for examining
Survey the robot and be in different states, including normal, liftoff, suspension and fall state, so that robot is according to difference
The corresponding different working modes of execution, it is to avoid robot a variety of falls the feelings that situation can only be retreated running into
Condition occurs so that the robot that the present invention is provided has falls the function that situation makes most appropriate reaction according to difference, it is to avoid
Due to frequently retreating the inefficiency that reaction is caused.
The present invention further by setting three infrared signal sensors, can be connected respectively to three detection ports, from
And can differentiate single direction fall dress situation, and then control machine robot runs into various situations and makes corresponding processing pair
Plan.
On the other hand, the present invention also provide sweeping robot anti-fall method, be illustrated in figure 3 the present invention provide sweep the floor
The embodiment schematic diagram of robot anti-fall method, this method includes：
Step 501, dropproof detection unit detection 2 is in different states to the robot, including normal, liftoff,
Suspension and fall state；
Step 502, the robot that the dropproof detection unit 2 of control unit reception is detected is in different states
Information, the corresponding different control information of generation is sent to walking unit 3 and cleaning unit 4；
Step 503, walking unit 3 and cleaning unit 4 drive the robot to perform according to the different control information
Corresponding mode of operation.
Further, dropproof detection unit 2 be included in the direction of advance of the bottom of robot body 1 front end and
The position difference infrared signal sensor 201,202,203 of left and right ends three, infrared signal sensor is infrared including being arranged in pairs
Emitter and infrared receiving device.
Step 501, dropproof detection unit 2 detects method of the robot in different states and included：
Step 501a, the infrared signal of the infrared launcher transmitting perpendicular to the ground, the infrared receiving device is received
By the infrared signal of ground return, when the infrared receiving device receive signal suddenly disappear or change than it is larger when, general
The reception signal data of three infrared receiving devices is sent to described control unit；
Step 501b, described control unit is according to judging the signal data of three infrared receiving devices of reception
Robot, which is in normal, liftoff, suspension and falls state, to be included：
As shown in figure 4, the signal waveform embodiment schematic diagram of the infrared launcher transmitting provided for the present invention, described red
The signal waveform of outer emitter transmitting is square wave.
By debugging after tool (fixed terrain clearance, white ground) correction, make three infrared receivers of affiliated robot
Device same ground receiver to data be consistent, abnormal data first are filtered into processing, and (i.e. fixed frequency is issued
Penetrate the infrared data memory processing respectively being turned on and off to receiving infrared lamp).
As shown in figure 5, infrared receiving device receives waveform when being in normal condition for the sweeping robot that the present invention is provided
Embodiment schematic diagram.When the signal data of three infrared receiving devices keeps the change of identical waveform simultaneously, that is, present with
The corresponding waveform of the signal data waveform of infrared launcher transmitting, judges the robot machine in normal shape
State；
As shown in fig. 6, infrared receiving device receives waveform when being in liftoff state for the sweeping robot that the present invention is provided
Embodiment schematic diagram, when the signal data 511,512,513 of three infrared receiving devices 201,202,203 is simultaneously in maximum
When, judge that the robot machine is in liftoff state；
As shown in fig. 7, infrared receiving device is received when falling state in side for the sweeping robot that the present invention is provided
Waveform embodiment schematic diagram, for example when infrared receiving device 202 signal data 512 in setting time always be more than other two
Individual signal data 511 and 513, and the signal data 512 of infrared receiving device 202 has been maxed out value, judges robot
In infrared receiving device 202, i.e., front side, which is in, falls state；Left and right sides can similarly be released falls state.
As shown in figure 8, infrared receiving device is received when being in side suspension state for the sweeping robot that the present invention is provided
Waveform embodiment schematic diagram, when the signal data 512 of infrared receiving device 202 is more than other two letters always in setting time
Number 511 and 513, and the signal data 512 of infrared receiving device 202 has certain fluctuating range, judges that robot exists
Infrared receiving device 202, i.e. front side is in suspension state；Left and right sides can similarly be released falls state.
Further, step 501, dropproof detection unit detection 2 is in different states to the robot also includes
Toggle ground plane material quality status, and cross over gap or circular hole state；
As shown in figure 9, being infrared receiver when the sweeping robot of the invention provided is in side toggle ground plane material quality status
Device receives waveform embodiment schematic diagram, when being switched to unlike material ground, the infrared signal of the deeper ground receiver of color
It is weaker, on the contrary it is stronger.
When the signal data of the 3rd infrared signal sensor changes, and transformation period is less than setting minimum value (for example
Less than 72 milliseconds), judge that the side of the 3rd infrared signal sensor is in and cross over gap or circular hole state.
Further, step 503, walking unit 3 and cleaning unit 4 drive the machine according to the different control information
Device people performs corresponding mode of operation, including：
When judging to be in normally and cross over gap or circular hole state in the normal robot that states, the robot is performed just
Norm formula, the walking unit is normally walked, and the cleaning unit is normally cleaned；
Liftoff state is in when stating robot described in judgement, the robot starts alert program and sends alarm signal, institute
State walking unit and stop walking, the cleaning unit stops cleaning；
When judging the robot wherein side in suspension state, the robot starts automatic pattern of getting rid of poverty, described
Walking unit turns to walking, and the cleaning unit is normally cleaned；
Fall state when judging that the robot wherein side is in, the robot, which starts, retracts pattern, the walking
Unit is walked the walking of a period of time rear steering round about, and the cleaning unit stops cleaning normal clear after walking is turned to
Sweep.
When judging to be in toggle ground plane state in the normal robot that states, the robot performs switching cleaning modes, institute
State walking unit normally to walk, the cleaning unit switches cleaning modes, being for example switched to floor tile from floor switches to strength clear
Sweep pattern.
It can be seen that the sweeper anti-fall method that the present invention is provided, described for detecting by setting dropproof detection unit 2
Robot is in different states, including normal, liftoff, suspension and falls state, so that robot is according to different execution
Corresponding different working modes, it is to avoid robot a variety of falls the situation hair that situation can only be retreated running into
It is raw so that the robot that the present invention is provided has falls the function that situation makes most appropriate reaction according to difference, it is to avoid due to
Frequently retreat the inefficiency that reaction is caused；Further by setting three infrared signal sensors, it can connect respectively
To three detection ports, dress situation is fallen so as to differentiate single direction, and then control machine robot runs into various situations
Corresponding treatment Countermeasures are made, the operating efficiency of sweeper is improved.
Those of ordinary skills in the art should understand that：The discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under the thinking of the present invention, above example
Or can also not be combined between the technical characteristic in be the same as Example, step can be realized with random order, and be existed such as
Many other changes of upper described different aspect of the invention, for simplicity, they are provided not in details.
In addition, to simplify explanation and discussing, and in order to obscure the invention, can in the accompanying drawing provided
To show or can not show that the known power ground with integrated circuit (IC) chip and other parts is connected.Furthermore, it is possible to
Device is shown in block diagram form, to avoid obscuring the invention, and this have also contemplated that following facts, i.e., on this
The details of the embodiment of a little block diagram arrangements be depend highly on the platform that will implement the present invention (that is, these details should
It is completely in the range of the understanding of those skilled in the art).Elaborating detail (for example, circuit) with describe the present invention
In the case of exemplary embodiment, it will be apparent to those skilled in the art that can be in these no details
In the case of or implement the present invention in the case that these details are changed.Therefore, these descriptions are considered as explanation
It is property rather than restricted.
Although having been incorporated with specific embodiment of the invention, invention has been described, according to retouching above
State, many replacements of these embodiments, modifications and variations will be apparent for those of ordinary skills.Example
Such as, other memory architectures (for example, dynamic ram (DRAM)) can use discussed embodiment.
Embodiments of the invention be intended to fall within the broad range of appended claims it is all it is such replace,
Modifications and variations.Therefore, within the spirit and principles of the invention, any omission, modification, equivalent substitution, the improvement made
Deng should be included in the scope of the protection.
Claims (10)
1. a kind of sweeping robot, including body and control unit, it is characterised in that the bottom margin of the body sets anti-fall
Fall detection unit, the dropproof detection unit detects that the robot is in different states, including normal, liftoff, suspension
And fall state；
The bottom of the body sets walking unit and cleaning unit；
Described control unit is connected with the dropproof detection unit, the walking unit and the cleaning unit respectively, institute
Control unit is stated to be responsible for controlling the walking unit and cleaning unit to perform accordingly in different states according to the robot
Mode of operation.
2. sweeping robot according to claim 1, it is characterised in that the dropproof detection unit includes three infrared
Signal transducer, three infrared signal sensors are respectively arranged at the front end and left and right of the body bottom portion direction of advance
Two ends；
The infrared signal sensor includes infrared signal emitter and corresponding infrared signal receiving apparatus.
3. sweeping robot according to claim 2, it is characterised in that the walking unit includes two driving wheels and one
Individual stabilizer.
4. sweeping robot according to claim 3, it is characterised in that the cleaning unit includes cleaning brush and cleaning
Round brush.
5. sweeping robot according to claim 4, it is characterised in that the stabilizer is universal wheel.
6. sweeping robot according to claim 5, it is characterised in that the cleaning brush is two, symmetrical to set
In the two bottom sides of the body.
7. a kind of sweeping robot anti-fall method, it is characterised in that including：Dropproof detection unit detects the robot
In different states, including normal, liftoff, suspension and fall state；
Control unit receives information of the robot in different states that the dropproof detection unit is detected, generation
Corresponding different control information is sent to walking unit and cleaning unit；
The walking unit and cleaning unit drive the robot to perform corresponding work according to the different control information
Pattern.
8. sweeping robot anti-fall method according to claim 7, it is characterised in that the dropproof detection unit bag
Include and be arranged in pairs infrared emission dress respectively in the front end of the direction of advance of the robot base and the position of left and right ends three
Put and infrared receiving device；
The dropproof detection unit, which detects method of the robot in different states, to be included：
The infrared signal of the infrared launcher transmitting perpendicular to the ground, the infrared receiving device receives the institute by ground return
State infrared signal, when the infrared receiving device receive signal suddenly disappear or change than it is larger when, by three infrared receivers dresses
The reception signal data put is sent to described control unit；
Described control unit judges that the robot is in just according to the signal data of three infrared receiving devices of reception
Often, liftoff, suspension and fall state and include：
When the signal data of three infrared receiving devices keeps the change of identical waveform simultaneously, judge that the robot machine is in
Normally；
When the signal data of three infrared receiving devices is in maximum simultaneously, judge that the robot machine is in liftoff shape
State；
When the signal data of the first infrared receiving device is more than other two signal datas, and first always in setting time
The signal data of infrared receiving device has been maxed out value, judges that robot is in the first infrared receiving device side
Fall state；
When the signal data of the second infrared receiving device is more than other two signal datas, and second always in setting time
The signal data of infrared receiving device has certain fluctuating range, judges robot at the second infrared receiving device side
In suspension state.
9. sweeping robot anti-fall method according to claim 8, it is characterised in that the robot is different
State also includes crossing over gap or circular hole state；
The dropproof detection unit, which detects method of the robot in different states, also to be included：Described control unit
Judge that the robot is according to the signal data of three infrared receiving devices of reception and cross over gap or circular hole state：
When the signal data of the 3rd infrared signal sensor changes, and transformation period is less than setting minimum value, judges described
The side of 3rd infrared signal sensor, which is in, crosses over gap or circular hole state.
10. sweeping robot anti-fall method according to claim 9, it is characterised in that the walking unit and cleaning
Unit drives the robot to perform corresponding mode of operation according to the different control information to be included：
When judging to be in normally and cross over gap or circular hole state in the normal robot that states, the robot performs normal mode
Formula, the walking unit is normally walked, and the cleaning unit is normally cleaned；
Liftoff state is in when stating robot described in judgement, the robot starts alert program and sends alarm signal, the row
Walk unit and stop walking, the cleaning unit stops cleaning；
When judging the robot wherein side in suspension state, the robot starts automatic get rid of poverty pattern, the walking
Unit turns to walking, and the cleaning unit is normally cleaned；
Fall state when judging that the robot wherein side is in, the robot, which starts, retracts pattern, the walking unit
Walking a period of time rear steering walking round about, the cleaning unit stops cleaning normally to be cleaned after walking is turned to.
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| CN201710276748.8A CN107028559B (en) | 2017-04-25 | 2017-04-25 | A kind of sweeper and its anti-fall method |
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| CN108089580A (en) * | 2017-12-14 | 2018-05-29 | 北京奇虎科技有限公司 | The method and device that intelligent floor-sweeping device works along side |
| CN108724143A (en) * | 2018-05-31 | 2018-11-02 | 深圳市银星智能科技股份有限公司 | Mobile robot and its control method |
| CN110215153A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | Clean robot and its progress control method |
| CN110384440A (en) * | 2018-04-19 | 2019-10-29 | 天佑电器（苏州）有限公司 | Clean robot |
| CN110547732A (en) * | 2019-08-16 | 2019-12-10 | 湖南格兰博智能科技有限责任公司 | sweeper obstacle detection device and detection escaping method |
| CN111317410A (en) * | 2020-04-17 | 2020-06-23 | 艾思维普(深圳)机器人有限公司 | Control system of sweeping robot |
| CN111557619A (en) * | 2020-04-24 | 2020-08-21 | 珠海格力电器股份有限公司 | Sweeping robot anti-falling method, sweeping robot and computer readable medium |
| CN111633648A (en) * | 2020-05-26 | 2020-09-08 | 珠海市一微半导体有限公司 | Detection method for detecting convex surface by robot, chip and cleaning robot |
| CN111631641A (en) * | 2020-05-26 | 2020-09-08 | 珠海市一微半导体有限公司 | Robot anti-falling detection method |
| CN111751897A (en) * | 2020-05-14 | 2020-10-09 | 国网浙江宁波市鄞州区供电有限公司 | Anti-falling cable pipeline detection device |
| CN112120598A (en) * | 2020-09-02 | 2020-12-25 | 湖南格兰博智能科技有限责任公司 | Walking method and system of anti-falling robot and anti-falling robot |
| CN112227283A (en) * | 2020-09-24 | 2021-01-15 | 广东杜尼智能机器人工程技术研究中心有限公司 | Fall-proof unmanned sweeper |
| CN112333320A (en) * | 2020-10-30 | 2021-02-05 | 歌尔科技有限公司 | Electronic equipment drop detection method and electronic equipment |
| TWI721712B (en) * | 2018-12-20 | 2021-03-11 | 燕成祥 | Robot misoperation judgment system |
| CN113712473A (en) * | 2021-07-28 | 2021-11-30 | 深圳甲壳虫智能有限公司 | Height calibration method and device and robot |
| CN113770997A (en) * | 2021-09-06 | 2021-12-10 | 广州科语机器人有限公司 | Robot, obstacle crossing control method for robot, storage medium and equipment |
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