CN108481320B - 一种机器人的移动控制方法及机器人 - Google Patents
一种机器人的移动控制方法及机器人 Download PDFInfo
- Publication number
- CN108481320B CN108481320B CN201810171558.4A CN201810171558A CN108481320B CN 108481320 B CN108481320 B CN 108481320B CN 201810171558 A CN201810171558 A CN 201810171558A CN 108481320 B CN108481320 B CN 108481320B
- Authority
- CN
- China
- Prior art keywords
- grids
- robot
- grid
- virtual
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000004888 barrier function Effects 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims description 15
- 238000010586 diagram Methods 0.000 description 12
- 238000012217 deletion Methods 0.000 description 3
- 230000037430 deletion Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810171558.4A CN108481320B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810171558.4A CN108481320B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
CN201710013906.0A CN106695790B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710013906.0A Division CN106695790B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108481320A CN108481320A (zh) | 2018-09-04 |
CN108481320B true CN108481320B (zh) | 2020-03-27 |
Family
ID=58908114
Family Applications (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810171558.4A Active CN108481320B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
CN201810171957.0A Active CN108481321B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
CN201710013906.0A Active CN106695790B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
CN201810171556.5A Active CN108500977B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
Family Applications After (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810171957.0A Active CN108481321B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
CN201710013906.0A Active CN106695790B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
CN201810171556.5A Active CN108500977B (zh) | 2017-01-09 | 2017-01-09 | 一种机器人的移动控制方法及机器人 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20190314991A1 (zh) |
EP (1) | EP3566821B1 (zh) |
JP (1) | JP6808904B2 (zh) |
CN (4) | CN108481320B (zh) |
ES (1) | ES2911440T3 (zh) |
WO (1) | WO2018126605A1 (zh) |
Families Citing this family (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108481320B (zh) * | 2017-01-09 | 2020-03-27 | 广东宝乐机器人股份有限公司 | 一种机器人的移动控制方法及机器人 |
US20220171399A1 (en) * | 2017-05-26 | 2022-06-02 | Hangzhou Hikrobot Technology Co., Ltd. | Method for detecting presence probability of obstacle in unknown position, terminal, and storage medium |
CN108931246B (zh) * | 2017-05-26 | 2020-12-11 | 杭州海康机器人技术有限公司 | 一种检测未知位置的障碍物存在概率的方法和装置 |
CN107378953A (zh) * | 2017-09-20 | 2017-11-24 | 深圳市杉川机器人有限公司 | 清扫控制方法、装置、清扫机器人及可读存储介质 |
CN107553497B (zh) * | 2017-10-20 | 2023-12-22 | 苏州瑞得恩光能科技有限公司 | 太阳能面板清扫机器人的边缘定位装置及其定位方法 |
CN107831772A (zh) * | 2017-11-17 | 2018-03-23 | 北京奇虎科技有限公司 | 清洁路线的排布方法、装置及机器人 |
CN107943036B (zh) * | 2017-11-28 | 2019-03-19 | 深圳市杉川机器人有限公司 | 清扫区域选择方法及装置 |
WO2019144286A1 (zh) * | 2018-01-23 | 2019-08-01 | 深圳市大疆创新科技有限公司 | 障碍物检测方法、移动平台及计算机可读存储介质 |
CN108896048A (zh) * | 2018-06-01 | 2018-11-27 | 浙江亚特电器有限公司 | 用于移动载具的路径规划方法 |
CN109507967B (zh) * | 2018-11-30 | 2021-12-03 | 广州极飞科技股份有限公司 | 作业控制方法及装置 |
CN109491394A (zh) * | 2018-12-17 | 2019-03-19 | 中新智擎科技有限公司 | 一种虚拟避障方法、装置、存储介质及机器人 |
CN111459153B (zh) * | 2019-01-03 | 2022-09-06 | 科沃斯机器人股份有限公司 | 动态区域划分与区域通道识别方法及清洁机器人 |
EP3907575B1 (en) | 2019-01-03 | 2023-09-06 | Ecovacs Robotics Co., Ltd. | Dynamic region division and region channel identification method, and cleaning robot |
CN109910009A (zh) * | 2019-03-13 | 2019-06-21 | 浙江华消科技有限公司 | 消防侦察机器人的路径生成方法、装置、系统和机器人 |
CN110477813B (zh) * | 2019-08-12 | 2021-11-09 | 珠海市一微半导体有限公司 | 一种激光式清洁机器人及其控制方法 |
CN110554696B (zh) * | 2019-08-14 | 2023-01-17 | 深圳银星智能集团股份有限公司 | 机器人系统、机器人及基于激光雷达的机器人导航方法 |
CN110502011A (zh) * | 2019-08-16 | 2019-11-26 | 湖南格兰博智能科技有限责任公司 | 一种扫地机障碍物边界检测方法 |
CN110793532A (zh) * | 2019-11-06 | 2020-02-14 | 深圳创维数字技术有限公司 | 路径导航方法、装置及计算机可读存储介质 |
CN110948489B (zh) * | 2019-12-04 | 2022-11-04 | 国电南瑞科技股份有限公司 | 一种带电作业机器人安全工作空间限定方法及系统 |
EP3881156A4 (en) * | 2020-01-23 | 2021-09-22 | Left Hand Robotics, Inc. | METHOD OF FIELD COVERAGE OF A NON-THOLONOMIC ROBOT |
CN111104933B (zh) * | 2020-03-20 | 2020-07-17 | 深圳飞科机器人有限公司 | 地图处理方法、移动机器人及计算机可读存储介质 |
CN111347430B (zh) * | 2020-04-27 | 2021-06-08 | 浙江欣奕华智能科技有限公司 | 一种机器人运动轨迹的确定方法及装置 |
USD968401S1 (en) | 2020-06-17 | 2022-11-01 | Focus Labs, LLC | Device for event-triggered eye occlusion |
CN111880532B (zh) * | 2020-07-13 | 2022-03-18 | 珠海格力电器股份有限公司 | 自主移动设备及其方法、装置、设备和存储介质 |
CN112247986B (zh) * | 2020-09-28 | 2022-09-30 | 湖南格兰博智能科技有限责任公司 | 一种用于床面自主移动机器人的弓字形路径规划控制方法 |
CN114355871A (zh) * | 2020-09-30 | 2022-04-15 | 好样科技有限公司 | 一种自行走装置及其控制方法 |
CN112327856B (zh) * | 2020-11-13 | 2022-12-06 | 云南电网有限责任公司保山供电局 | 一种基于改进A-star算法的机器人路径规划方法 |
CN115211760B (zh) * | 2021-04-16 | 2024-01-05 | 速感科技(北京)有限公司 | 清洁机器人及其清洁方法和计算机可读存储介质 |
CN113391642B (zh) * | 2021-05-28 | 2022-06-03 | 西南交通大学 | 一种基于单目视觉的无人机自主避障方法及系统 |
US20230195123A1 (en) * | 2021-12-22 | 2023-06-22 | Ford Global Technologies, Llc | Systems and methods for controlling autonomous mobile robots in a manufacturing environment |
CN114431771B (zh) * | 2021-12-31 | 2023-03-31 | 浙江大华技术股份有限公司 | 一种扫地机器人清扫方法及相关装置 |
KR102684631B1 (ko) * | 2022-02-14 | 2024-07-15 | 국립공주대학교 산학협력단 | 가상 장애물 기반 이동로봇의 충돌회피 제어방법 |
CN114510053A (zh) * | 2022-02-17 | 2022-05-17 | 北京京东乾石科技有限公司 | 机器人规划路径校验方法、装置、存储介质及电子设备 |
CN116841300B (zh) * | 2023-08-31 | 2023-12-19 | 未岚大陆(北京)科技有限公司 | 工作地图生成方法、作业方法、控制方法和相关装置 |
Family Cites Families (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2907918B2 (ja) * | 1990-02-09 | 1999-06-21 | 株式会社日立製作所 | 経路生成方法及びその装置 |
JP4251545B2 (ja) * | 2003-07-11 | 2009-04-08 | 独立行政法人科学技術振興機構 | 移動ロボット用経路計画システム |
JP2007175286A (ja) * | 2005-12-28 | 2007-07-12 | Funai Electric Co Ltd | 自動掃除システム |
JP4408872B2 (ja) * | 2006-03-31 | 2010-02-03 | シャープ株式会社 | 自走装置およびその制御方法 |
JP5112666B2 (ja) * | 2006-09-11 | 2013-01-09 | 株式会社日立製作所 | 移動装置 |
KR20090077547A (ko) * | 2008-01-11 | 2009-07-15 | 삼성전자주식회사 | 이동 로봇의 경로 계획 방법 및 장치 |
JP2010017428A (ja) * | 2008-07-12 | 2010-01-28 | Nishi Nihon Kosoku Doro Maintenance Kansai Kk | 床面清掃ロボット |
CN101413806B (zh) * | 2008-11-07 | 2011-05-25 | 湖南大学 | 一种实时数据融合的移动机器人栅格地图创建方法 |
EP2506106B1 (en) * | 2009-11-27 | 2019-03-20 | Toyota Jidosha Kabushiki Kaisha | Autonomous moving object and control method |
CN101769754B (zh) * | 2010-01-19 | 2012-04-25 | 湖南大学 | 一种基于类三维地图的移动机器人全局路径规划方法 |
CN102138769B (zh) * | 2010-01-28 | 2014-12-24 | 深圳先进技术研究院 | 清洁机器人及其清扫方法 |
TW201305761A (zh) * | 2011-07-21 | 2013-02-01 | Ememe Robot Co Ltd | 自走機器人及其定位方法 |
KR101970962B1 (ko) * | 2012-03-19 | 2019-04-22 | 삼성전자주식회사 | 아기 감시 방법 및 장치 |
KR102015311B1 (ko) * | 2012-11-30 | 2019-08-28 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
CN102968122A (zh) * | 2012-12-12 | 2013-03-13 | 深圳市银星智能科技股份有限公司 | 一种用于移动平台在未知区域自建地图的覆盖方法 |
CN103064424A (zh) * | 2012-12-24 | 2013-04-24 | 深圳市银星智能科技股份有限公司 | 一种用于移动平台在未知区域的覆盖方法 |
CN103455034B (zh) * | 2013-09-16 | 2016-05-25 | 苏州大学张家港工业技术研究院 | 一种基于最近距离向量场直方图的避障路径规划方法 |
US10099609B2 (en) * | 2014-07-03 | 2018-10-16 | InfoMobility S.r.L. | Machine safety dome |
CN105629972B (zh) * | 2014-11-07 | 2018-05-18 | 科沃斯机器人股份有限公司 | 引导式虚拟墙系统 |
US9630319B2 (en) * | 2015-03-18 | 2017-04-25 | Irobot Corporation | Localization and mapping using physical features |
US9868211B2 (en) * | 2015-04-09 | 2018-01-16 | Irobot Corporation | Restricting movement of a mobile robot |
CN104932494B (zh) * | 2015-04-27 | 2018-04-13 | 广州大学 | 一种概率式室内障碍物分布图的构建机制 |
CN105538309B (zh) * | 2015-12-03 | 2018-07-31 | 苏州大学 | 一种有限传感能力的机器人障碍物动态识别算法 |
CN106272425B (zh) * | 2016-09-07 | 2018-12-18 | 上海木木机器人技术有限公司 | 避障方法及机器人 |
CN108481320B (zh) * | 2017-01-09 | 2020-03-27 | 广东宝乐机器人股份有限公司 | 一种机器人的移动控制方法及机器人 |
-
2017
- 2017-01-09 CN CN201810171558.4A patent/CN108481320B/zh active Active
- 2017-01-09 CN CN201810171957.0A patent/CN108481321B/zh active Active
- 2017-01-09 CN CN201710013906.0A patent/CN106695790B/zh active Active
- 2017-01-09 CN CN201810171556.5A patent/CN108500977B/zh active Active
- 2017-05-26 WO PCT/CN2017/086187 patent/WO2018126605A1/zh active Application Filing
- 2017-05-26 JP JP2019533094A patent/JP6808904B2/ja active Active
- 2017-05-26 EP EP17889547.0A patent/EP3566821B1/en active Active
- 2017-05-26 ES ES17889547T patent/ES2911440T3/es active Active
-
2019
- 2019-06-18 US US16/443,893 patent/US20190314991A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
EP3566821B1 (en) | 2022-04-06 |
JP2020501283A (ja) | 2020-01-16 |
CN106695790A (zh) | 2017-05-24 |
CN108500977A (zh) | 2018-09-07 |
CN108481320A (zh) | 2018-09-04 |
CN106695790B (zh) | 2018-04-17 |
JP6808904B2 (ja) | 2021-01-06 |
EP3566821A4 (en) | 2020-01-22 |
ES2911440T3 (es) | 2022-05-19 |
US20190314991A1 (en) | 2019-10-17 |
WO2018126605A1 (zh) | 2018-07-12 |
CN108500977B (zh) | 2020-07-24 |
CN108481321B (zh) | 2020-07-28 |
CN108481321A (zh) | 2018-09-04 |
EP3566821A1 (en) | 2019-11-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108481320B (zh) | 一种机器人的移动控制方法及机器人 | |
CN108209741B (zh) | 清洁机器人控制方法和清洁机器人 | |
CN107898393B (zh) | 用于清洁机器人的区块调整方法、装置及机器人 | |
US8185239B2 (en) | Moving route planning method and navigation method for avoiding dynamic hindrances for mobile robot device | |
CN110680253A (zh) | 一种机器人沿边清洁的方法及机器人 | |
CN112313476A (zh) | 无人飞行器的航线规划方法和装置 | |
CN110599543A (zh) | 一种墙体位置确定方法、装置、计算机设备和存储介质 | |
CN113064407A (zh) | 全区域覆盖的清扫方法、装置、清扫机器人及存储装置 | |
CN114764239A (zh) | 清扫机器人控制方法、装置、计算机设备及存储介质 | |
CN105760023A (zh) | 一种红外对管触摸屏的扫描方法及装置 | |
CN114431771A (zh) | 一种扫地机器人清扫方法及相关装置 | |
CN113317733B (zh) | 一种路径规划方法及清洁机器人 | |
CN113932825A (zh) | 机器人导航路径宽度获取系统、方法、机器人及存储介质 | |
CN117474935A (zh) | 地图分区方法、机器人及计算机可读存储介质 | |
CN112306049A (zh) | 自主机器人及其避障方法、装置和存储介质 | |
CN112991527B (zh) | 目标对象的躲避方法及装置、存储介质、电子装置 | |
WO2022213519A1 (zh) | 路径规划方法、装置、清洁机器人及存储介质 | |
CN116184995A (zh) | 机器人行进的控制方法、控制装置及机器人 | |
JP5347108B2 (ja) | 自走式機器装置の走行ルート計画方法 | |
EP3229173B1 (en) | Method and apparatus for determining a traversable path | |
CN111552286B (zh) | 一种机器人及其移动控制方法和装置 | |
US20240215788A1 (en) | Collided position determination method, computer-readable storage medium, and robot | |
CN118210313A (zh) | 路径规划方法、装置、控制器、设备及存储介质 | |
WO2022213737A1 (zh) | 沿边清洁方法、清洁机器人及存储介质 | |
CN114137969A (zh) | 作业机器人的控制方法、装置、电子设备和存储介质 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP02 | Change in the address of a patent holder | ||
CP02 | Change in the address of a patent holder |
Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518000, Shenzhen, Guangdong, Baoan District province manhole street, East Ring Road, No. 438, block D, two or three Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
|
TR01 | Transfer of patent right |
Effective date of registration: 20200924 Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
|
TR01 | Transfer of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A mobile control method of robot and robot Effective date of registration: 20211223 Granted publication date: 20200327 Pledgee: Shanghai Pudong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUANGZHOU COAYU ROBOT Co.,Ltd. Registration number: Y2021440000397 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PP01 | Preservation of patent right |
Effective date of registration: 20230320 Granted publication date: 20200327 |
|
PP01 | Preservation of patent right |