CN108814446A - Unmanned dirt cart and its operation method - Google Patents
Unmanned dirt cart and its operation method Download PDFInfo
- Publication number
- CN108814446A CN108814446A CN201810738350.6A CN201810738350A CN108814446A CN 108814446 A CN108814446 A CN 108814446A CN 201810738350 A CN201810738350 A CN 201810738350A CN 108814446 A CN108814446 A CN 108814446A
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- dirt
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- dirt cart
- unmanned
- cleaning
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004140 cleaning Methods 0.000 claims abstract description 61
- 230000004888 barrier function Effects 0.000 claims description 17
- 238000007726 management method Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010408 sweeping Methods 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000007115 recruitment Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
-
- 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
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned dirt cart and its operation methods, including car body, dirt pushing device, circuit system, the car body includes vehicle frame, shell, driving wheel, universal wheel and knob, the dirt pushing device include dirt push away, damper rod and connecting rod, the circuit system includes power supply, power management module, master controller, touch screen, sensor signal processor, WIFI router, it further include driving device, obstacle avoidance apparatus, the driving device includes hub motor, lifting motor, hub motor control device, lifting motor controller.The operation method of unmanned dirt cart is divided into two steps in the present invention：Path record and automated cleaning for the first time.The present invention uses unmanned technology, operator is freed, while can improve sweeping efficiency from repetition scissors and paste, reduces cost of labor, be highly suitable for Ground and need clean place.
Description
Technical field
The present invention relates to ground clean facilities field more particularly to a kind of unmanned dirt carts and its operation method.
Background technique
Currently, dirt cart needs clean place in Ground, such as station, square, market are widely used.Now
The dirt cart used is to be driven by electricity, and operator, which sits on, to be grasped direction and can clean up ground, compared to more traditional
It manually mops floor, alleviates the labor intensity of Cleaner, improve cleaning efficiency, but the running route of dirt cart substantially repeats
, operator carries out repeating driving daily, and Comparision is uninteresting, and with the continuous improvement of recruitment cost, user's recruitment
It is difficult, the problems such as personal management is difficult, human cost is high, is also more and more prominent.
Existing publication file CN205379274 discloses a kind of electric dust cart, increases on the basis of carriage
Front and back dirt evades handle, connects lifting motor by lifting linking member, adjusts dirt and evades the lifting of handle, while increasing on mop
The water tank and water adjusting valve of water meet the demand of keeping a public place clean in the uncertain public domain of larger area and water source, in certain journey
It is improved work efficiency on degree, but this dirt cart is operated there is still a need for personnel and is driven, control direction, in operator's work
Hold uninteresting, human cost height.
Summary of the invention
The present invention provides a kind of unmanned dirt cart, overcomes and pilot steering is needed to operate dirt cart, behaviour in the prior art
Make the problem that person works are uninteresting, human cost is high.
To achieve the above object, the present invention uses following technical scheme.
A kind of unmanned dirt cart, including car body, dirt pushing device, circuit system, the car body include vehicle frame, shell,
Universal wheel, driving wheel and knob；The dirt pushing device include dirt push away, damper rod and connector, the circuit system include power supply,
Power management module, master controller, characterized in that further include driving device, obstacle avoidance apparatus, the driving device includes wheel hub electricity
Machine, lifting motor, electric machine controller, the obstacle avoidance apparatus include laser radar sensor, ultrasonic sensor, angular transducer,
Safe touch side sensor.
Preferably, hub motor is arranged in the driving wheel, the hub motor of left side drive wheel and it is mounted in car body
The electric machine controller in left side connects, and the hub motor of right side drive wheel is connect with the electric machine controller for being mounted on right side in car body,
Lifting motor connects lifting motor controller, and motor driver receives the signal that control system issues, and adjusts motor speed, works as a left side
When right wheel hub motor speed is not identical, dirt cart auto-steering.
Preferably, the laser radar sensor is used to detect the barrier in front of dirt cart in 270 degree of angular ranges；
The ultrasonic sensor is used to detect the object of dirt cart periphery different height；The angular transducer is gyroscope, is used for
The steering angle for measuring dirt cart, determines the position of dirt cart；Safe touch side sensor is for detecting perception dirt cart and obstacle
Object touches, and adjusts dirt cart direction in time.
Preferably, the power supply can automatic charging, the master controller be separately connected laser radar sensor, touch
Screen, sensor signal processor, WIFI router, the sensor signal processor is separately connected ultrasonic sensor, angle passes
Sensor, safe touch side sensor, hand/automatic switchover device.
Preferably, the unmanned dirt cart has manual operation mode and automated cleaning mode.
Preferably, the operation mode of the unmanned dirt cart can pass through the physical button or APP on dirt cart
Client switches over.
Preferably, there is a touch display screen inside the dirt cart, touch display screen is connected with master controller.
Preferably, the push rod includes damper rod and connecting rod, damper rod one end connects lifting motor, and other end is logical
It crosses connecting rod connection dirt to push away, damper rod can more stably go up and down dirt and push away, and pushing away dirt can restore to stablize shape when being contacted with ground quickly
State, and noise when lifting can also be reduced.
Present invention simultaneously provides a kind of operation methods of unmanned dirt cart, include the following steps：
Step 1, sector scanning is cleaned：Dirt cart for the first time in new cleaning region in use, manual operation dirt cart along
Cleaning region edge lines are sailed, and the object information in front of dirt cart within the scope of 270 degree are scanned by laser radar sensor, according to institute
The object information stated generates the cleaning area map in corresponding current cleaning region；
Step 2, cleaning path is planned：According to the Path Planning prestored, the cleaning of current cleaning area map is generated
Path；
Step 3, automated cleaning：Dirt cart is automatically performed ground in place and cleans, by avoidance according to the cleaning path
Device detects ambient enviroment, and the signal detected is transmitted to master controller, master controller (7) to the information analysis received at
After reason, control delivering is instructed to lifting motor controller and hub motor control device, the operation of dirt cart is controlled.
Preferably, the step 3, the step of step of automated cleaning, includes：
Step 301：Object information in front of laser radar scanning dirt cart ontology in two-dimensional surface, scanning result and cleaning
Area map compares, and calculates the current location of dirt cart in the environment；
Step 302：Starting point of the dirt cart in cleaning path is determined according to the current location of dirt cart, and dirt cart is from described
Starting point starts to run the cleaning for completing whole cleaning paths along cleaning path；
Step 303：When laser sensor, ultrasonic sensor, angular transducer, safe touch side sensor detect cleaning road
When barrier on diameter, control driving wheel is turned to, and avoids barrier automatically, when can not cut-through object situation when issue alarm
Information；
Step 304：In real time by the object information in two-dimensional surface in front of laser radar scanning dirt cart ontology, calculate
The current location of dirt cart in the environment, when dirt cart deviates cleaning path, by gyroscope and driving wheel to dirt cart into
Row navigation amendment, quickly corrects route and travels along cleaning path after so that dirt cart is avoided barrier.
The present invention has incorporated unmanned technology on the basis of traditional dedusting car, uses comprehensive obstacle avoidance apparatus, utilizes
Two wheel guide robot controls dirt cart and turns to, in combination with the software installed in master controller, the operation road of intelligentized control method dirt cart
Line, unattended, the automated cleaning of realization, frees operator from uninteresting repeated labor, while more efficiently
Fast, human cost reduces.
Detailed description of the invention
Fig. 1 is unmanned dirt cart structure schematic diagram of the invention.
Fig. 2 is unmanned dirt cart schematic diagram of internal structure of the invention.
Fig. 3 is unmanned dirt cart circuit system schematic diagram of the invention.
Fig. 4 is the flow chart of the operation method of unmanned dirt cart of the invention.
Fig. 5 is the second flow chart of the operation method of unmanned dirt cart of the invention.
In figure：1, car body 2, dirt push away 3, driving wheel
4, universal wheel 5, warning lamp 6, knob
7, master controller 8, laser radar sensor 9, power supply
10, safe touch side sensor 11, power management module 12, anticollision strip
13, hub motor control device 14, lifting motor 15, damper rod
16, connecting rod
Specific embodiment
The present invention is described further with reference to the accompanying drawings and detailed description.
As shown in Figure 1 and Figure 2, a kind of unmanned dirt cart, including car body 1, dirt pushing device, the car body 1 include vehicle
Frame, shell, driving wheel 3, universal wheel 4 and knob 6；The dirt pushing device includes that dirt pushes away 2, damper rod 15 and connecting rod 16, described
Circuit system includes power supply 9, power management module 11, master controller 7, touch screen, sensor signal processor, WIFI routing
Device, characterized in that further include driving device, obstacle avoidance apparatus, the driving device includes hub motor, lifting motor 14, wheel hub
Electric machine controller 13, lifting motor controller, the obstacle avoidance apparatus include laser radar sensor 8, ultrasonic sensor, angle biography
Sensor, safe touch side sensor 10.
Hub motor, the hub motor of left side drive wheel 3 and the wheel hub for being mounted on left side in car body 1 are set in driving wheel 3
Electric machine controller 13 connects, and the hub motor of right side drive wheel 3 connects with the hub motor control device 13 for being mounted on right side in car body 1
It connects, left and right wheel hub electric machine controller receives the electric signal of the sending of master controller 7 respectively, the revolving speed of hub motor is adjusted, when left and right
When side wheel hub motor speed is inconsistent, dirt cart changes direction of travel；Lifting motor 14 connects lifting motor controller, lifting electricity
Machine driver receives the signal that master controller 7 issues, and adjusts the lifting of lifting motor, and dirt pushes away 2 height according to lifting motor
Lifting and change, when ground proximity, completes cleaning.Dirt is pushed away and is connected between 2 and lifting motor with damper rod, when motor is gone up and down
When, damper rod plays the role of a buffering to lift action power, so that dirt is pushed away 2 liftings more steady, warmer when being contacted with ground
With, while reducing noise when lifting.
Laser radar sensor 8 is mounted on the bottom of 1 front end of car body, and protrudes the bottom surface of car body 1, apart from ground 100mm,
Detecting head detects 15 meters in front of dirt cart of condition of road surface towards front, for detecting 270 degree of angular ranges in front of dirt cart
Interior barrier；Supplement of the ultrasonic sensor as laser radar sensor 8, front center outside car body 1 it is upper, in,
Upper, middle and lower position in the middle part of lower position and rear end respectively installs one, and the upper, middle and lower position of two sides front and rear is respectively arranged
One, to detect the object of dirt cart periphery different height, dirt cart is avoided to collide in turning, avoidance with barrier；Angle
Sensor is gyroscope, for measuring the steering angle of dirt cart, determines the position of dirt cart；Safe touch side sensor 10 is used for
Detection perception dirt cart is touched with barrier, adjusts dirt cart direction in time.
As shown in figure 3, master controller 7 be separately connected laser radar sensor 8, touch screen, sensor signal processor,
WIFI router, sensor signal processor be separately connected ultrasonic sensor, angular transducer, safe touch side sensor, hand/from
Dynamic switch, the signal of receiving sensor and switch pass the signal to master controller 7.
Unmanned dirt cart in the present invention has manual operation mode and automated cleaning mode, can be pressed by physics
Key or APP client switch over.Under manual operation mode, operator sends operation by the touch screen being arranged in car body 1 and refers to
It enables, instruction is transferred to master controller 7, or sends instruction by APP client, is radioed to signal by WIFI router
Master controller 7, after master controller 7 is connected to instruction, the internal algorithm software installed, map structuring software, path planning software,
Navigation software is calculated and is compared to instruction, and control instruction is sent to lifting motor controller and hub motor control device
13, lifting motor controller control dirt pushes away 2 lifting, and hub motor control device 13 controls the speed of two driving wheels 3, when two drivings
When the speed of wheel 3 is inconsistent, the going direction changing of dirt cart.
As shown in figure 3, including the following steps present invention simultaneously provides a kind of operation method of unmanned dirt cart：
Step 1, sector scanning is cleaned：Dirt cart for the first time in new cleaning region in use, manual operation dirt cart along
Cleaning region edge lines are sailed, and the object information in front of dirt cart within the scope of 270 degree are scanned by laser radar sensor, according to institute
The object information stated generates the cleaning area map in corresponding current cleaning region；
Step 2, cleaning path is planned：According to the Path Planning prestored, the cleaning of current cleaning area map is generated
Path；
Step 3, automated cleaning：Dirt cart is automatically performed ground in place and cleans, by avoidance according to the cleaning path
Device detects ambient enviroment, and the signal detected is transmitted to master controller, master controller (7) to the information analysis received at
After reason, control delivering is instructed to lifting motor controller and hub motor control device, the operation of dirt cart is controlled.
As shown in figure 4, the step 3, the step of step of automated cleaning, includes：
Step 301：Object information in front of laser radar scanning dirt cart ontology in two-dimensional surface, scanning result and cleaning
Area map compares, and calculates the current location of dirt cart in the environment；
Step 302：Starting point of the dirt cart in cleaning path is determined according to the current location of dirt cart, and dirt cart is from described
Starting point starts to run the cleaning for completing whole cleaning paths along cleaning path；
Step 303：When laser sensor, ultrasonic sensor, angular transducer, safe touch side sensor detect cleaning road
When barrier on diameter, control driving wheel is turned to, and avoids barrier automatically, when can not cut-through object situation when issue alarm
Information；
Step 304：In real time by the object information in two-dimensional surface in front of laser radar scanning dirt cart ontology, calculate
The current location of dirt cart in the environment, when dirt cart deviates cleaning path, by gyroscope and driving wheel to dirt cart into
Row navigation amendment, quickly corrects route and travels along cleaning path after so that dirt cart is avoided barrier.
Dirt cart, which encounters, cut-through object or to break down when can not advance, and obstacle avoidance apparatus transmits information to master
Controller 7, master controller 7 communicate information to the sound equipment and attention device installed in dirt cart, issue sound-light alarm, pass through simultaneously
Message is wirelessly transmitted in APP client by WIFI router, and operator's dirt cart is prompted to break down.Dirt cart car body
Outer edge is coated with one layer of anticollision strip, when dirt cart collides with barrier, damage of the reducing collisions to car body and barrier
Wound.
Dirt cart can update the software installed in master controller 7, acquiring technology branch by wifi connection cloud server
It holds, timely update software.
Claims (10)
1. a kind of unmanned dirt cart, including car body (1), dirt pushing device, circuit system, the car body (1) includes vehicle frame, outer
Shell, driving wheel (3), universal wheel (4) and knob (6), the dirt pushing device includes that dirt pushes away (2), damper rod (15) and connecting rod
(16), the circuit system include power supply (9), power management module (11), master controller (7), touch screen, at sensor signal
Manage device, WIFI router, characterized in that further include driving device and obstacle avoidance apparatus, the driving device includes hub motor, rises
Motor (14), hub motor control device (13), lifting motor controller drop, and the obstacle avoidance apparatus includes laser radar sensor
(8), ultrasonic sensor, angular transducer, safe touch side sensor (10).
2. unmanned dirt cart according to claim 1, characterized in that hub motor is set in the driving wheel (3),
The hub motor of left side drive wheel is connect with the hub motor control device (13) for being mounted on left side in car body, the wheel of right side drive wheel
Hub motor is connect with the hub motor control device (13) for being mounted on right side in car body, and lifting motor (14) connects lifting motor control
Device, motor driver receive the signal that master controller (7) issue, and adjust motor speed, when left and right wheel hub motor speed difference,
Dirt cart auto-steering.
3. unmanned dirt cart according to claim 1, characterized in that the laser radar sensor (8) is for visiting
Barrier in front of dust measuring cart in 270 degree of angular ranges；The ultrasonic sensor is different high for detecting dirt cart periphery
The object of degree；The angular transducer determines the position of dirt cart for measuring the steering angle of dirt cart for gyroscope；Peace
Full touching side sensor (10) is used to detect touching for perception dirt cart and barrier, in time adjustment dirt cart direction.
4. unmanned dirt cart according to claim 1, characterized in that the master controller (7) is separately connected laser
Radar sensor (8), touch screen, sensor signal processor, WIFI router, the sensor signal processor are separately connected
Ultrasonic sensor, angular transducer, safe touch side sensor, hand/automatic switchover device.
5. unmanned dirt cart according to claim 1, characterized in that the unmanned dirt cart has artificial behaviour
Operation mode and automated cleaning mode.
6. unmanned dirt cart according to claim 5, characterized in that the operation mode of the unmanned dirt cart
It can be switched over by physical button on dirt cart or APP client.
7. unmanned dirt cart according to claim 1, characterized in that there is a touch display inside the dirt cart
Screen, touch display screen are connected with master controller (7).
8. unmanned dirt cart according to claim 1, the WIFI router is wirelessly connected master controller (7) and uses
Family cell phone application.
9. a kind of operation method of unmanned dirt cart according to claim 1, characterized in that include the following steps：
Step 1, sector scanning is cleaned：Dirt cart is for the first time in new cleaning region in use, manual operation dirt cart is along cleaning
Edges of regions traveling scans the object information in front of dirt cart within the scope of 180 degree by laser radar sensor, according to described
Object information generates the cleaning area map in corresponding current cleaning region；
Step 2, cleaning path is planned：According to the Path Planning prestored, the cleaning path of current cleaning area map is generated；
Step 3, automated cleaning：Dirt cart is automatically performed ground in place and cleans, by obstacle avoidance apparatus according to the cleaning path
Ambient enviroment is detected, and the signal detected is transmitted to master controller, master controller (7) handles the information analysis received
Afterwards, control delivering is instructed to lifting motor controller and hub motor control device, controls the operation of dirt cart.
10. a kind of operation method of unmanned dirt cart according to claim 1, characterized in that the step 3, from
The step of dynamic cleaning, includes the following steps：
Step 301：Object information in front of laser radar scanning dirt cart ontology in two-dimensional surface, scanning result and cleaning region
Map compares, and calculates the current location of dirt cart in the environment；
Step 302：Starting point of the dirt cart in cleaning path is determined according to the current location of dirt cart, and dirt cart is from the starting point
Start to run the cleaning for completing whole cleaning paths along cleaning path；
Step 303：When laser sensor, ultrasonic sensor, angular transducer, safe touch side sensor detect in cleaning path
Barrier when, control driving wheel turn to, avoid barrier automatically, when can not cut-through object situation when issue alarm letter
Breath；
Step 304：In real time by the object information in two-dimensional surface in front of laser radar scanning dirt cart ontology, calculates dirt and push away
Dirt cart is led by gyroscope and driving wheel when dirt cart deviates cleaning path the current location of vehicle in the environment
Boat amendment is quickly corrected route and is travelled along cleaning path after so that dirt cart is avoided barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738350.6A CN108814446A (en) | 2018-07-06 | 2018-07-06 | Unmanned dirt cart and its operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738350.6A CN108814446A (en) | 2018-07-06 | 2018-07-06 | Unmanned dirt cart and its operation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108814446A true CN108814446A (en) | 2018-11-16 |
Family
ID=64136303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810738350.6A Pending CN108814446A (en) | 2018-07-06 | 2018-07-06 | Unmanned dirt cart and its operation method |
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Cited By (9)
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| CN109512342A (en) * | 2018-12-25 | 2019-03-26 | 深圳市云鼠科技开发有限公司 | A kind of sweeping robot and attitude detection based on gyroscope and method of getting rid of poverty |
| CN109521776A (en) * | 2018-12-31 | 2019-03-26 | 天合光能股份有限公司 | An intelligent robot chassis control system |
| CN109598962A (en) * | 2018-12-29 | 2019-04-09 | 同济大学 | A kind of calling system of unmanned sweeper |
| CN110313871A (en) * | 2019-06-28 | 2019-10-11 | 张家港江苏科技大学产业技术研究院 | A kind of Intelligent sweeping machine device people |
| CN111281272A (en) * | 2020-02-20 | 2020-06-16 | 湖南炬神电子有限公司 | Method for realizing planning sweeping of sweeper by using coordinates |
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| CN114098543A (en) * | 2020-08-26 | 2022-03-01 | 宝时得科技（中国）有限公司 | Mopping robot and control method, control device and storage medium thereof |
| CN115153358A (en) * | 2021-04-07 | 2022-10-11 | 广州视睿电子科技有限公司 | A cleaning mechanism and cleaning robot |
| WO2023219564A1 (en) * | 2022-05-09 | 2023-11-16 | Lionsbot International Pte. Ltd. | A robot and a method of configuring and operating the robot |
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| CN109512342A (en) * | 2018-12-25 | 2019-03-26 | 深圳市云鼠科技开发有限公司 | A kind of sweeping robot and attitude detection based on gyroscope and method of getting rid of poverty |
| CN109512342B (en) * | 2018-12-25 | 2022-03-25 | 深圳市云鼠科技开发有限公司 | Sweeping robot based on gyroscope and attitude detection and escaping method |
| CN109598962A (en) * | 2018-12-29 | 2019-04-09 | 同济大学 | A kind of calling system of unmanned sweeper |
| CN109521776A (en) * | 2018-12-31 | 2019-03-26 | 天合光能股份有限公司 | An intelligent robot chassis control system |
| CN110313871A (en) * | 2019-06-28 | 2019-10-11 | 张家港江苏科技大学产业技术研究院 | A kind of Intelligent sweeping machine device people |
| CN111281272A (en) * | 2020-02-20 | 2020-06-16 | 湖南炬神电子有限公司 | Method for realizing planning sweeping of sweeper by using coordinates |
| CN114098543A (en) * | 2020-08-26 | 2022-03-01 | 宝时得科技（中国）有限公司 | Mopping robot and control method, control device and storage medium thereof |
| CN114098543B (en) * | 2020-08-26 | 2024-01-09 | 宝时得科技（中国）有限公司 | Floor mopping robot, control method and control device thereof and storage medium |
| CN112379675A (en) * | 2020-11-27 | 2021-02-19 | 广东盈峰智能环卫科技有限公司 | Control method and system of sanitation robot and sanitation robot |
| CN112379675B (en) * | 2020-11-27 | 2024-05-24 | 广东盈峰智能环卫科技有限公司 | Sanitation robot control method and system and sanitation robot |
| CN115153358A (en) * | 2021-04-07 | 2022-10-11 | 广州视睿电子科技有限公司 | A cleaning mechanism and cleaning robot |
| WO2023219564A1 (en) * | 2022-05-09 | 2023-11-16 | Lionsbot International Pte. Ltd. | A robot and a method of configuring and operating the robot |
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