CN108852182A - A kind of sweeping robot intelligent barrier avoiding method - Google Patents
A kind of sweeping robot intelligent barrier avoiding method Download PDFInfo
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- CN108852182A CN108852182A CN201810721244.7A CN201810721244A CN108852182A CN 108852182 A CN108852182 A CN 108852182A CN 201810721244 A CN201810721244 A CN 201810721244A CN 108852182 A CN108852182 A CN 108852182A
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- barrier
- cleaning
- indicative
- sweeping robot
- loose impediment
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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
-
- 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
- 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
The present invention provides a kind of sweeping robot intelligent barrier avoiding method, the type of loose impediment is judged, and corresponding cleaning strategy is executed respectively for different types of loose impediment, to improve the accuracy of obstacle recognition, and then improve the efficiency of cleaning.
Description
Technical field
This application involves technical field of robot control more particularly to a kind of sweeping robot intelligent barrier avoiding methods.
Background technique
With the progress of science and technology and the development of computer technology, sweeping robot will gradually come into huge numbers of families, and become people
The competent assistant of class.There is the sweeping robot of various manufacturers on the market, two classes can be roughly divided into according to the pathfinding mode of robot：
Random collision formula and path planning formula.The two respectively has advantage and disadvantage, and random collision formula is low to environmental requirement, functional reliability is high, but
Sweeping efficiency is low, time-consuming, it is more random to clean coverage rate；Path planning formula entirety sweeping efficiency is high, time-consuming short, and to clear
Clean area map is unintelligible, but higher to environmental requirement and easy cleaning is not clean.However, either which kind of pathfinding mode,
It is not appropriate to the processing of barrier, and fixed obstacle cannot be distinguished and loose impediment, sweeping efficiency are extremely low.It is existing
Manufacturer has ignored a problem, would generally be fixed in an environment when being exactly sweeping robot work, therefore, to working environment
Grope clear, distinguishes the problem of fixed obstacle and loose impediment are also sweeping robot field urgent need to resolve.
With cloud computing, the development of big data, cloud storage is got a lot of applications in artificial intelligence field, document
CN107643755A in view of the above-mentioned problems, propose a kind of efficient control method of sweeping robot, in sweeping robot plus
Enter edge infrared radiation detection apparatus detection edge, along edge pathfinding, determines entirely by the layout map in cleaning region, while passing through barrier
Analyte detection instrument is hindered to detect barrier, and the identification device that breaks the barriers obtains the image of barrier and position, disturbance in judgement object are
Fixed obstacle or loose impediment, and the type of barrier is marked on map, when executing cleaning task, along layout
Map frame is cleaned, and the fixed obstacle and loose impediment in the mnemonic storage environment of big data cloud are passed through
Mark point, so that intelligently avoiding obstacles, improve the working efficiency of sweeping robot.
However, the above method there is also many defects, although the above method realizes fixed obstacle and on-fixed obstacle
The classification and Detection of object, but be only exploratory cleaning for loose impediment position, and it is small for naughty doggie
The animals such as cat, mobile obstruction sweeping robot advance, and then interfere and clean, and thus can seriously affect sweeping robot pair
Therefore the judgement of loose impediment needs to be proposed the sweeping robot that a kind of pair of loose impediment carries out classification and Detection, mention
Height cleans speed and efficiency.
Summary of the invention
The present invention provides a kind of sweeping robot intelligent barrier avoiding method, the sweeping robot include infrared radiation detection apparatus and
Ultrasonic detector, described method includes following steps：
S1, the sweeping robot, which obtains, cleans instruction, instructs planning to clean path according to the cleaning, according to the cleaning road
Diameter executes cleaning task；
S2, the sweeping robot open the ultrasonic detector to detect the barrier on the cleaning path, if inspection
Barrier is measured, then whether the position for continuing to test the barrier changes, if it is, being non-solid by the obstacle tag
Determine barrier, and enters step S3；If it is not, then being fixed obstacle by the obstacle tag, to bypass the barrier
Carry out cleaning operation；
S3, the sweeping robot opens the infrared radiation detection apparatus to detect the heat of the barrier, if the heat reaches
It is then indicative loose impediment by the obstacle tag, if the heat is not up to pre- to preset heat threshold
If heat threshold, then by the obstacle tag be non-indicative loose impediment；
S4, the sweeping robot issue standby signal when close to the indicative loose impediment；Close to described non-
Continue to clean after waiting the barrier to leave when indicative loose impediment, or carries out cleaning behaviour around the barrier
Make.
As a preferred embodiment, described instruct planning to clean path according to the cleaning, specifically include：
S21 identifies the type for cleaning instruction, if cleaning instruction carries purging zone information, is directly entered
Step S23；If the cleaning instruction does not carry purging zone information, S22 is entered step；
S22, the sweeping robot instruct starting photographic device to make an inspection tour each purging zone automatically according to the cleaning；
S23, the sweeping robot calculate the sweep-out pattern of each purging zone, according to the purging zone and described
Sweep-out pattern plans the cleaning path of the sweeping robot.
As a preferred embodiment, the step S2 further includes：
The ultrasonic detector of the sweeping robot detects the barrier on the cleaning path in direction of travel pre-determined distance
Hinder object；If detecting barrier, continue to test whether the variation of the position of the barrier in the given time reaches pre-
If distance threshold, if it is, being judged as the change in location of the barrier；If it is not, then being judged as the position of the barrier
It sets and does not change.
As a preferred embodiment, the sweeping robot is sent out when close to the indicative loose impediment
Standby signal out specifically includes：
The sweeping robot issues alarm sound signal when close to the indicative loose impediment, and continues to test institute
It states whether indicative loose impediment leaves current direction of travel, if it is, closing the alarm sound signal, and continues
Execute cleaning operation；If it is not, then stopping advancing, and the sound type for changing the alarm sound signal continues to sound an alarm.
As a preferred embodiment, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and detects the sweeper
The whether increased outlier threshold of the cleaning power of the cleaning brush of device people is adjusted if it is, stopping the cleaning operation of the cleaning brush
The position of the whole sweeping robot is to avoid the indicative loose impediment.
As a preferred embodiment, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and changes the alarm
The sound type of sound signal continues to sound an alarm；
If the indicative loose impediment does not leave yet after reaching the scheduled waiting time, the alarm sound is closed
Signal continues cleaning operation around the indicative loose impediment.
As a preferred embodiment, further including：
The sweeping robot detects the height of the indicative loose impediment by the ultrasonic detector, if institute
The height of indicative loose impediment is stated no more than preset obstacle height threshold value, then close to the indicative on-fixed
The first standby signal is issued when barrier；If the height of the indicative loose impediment is greater than preset obstacle height
Threshold value then issues the second standby signal when close to the indicative loose impediment.
As a preferred embodiment, further including：
The signal strength of first standby signal is higher than the signal strength of second standby signal, alternatively, described first mentions
Show that signal and second standby signal are different signal types.
The present invention provides a kind of sweeping robot intelligent barrier avoiding method, is judged the type of loose impediment,
And corresponding cleaning strategy is executed respectively for different types of loose impediment, to improve the accurate of obstacle recognition
Property, and then improve the efficiency of cleaning.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to institute in embodiment and description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of illustrative schematic diagram of sweeping robot intelligent barrier avoiding method of the invention.
Specific embodiment
The following is further explained with reference to the attached drawings the embodiment of the present invention.
Embodiment one：
As shown in Figure 1, the present invention provides a kind of sweeping robot intelligent barrier avoiding method, the sweeping robot includes infrared inspection
Instrument and ultrasonic detector are surveyed, described method includes following steps：
S1, the sweeping robot, which obtains, cleans instruction, instructs planning to clean path according to the cleaning, according to the cleaning road
Diameter executes cleaning task；It should be noted that cleaning instruction can be different type, for example, for part clean instruction or
Person all cleans instruction；The sweeping robot, which obtains, cleans instruction, according to all purging zones of the cleaning instruction identification and
The sweep-out pattern of each purging zone distributes cleaning task according to the purging zone and the sweep-out pattern；This hair
The bright purging zone is relatively independent, for example, each room in home scenarios；The sweep-out pattern is can sweeping area
The area in domain, so the sweeping robot by can sweep-out pattern calculate, be converted into the cleaning path of each purging zone；In turn
Cleaning task is executed according to the cleaning path.
S2, the sweeping robot open the ultrasonic detector to detect the barrier on the cleaning path, such as
Fruit detects barrier, then whether the position for continuing to test the barrier changes, if it is, being by the obstacle tag
Loose impediment, and enter step S3；If it is not, then being fixed obstacle by the obstacle tag, to bypass the barrier
Object is hindered to carry out cleaning operation；It should be noted that the effect of the ultrasonic detector is to be swept the floor by detection object with described
The specific range of robot direction of travel judges whether the object is barrier, for example, in the sweeping robot traveling side
I.e. current clean detects the presence of barrier in front 20cm distance on path upwards, then is judged as barrier；Further
, judge whether the position of the barrier changes, position herein can be the opposite position relative to the sweeping robot
It sets, or the absolute position of barrier, herein with no restrictions.It preferably, is the absolute position of barrier.As it can be seen that this hair
Bright effective type for having distinguished barrier, to improve the accuracy of barrier judgment.
S3, the sweeping robot opens the infrared radiation detection apparatus to detect the heat of the barrier, if the heat
Amount reaches preset heat threshold, then is indicative loose impediment by the obstacle tag, if the heat does not reach
It is then non-indicative loose impediment by the obstacle tag to preset heat threshold；It should be noted that exemplary
, the infrared radiation detection apparatus is infrared thermal imager, to detect the energy that barrier itself stores, and then judges whether it is people
The life entities such as body or animal.When encountering the barrier of life entity type, need to issue prompt information, in order to avoid injure the life
Body, at this point, being referred to as indicative loose impediment；When encountering non-life body barrier, then do not need to issue prompt letter
Breath, at this point, being referred to as non-indicative loose impediment.As it can be seen that the present invention has effectively distinguished the type of loose impediment,
To improve the accuracy of barrier judgment.
S4, the sweeping robot issue standby signal when close to the indicative loose impediment；Close to institute
Continue to clean after waiting the barrier to leave when stating non-indicative loose impediment, or is carried out clearly around the barrier
Sweep operation.It should be noted that the standby signal can be sound class or light class, herein with no restrictions, due to life
Body often has feedback capability to light or sound, and traditionally receiving standby signal can then leave, and then does not influence described sweep the floor
Robot completely cleans ground.And if it is the barrier for not having life entity, then prompt information does not have effect,
Therefore, the present invention is using passively mode, such as waits or detour.As it can be seen that the present invention has effectively distinguished on-fixed barrier
Hinder the type of object, to improve the accuracy of barrier judgment.
As a preferred embodiment, described instruct planning to clean path according to the cleaning, specifically include：
S21 identifies the type for cleaning instruction, if cleaning instruction carries purging zone information, is directly entered
Step S23；If the cleaning instruction does not carry purging zone information, S22 is entered step；It should be noted that described clear
Sweeping area information can be the purging zone that user temporarily delimit, or user is preset to be instructed with specific cleaning
Corresponding specific purging zone, herein with no restrictions.
S22, the sweeping robot instruct starting photographic device to make an inspection tour each purging zone automatically according to the cleaning；
It should be noted that the tour can be realized during first clean, and will make an inspection tour the obtained region cleaned into
Row saves, to call directly when cleaning for second without making an inspection tour again；In addition, can be to institute in subsequent cleaning process
The region for stating tour optimizes, to improve the accuracy of identification；The place purging zone is the region that can be swept, that is, is swept the floor
The region that robot can arrive safe and sound, including the region such as carpet that can be crossed over.
S23, the sweeping robot calculate the sweep-out pattern of each purging zone, according to the purging zone and
The sweep-out pattern plans the cleaning path of the sweeping robot.
As a preferred embodiment, the step S2 further includes：
The ultrasonic detector of the sweeping robot detects the barrier on the cleaning path in direction of travel pre-determined distance
Hinder object；If detecting barrier, continue to test whether the variation of the position of the barrier in the given time reaches pre-
If distance threshold, if it is, being judged as the change in location of the barrier；If it is not, then being judged as the position of the barrier
It sets and does not change.It should be noted that judging using moving distance determining method, i.e., whether the position of the barrier moves here
Whether movement speed reaches preset threshold speed.
As a preferred embodiment, the sweeping robot is sent out when close to the indicative loose impediment
Standby signal out specifically includes：
The sweeping robot issues alarm sound signal when close to the indicative loose impediment, and continues to test institute
It states whether indicative loose impediment leaves current direction of travel, if it is, closing the alarm sound signal, and continues
Execute cleaning operation；If it is not, then stopping advancing, and the sound type for changing the alarm sound signal continues to sound an alarm.
It should be noted that indicative the loose impediment such as people or most animals, are getting the alarm sound
It, all can be far from the sweeping robot, at this point, the sweeping robot can then continue to execute cleaning task after signal；And it is right
In Some Animals, due to more naughty or just rest on the ground, will not be actively teaches away from, at this point, changing the alarm sound
The sound type of signal continues to sound an alarm, and then alerts the barrier again, is made it away from driving.
As a preferred embodiment, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and detects the sweeper
The whether increased outlier threshold of the cleaning power of the cleaning brush of device people is adjusted if it is, stopping the cleaning operation of the cleaning brush
The position of the whole sweeping robot is to avoid the indicative loose impediment.It should be noted that at this point, mainly for
Naughty animal, can often touch the moving components such as cleaning brush out of curiosity, detect the clear of the sweeping robot here
Whether the cleaning power of brush increases to outlier threshold, i.e. whether the movement of cleaning brush receives biggish external drag and for example grabbed
It firmly or bites, at this point, needing to stop the cleaning operation of the cleaning brush in order to avoid cleaning brush is destroyed；Further, it adjusts
The position of the whole sweeping robot to avoid the indicative loose impediment, thus protect the sweeping robot not by
It destroys.
As a preferred embodiment, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and changes the alarm
The sound type of sound signal continues to sound an alarm；Indicative the loose impediment such as people or most animals, are obtaining
It, all can be far from the sweeping robot, at this point, the sweeping robot can then continue to hold to after arriving the alarm sound signal
Row cleaning task；And for Some Animals, due to more naughty or just rest on the ground, will not be actively teaches away from, at this point, changing
The sound type for becoming the alarm sound signal continues to sound an alarm, and then alerts the barrier again, is made it away from driving.
If the indicative loose impediment does not leave yet after reaching the scheduled waiting time, the alarm is closed
Voice signal continues cleaning operation around the indicative loose impediment.It should be noted that at this point, in order to keep away
Exempt from cleaning brush to be destroyed, needs to stop the cleaning operation of the cleaning brush；Further, the position of the sweeping robot is adjusted
To avoid the indicative loose impediment, so that the sweeping robot be protected not to be destroyed.
As a preferred embodiment, further including：
The sweeping robot detects the height of the indicative loose impediment by the ultrasonic detector, if institute
The height of indicative loose impediment is stated no more than preset obstacle height threshold value, then close to the indicative on-fixed
The first standby signal is issued when barrier；If the height of the indicative loose impediment is greater than preset obstacle height
Threshold value then issues the second standby signal when close to the indicative loose impediment.It should be noted that it is illustrative,
The infrared radiation detection apparatus is infrared thermal imager, is not only used to the energy that detection barrier itself stores, and can be according to barrier
Hinder the image of object to analyze the height of the barrier, is people or animal to distinguish to be identified to the life entity；Example
Such as, the preset obstacle height threshold value is 0.8m, at this point, the life entity by height lower than 0.8m is identified as animal, it will be high
Life entity identification of the degree greater than 0.8m is people；And then different types of standby signal is issued according to people or animal, to improve
The efficiency of information alert.
As a preferred embodiment, further including：
The signal strength of first standby signal is higher than the signal strength of second standby signal, alternatively, described first mentions
Show that signal and second standby signal are different signal types.It should be noted that the standby signal of people in the present invention
It is softer, it is unlikely to scaring to people；And for the standby signal of animal then will more it is big a bit, to expel animal in time, from
Cleaning work without influencing sweeping robot.For example, first standby signal is music, second standby signal is report
Alert sound；Alternatively, first standby signal is sound, second standby signal is that the shape of sweeping robot becomes larger,
This is with no restrictions.
The present invention provides a kind of sweeping robot intelligent barrier avoiding method, is judged the type of loose impediment,
And corresponding cleaning strategy is executed respectively for different types of loose impediment, to improve the accurate of obstacle recognition
Property, and then improve the efficiency of cleaning.
Those skilled in the art of the present technique be appreciated that can be realized with computer program instructions these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.It can be by this
The processor that a little computer program instructions are supplied to general purpose computer, special purpose computer or other programmable data processing methods comes
Machine is generated, is used for be performed instruction by the processor of computer or other programmable data processing methods and create
Realize the method specified in the frame or multiple frames of structure chart and/or block diagram and/or flow graph.
Those skilled in the art of the present technique have been appreciated that in the present invention the various operations crossed by discussion, method, in process
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, each with having been crossed by discussion in the present invention
Kind of operation, method, other steps, measures, and schemes in process may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, in the prior art to have and the step in various operations, method disclosed in the present invention, process, measure, scheme
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of sweeping robot intelligent barrier avoiding method, which is characterized in that the sweeping robot include infrared radiation detection apparatus and
Ultrasonic detector, described method includes following steps：
S1, the sweeping robot, which obtains, cleans instruction, instructs planning to clean path according to the cleaning, according to the cleaning road
Diameter executes cleaning task；
S2, the sweeping robot open the ultrasonic detector to detect the barrier on the cleaning path, if inspection
Barrier is measured, then whether the position for continuing to test the barrier changes, if it is, being non-solid by the obstacle tag
Determine barrier, and enters step S3；If it is not, then being fixed obstacle by the obstacle tag, to bypass the barrier
Carry out cleaning operation；
S3, the sweeping robot opens the infrared radiation detection apparatus to detect the heat of the barrier, if the heat reaches
It is then indicative loose impediment by the obstacle tag, if the heat is not up to pre- to preset heat threshold
If heat threshold, then by the obstacle tag be non-indicative loose impediment；
S4, the sweeping robot issue standby signal when close to the indicative loose impediment；Close to described non-
Continue to clean after waiting the barrier to leave when indicative loose impediment, or carries out cleaning behaviour around the barrier
Make.
2. the method according to claim 1, wherein described instruct planning to clean path, tool according to the cleaning
Body includes：
S21 identifies the type for cleaning instruction, if cleaning instruction carries purging zone information, is directly entered
Step S23；If the cleaning instruction does not carry purging zone information, S22 is entered step；
S22, the sweeping robot instruct starting photographic device to make an inspection tour each purging zone automatically according to the cleaning；
S23, the sweeping robot calculate the sweep-out pattern of each purging zone, according to the purging zone and described
Sweep-out pattern plans the cleaning path of the sweeping robot.
3. the method according to claim 1, wherein the step S2 further includes：
The ultrasonic detector of the sweeping robot detects the barrier on the cleaning path in direction of travel pre-determined distance
Hinder object；If detecting barrier, continue to test whether the variation of the position of the barrier in the given time reaches pre-
If distance threshold, if it is, being judged as the change in location of the barrier；If it is not, then being judged as the position of the barrier
It sets and does not change.
4. the method according to claim 1, wherein the sweeping robot is close to the indicative on-fixed
Standby signal is issued when barrier, is specifically included：
The sweeping robot issues alarm sound signal when close to the indicative loose impediment, and continues to test institute
It states whether indicative loose impediment leaves current direction of travel, if it is, closing the alarm sound signal, and continues
Execute cleaning operation；If it is not, then stopping advancing, and the sound type for changing the alarm sound signal continues to sound an alarm.
5. according to the method described in claim 4, it is characterized in that, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and detects the sweeper
Whether the cleaning power of the cleaning brush of device people increases to outlier threshold, if it is, stopping the cleaning operation of the cleaning brush, adjusts
The position of the whole sweeping robot is to avoid the indicative loose impediment.
6. according to the method described in claim 4, it is characterized in that, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and changes the alarm
The sound type of sound signal continues to sound an alarm；
If the indicative loose impediment does not leave yet after reaching the scheduled waiting time, the alarm sound is closed
Signal continues cleaning operation around the indicative loose impediment.
7. according to the method described in claim 4, it is characterized in that, further including：
The sweeping robot detects the height of the indicative loose impediment by the ultrasonic detector, if institute
The height of indicative loose impediment is stated no more than preset obstacle height threshold value, then close to the indicative on-fixed
The first standby signal is issued when barrier；If the height of the indicative loose impediment is greater than preset obstacle height
Threshold value then issues the second standby signal when close to the indicative loose impediment.
8. the method according to the description of claim 7 is characterized in that further including：
The signal strength of first standby signal is higher than the signal strength of second standby signal, alternatively, described first mentions
Show that signal and second standby signal are different signal types.
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| CN201810721244.7A CN108852182B (en) | 2018-07-04 | 2018-07-04 | Intelligent obstacle avoidance method for sweeping robot |
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| CN201810721244.7A CN108852182B (en) | 2018-07-04 | 2018-07-04 | Intelligent obstacle avoidance method for sweeping robot |
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| US11782448B2 (en) * | 2020-11-27 | 2023-10-10 | Chongqing University | Method for obstacle detection and recognition for intelligent snow sweeping robot |
| CN112906642A (en) * | 2021-03-22 | 2021-06-04 | 苏州银翼智能科技有限公司 | Self-moving robot, control method for self-moving robot, and storage medium |
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| WO2023025023A1 (en) * | 2021-08-23 | 2023-03-02 | 追觅创新科技(苏州)有限公司 | Cleaning method and apparatus of mobile robot, and storage medium and electronic apparatus |
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