CN109363585A - 分区遍历方法、清扫方法及其扫地机器人 - Google Patents
分区遍历方法、清扫方法及其扫地机器人 Download PDFInfo
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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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
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2894—Details related to signal transmission in suction cleaners
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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
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—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
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
Description
Claims (12)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811542832.0A CN109363585B (zh) | 2018-12-17 | 2018-12-17 | 分区遍历方法、清扫方法及其扫地机器人 |
US16/577,147 US20200192399A1 (en) | 2018-12-17 | 2019-09-20 | Method for traversing a subarea, method for cleaning, and cleaning robot thereof |
Applications Claiming Priority (1)
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CN201811542832.0A CN109363585B (zh) | 2018-12-17 | 2018-12-17 | 分区遍历方法、清扫方法及其扫地机器人 |
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CN109363585A true CN109363585A (zh) | 2019-02-22 |
CN109363585B CN109363585B (zh) | 2021-07-02 |
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CN201811542832.0A Active CN109363585B (zh) | 2018-12-17 | 2018-12-17 | 分区遍历方法、清扫方法及其扫地机器人 |
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US (1) | US20200192399A1 (zh) |
CN (1) | CN109363585B (zh) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110207707A (zh) * | 2019-05-30 | 2019-09-06 | 四川长虹电器股份有限公司 | 基于粒子滤波器的快速初始定位方法及机器人设备 |
CN110361017A (zh) * | 2019-07-19 | 2019-10-22 | 西南科技大学 | 一种基于栅格法的扫地机器人全遍历路径规划方法 |
CN110419985A (zh) * | 2019-08-05 | 2019-11-08 | 小狗电器互联网科技(北京)股份有限公司 | 一种路径生成方法、装置及扫地设备 |
CN110448241A (zh) * | 2019-07-18 | 2019-11-15 | 广东宝乐机器人股份有限公司 | 机器人被困检测及脱困方法 |
CN110488820A (zh) * | 2019-08-12 | 2019-11-22 | 珠海市一微半导体有限公司 | 一种自移动机器人的区域遍历方法及芯片 |
CN110645991A (zh) * | 2019-10-30 | 2020-01-03 | 深圳市银星智能科技股份有限公司 | 一种基于节点调节的路径规划方法、装置及服务器 |
CN110764513A (zh) * | 2019-11-26 | 2020-02-07 | 小狗电器互联网科技(北京)股份有限公司 | 一种地图盲区识别方法 |
CN110967029A (zh) * | 2019-12-17 | 2020-04-07 | 中新智擎科技有限公司 | 一种建图方法、装置及智能机器人 |
CN111012249A (zh) * | 2019-12-11 | 2020-04-17 | 小狗电器互联网科技(北京)股份有限公司 | 一种子图固化的方法、装置及扫地机器人 |
CN111399524A (zh) * | 2020-03-27 | 2020-07-10 | 深圳市银星智能科技股份有限公司 | 机器人清扫方法及机器人 |
CN111413978A (zh) * | 2020-04-03 | 2020-07-14 | 王犇 | 一种用于攀附机器人的遍历路径规划方法 |
CN111728535A (zh) * | 2020-06-22 | 2020-10-02 | 上海高仙自动化科技发展有限公司 | 一种生成清扫路径的方法、装置、电子设备及存储介质 |
WO2021208308A1 (zh) * | 2020-04-17 | 2021-10-21 | 苏州科瓴精密机械科技有限公司 | 提升遍历均衡性能的方法、系统,机器人及可读存储介质 |
WO2021248845A1 (zh) * | 2020-06-12 | 2021-12-16 | 珠海一微半导体股份有限公司 | 一种机器人沿边行走的清洁分区规划方法、芯片及机器人 |
WO2023155157A1 (en) * | 2022-02-18 | 2023-08-24 | Beijing Smorobot Technology Co., Ltd | Method and apparatus for cleaning swimming pools, and electronic device and storage medium thereof |
Families Citing this family (2)
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CN112764418B (zh) * | 2020-12-25 | 2024-04-02 | 珠海一微半导体股份有限公司 | 基于寻径代价的清洁入口位置确定方法、芯片及机器人 |
CN113094781A (zh) * | 2021-03-18 | 2021-07-09 | 江苏中路信息科技有限公司 | 基于定位数据识别路面碾压遍数的方法、存储介质和电子装置 |
Citations (6)
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US20090048727A1 (en) * | 2007-08-17 | 2009-02-19 | Samsung Electronics Co., Ltd. | Robot cleaner and control method and medium of the same |
CN102138769A (zh) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | 清洁机器人及其清扫方法 |
CN107368079A (zh) * | 2017-08-31 | 2017-11-21 | 珠海市微半导体有限公司 | 机器人清扫路径的规划方法及芯片 |
CN107478232A (zh) * | 2017-09-18 | 2017-12-15 | 珠海市微半导体有限公司 | 机器人导航路径的搜索方法及芯片 |
CN107913039A (zh) * | 2017-11-17 | 2018-04-17 | 北京奇虎科技有限公司 | 用于清洁机器人的区块选择方法、装置及机器人 |
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 |
-
2018
- 2018-12-17 CN CN201811542832.0A patent/CN109363585B/zh active Active
-
2019
- 2019-09-20 US US16/577,147 patent/US20200192399A1/en not_active Abandoned
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US20090048727A1 (en) * | 2007-08-17 | 2009-02-19 | Samsung Electronics Co., Ltd. | Robot cleaner and control method and medium of the same |
CN102138769A (zh) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | 清洁机器人及其清扫方法 |
CN107368079A (zh) * | 2017-08-31 | 2017-11-21 | 珠海市微半导体有限公司 | 机器人清扫路径的规划方法及芯片 |
CN107478232A (zh) * | 2017-09-18 | 2017-12-15 | 珠海市微半导体有限公司 | 机器人导航路径的搜索方法及芯片 |
CN107913039A (zh) * | 2017-11-17 | 2018-04-17 | 北京奇虎科技有限公司 | 用于清洁机器人的区块选择方法、装置及机器人 |
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 |
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110207707A (zh) * | 2019-05-30 | 2019-09-06 | 四川长虹电器股份有限公司 | 基于粒子滤波器的快速初始定位方法及机器人设备 |
CN110448241A (zh) * | 2019-07-18 | 2019-11-15 | 广东宝乐机器人股份有限公司 | 机器人被困检测及脱困方法 |
CN110448241B (zh) * | 2019-07-18 | 2021-05-18 | 华南师范大学 | 机器人被困检测及脱困方法 |
CN110361017A (zh) * | 2019-07-19 | 2019-10-22 | 西南科技大学 | 一种基于栅格法的扫地机器人全遍历路径规划方法 |
CN110361017B (zh) * | 2019-07-19 | 2022-02-11 | 西南科技大学 | 一种基于栅格法的扫地机器人全遍历路径规划方法 |
CN110419985A (zh) * | 2019-08-05 | 2019-11-08 | 小狗电器互联网科技(北京)股份有限公司 | 一种路径生成方法、装置及扫地设备 |
CN110488820A (zh) * | 2019-08-12 | 2019-11-22 | 珠海市一微半导体有限公司 | 一种自移动机器人的区域遍历方法及芯片 |
CN110645991A (zh) * | 2019-10-30 | 2020-01-03 | 深圳市银星智能科技股份有限公司 | 一种基于节点调节的路径规划方法、装置及服务器 |
CN110764513A (zh) * | 2019-11-26 | 2020-02-07 | 小狗电器互联网科技(北京)股份有限公司 | 一种地图盲区识别方法 |
CN111012249A (zh) * | 2019-12-11 | 2020-04-17 | 小狗电器互联网科技(北京)股份有限公司 | 一种子图固化的方法、装置及扫地机器人 |
CN111012249B (zh) * | 2019-12-11 | 2021-08-13 | 小狗电器互联网科技(北京)股份有限公司 | 一种子图固化的方法、装置及扫地机器人 |
CN110967029B (zh) * | 2019-12-17 | 2022-08-26 | 中新智擎科技有限公司 | 一种建图方法、装置及智能机器人 |
CN110967029A (zh) * | 2019-12-17 | 2020-04-07 | 中新智擎科技有限公司 | 一种建图方法、装置及智能机器人 |
CN111399524A (zh) * | 2020-03-27 | 2020-07-10 | 深圳市银星智能科技股份有限公司 | 机器人清扫方法及机器人 |
CN111413978A (zh) * | 2020-04-03 | 2020-07-14 | 王犇 | 一种用于攀附机器人的遍历路径规划方法 |
CN111413978B (zh) * | 2020-04-03 | 2023-04-28 | 王犇 | 一种用于攀附机器人的遍历路径规划方法 |
WO2021208308A1 (zh) * | 2020-04-17 | 2021-10-21 | 苏州科瓴精密机械科技有限公司 | 提升遍历均衡性能的方法、系统,机器人及可读存储介质 |
WO2021248845A1 (zh) * | 2020-06-12 | 2021-12-16 | 珠海一微半导体股份有限公司 | 一种机器人沿边行走的清洁分区规划方法、芯片及机器人 |
US11914391B2 (en) | 2020-06-12 | 2024-02-27 | Amicro Semiconductor Co., Ltd. | Cleaning partition planning method for robot walking along boundry, chip and robot |
CN111728535A (zh) * | 2020-06-22 | 2020-10-02 | 上海高仙自动化科技发展有限公司 | 一种生成清扫路径的方法、装置、电子设备及存储介质 |
WO2023155157A1 (en) * | 2022-02-18 | 2023-08-24 | Beijing Smorobot Technology Co., Ltd | Method and apparatus for cleaning swimming pools, and electronic device and storage medium thereof |
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Publication number | Publication date |
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US20200192399A1 (en) | 2020-06-18 |
CN109363585B (zh) | 2021-07-02 |
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