CN109664309A - A kind of clean method, apparatus of intelligent robot and robot - Google Patents
A kind of clean method, apparatus of intelligent robot and robot Download PDFInfo
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- CN109664309A CN109664309A CN201811573533.3A CN201811573533A CN109664309A CN 109664309 A CN109664309 A CN 109664309A CN 201811573533 A CN201811573533 A CN 201811573533A CN 109664309 A CN109664309 A CN 109664309A
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- 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
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- 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
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention is suitable for robotic technology field, provide a kind of clean method, apparatus of intelligent robot and robot, wherein, the clean method of the intelligent robot includes the environmental information obtained in region to be cleaned, according to the environmental information of acquisition, judge to adjust current clean up task if there are target objects in the region to be cleaned with the presence or absence of target object in the region to be cleaned.Clean up task that through the invention can be current come adjust automatically according to judging result is conducive to the intelligence degree and working efficiency that improve robot.
Description
Technical field
The present invention relates to robot field more particularly to a kind of clean method, apparatus of intelligent robot, robot and meter
Calculation machine readable storage medium storing program for executing.
Background technique
With the continuous improvement of living standards, people are also higher and higher to the pursuit of quality of the life, more and more families
Start to possess the intelligent small household appliances of such as sweeping robot one kind.
However, existing clean robot can not automatically switch current operating mode, intelligence degree is not high, into
During row region clean, when there is dynamic barrier in interior, due to that can not identify that dynamic barrier, robot always enter
The region is cleaned, and is avoided dynamic barrier as conventional obstacles, therefore it is easy to appear drain sweep dynamics to hinder
The situation for hindering object region influences whole clean effect and coverage rate.
Therefore it's necessary to propose a new technical scheme, to solve the above technical problems.
Summary of the invention
In consideration of it, the embodiment of the invention provides a kind of clean method, apparatus of intelligent robot and robot, Ke Yigen
It is judged that result carrys out the current clean up task of adjust automatically, be conducive to the intelligence degree and working efficiency that improve robot.
The first aspect of the embodiment of the present invention provides a kind of clean method of intelligent robot, comprising:
Obtain the environmental information in region to be cleaned；
According to the environmental information of acquisition, judge in the region to be cleaned with the presence or absence of target object；
If there are target objects in the region to be cleaned, current clean up task is adjusted.
The second aspect of the embodiment of the present invention provides a kind of clean device of intelligent robot, comprising:
Module is obtained, for obtaining the environmental information in region to be cleaned；
Judgment module judges in the region to be cleaned for the environmental information according to acquisition with the presence or absence of target
Object；
Control module, if adjusting current clean up task for there are target objects in the region to be cleaned.
The third aspect of the embodiment of the present invention provides a kind of robot, including memory, processor and is stored in storage
On device and the computer program that can run on a processor, above-mentioned processor realize above-mentioned first when executing above-mentioned computer program
The method that aspect refers to.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage medium
Computer program is stored in matter, above-mentioned computer program realizes method mentioned in the first aspect when being executed by processor.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the present embodiment, obtaining first to clear
Environmental information in clean region judges in the region to be cleaned then according to the environmental information of acquisition with the presence or absence of mesh
Object is marked, finally adjusts current clean up task there are when target object in the region to be cleaned.With prior art phase
Than clean up task that through the embodiment of the present invention can be current come adjust automatically according to judging result is conducive to improve robot
Intelligence degree and working efficiency, have stronger usability and practicality.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow diagram for the clean method of intelligent robot that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of the clean method of intelligent robot provided by Embodiment 2 of the present invention；
Fig. 3 is the flow diagram for the clean method of intelligent robot that the embodiment of the present invention three provides；
Fig. 4 is the flow diagram for the clean method of intelligent robot that the embodiment of the present invention four provides；
Fig. 5 is the structural schematic diagram for the clean device of intelligent robot that the embodiment of the present invention five provides；
Fig. 6 is the structural schematic diagram for the robot that the embodiment of the present invention six provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in the present embodiment, each process
Execution sequence should be determined by its function and internal logic, and the implementation process of the embodiments of the invention shall not be constituted with any limitation.
It should be noted that " first ", " second " etc. in the present embodiment describe, it is for distinguishing different regions, mould
Block etc. does not represent sequencing, does not also limit " first " and " second " as different types.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
Fig. 1 is the flow diagram for the clean method of intelligent robot that the embodiment of the present invention one provides, and this method can be with
The following steps are included:
S101: the environmental information in region to be cleaned is obtained.
Wherein, the robot refers mainly to clean robot, inhales comprising intelligent sweeping robot, floor-mopping robot, intelligence
Dirt device etc. is one kind of controlling intelligent household appliances, can complete in the room the fettler on floor automatically by certain artificial intelligence
Make；The region to be cleaned can be one or more regions to be cleaned.
In one embodiment, the region to be cleaned is one or more rooms to be cleaned.
In one embodiment, above-mentioned room includes but is not limited to parlor, bedroom, study and kitchen.
In one embodiment, the environment letter in region to be cleaned can be obtained by the sensor in the robot
Breath.
It should be understood that before obtaining the environmental information in region to be cleaned, should first control the robot be moved to it is described to
Clean region.
It, can be in a certain order if should also be understood that in advance to be multiple subregions to be cleaned by region division to be cleaned
Successively to obtain the environmental information in each subregion to be cleaned.
In one embodiment, the barrier in region to be cleaned is being obtained by the laser radar sensor in robot
After dynamic distance between robot, the range information of acquisition is the environmental information.
In one embodiment, it after obtaining the image information in region to be cleaned by the camera in robot, obtains
The image information taken is the environmental information.
In one embodiment, in the temperature for obtaining the barrier in region to be cleaned by the infrared sensor in robot
After degree, the temperature information of acquisition is the environmental information.
It in one embodiment, can be by camera come constructing environment map.
In one embodiment, the current location information of the robot can be obtained in real time by camera.
S102: according to the environmental information of acquisition, judge in the region to be cleaned with the presence or absence of target object.
Wherein, the target object is the object that robot needs to avoid during cleaning, can be dynamic barrier
It may be static-obstacle thing, including but not limited to people, animal, sweeper and floor cleaning machine.
In one embodiment, when in the region to be cleaned of acquisition barrier and the distance between robot information be institute
When stating environmental information, can by detect the distance between barrier and robot whether constantly change come described in determining to
It cleans and whether there is target object in region.
In one embodiment, when the image information in the region to be cleaned of acquisition is the environmental information, Ke Yitong
Whether cross in detection described image information includes default feature to determine in the region to be cleaned with the presence or absence of target object.
In one embodiment, when the temperature information of the barrier in the region to be cleaned of acquisition is the environmental information
When, it can be determined in the region to be cleaned by detecting in the region to be cleaned with the presence or absence of there is the object of vital signs
With the presence or absence of target object.
S103: if there are target objects in the region to be cleaned, current clean up task is adjusted.
It should be noted that the adjustment of current clean up task includes but is not limited to current clear of adjustment robot in the application
Clean region and/or cleaning mode.
In one embodiment, if target object is not present in the region to be cleaned, current operating mode is kept
Continue to clean the region to be cleaned.It should be understood that showing nothing when target object is not present in the region to be cleaned
Any dynamic barrier need to be avoided, only need to continue to keep current operating mode to continue to carry out clearly the region to be cleaned at this time
It is clean.
Therefore in the embodiment of the present invention, it whether there is target object in the region to be cleaned due to may determine that,
So as to which when there are target object, the current cleaning mode of adjust automatically and/or the purpose for cleaning region are conducive to raising machine
The intelligence degree and working efficiency of device people has stronger usability and practicality.
Embodiment two
Fig. 2 is the flow diagram of the clean method of intelligent robot provided by Embodiment 2 of the present invention, is to above-mentioned reality
The further refinement and explanation, this method for applying the step S103 in example one may comprise steps of:
S201: the environmental information in region to be cleaned is obtained.
Wherein, above-mentioned steps S201 is identical as the step S101 in embodiment one, and specific implementation process can be found in step
The description of S101, so here is no more repetition.
S202: according to the environmental information of acquisition, judge in the region to be cleaned with the presence or absence of target object.
S203: it if there are target objects in the region to be cleaned, is moved to next region to be cleaned and carries out clearly
It is clean.
In view of in practical applications, some room to be cleaned being often divided into multiple regions to be cleaned.Cause
This can leave the region for currently having target object if current region to be cleaned is not the last one region to be cleaned in advance,
Until being confirmed whether that can return to current region to be cleaned continues to clean after having cleaned next region to be cleaned again.
Therefore the embodiment of the present application two is compared to embodiment one, it can there are target objects in region to be cleaned
When, be moved to next region to be cleaned in advance and cleaned, thus returned again to after the target object leaves currently to
Cleaning region continues to clean, and can effectively avoid the situation of target object region described in drain sweep, has stronger easy
With property and practicability.
Embodiment three
Fig. 3 is the flow diagram for the clean method of intelligent robot that the embodiment of the present invention three provides, and is to above-mentioned reality
The further refinement and explanation, this method for applying the step S103 in example one may comprise steps of:
S301: the environmental information in region to be cleaned is obtained.
S302: according to the environmental information of acquisition, judge in the region to be cleaned with the presence or absence of target object.
Wherein, above-mentioned steps S301-S302 is identical as the step S201-S202 in embodiment two, specific implementation process
It can be found in the description of step S201-S202, so here is no more repetition.
S303: if there are target object in the region to be cleaned, starting recharges mode.
In one embodiment, when, there are when target object, can first being left in the region to be cleaned with recharging mode
Current region to be cleaned is then confirmed whether that can return to current region to be cleaned continues to clean again.
In one embodiment, robot current residual electricity can be detected before unlatching recharges mode, and is remained currently
When remaining electricity is lower than preset value, controls the robot starting and recharge mode.
Therefore the embodiment of the present application three compares embodiment one, can in region to be cleaned there are when target object,
Starting recharges mode to leave current region to be cleaned in advance, to return again to currently after the target object leaves to clear
Clean region continues to clean, and can effectively avoid the situation of target object region described in drain sweep, has stronger easy-to-use
Property and practicability.
Example IV
Fig. 4 is the flow diagram for the clean method of intelligent robot that the embodiment of the present invention four provides, and is to above-mentioned reality
The further refinement and explanation, this method for applying the step S103 in example one may comprise steps of:
S401: the environmental information in region to be cleaned is obtained.
S402: according to the environmental information of acquisition, judge in the region to be cleaned with the presence or absence of target object.
Wherein, above-mentioned steps S401-S402 is identical as the step S201-S202 in embodiment two, specific implementation process
It can be found in the description of step S201-S202, so here is no more repetition.
S403: if there are target objects in the region to be cleaned, current operating mode is adjusted to low noise mould
Formula.
It should be understood that in order to not influence the normal work or rest of target object in current region to be cleaned, it can be described
When robot continues to clean current region, current operating mode is automatically regulated to be etiquette mode.
It should be noted that the current operating mode of the robot in the application is defaulted as conventional cleaning mode, institute
Stating etiquette mode is for conventional cleaning mode.
In one embodiment, the etiquette mode can be arranged according to the noise range that user can tolerate.
Therefore the embodiment of the present application four is compared to embodiment one, it can there are target objects in region to be cleaned
When, current operating mode is adjusted to etiquette mode automatically, to reduce the influence to peripheral object object, is conducive to mention
The experience sense of user is risen, there is stronger usability and practicality.
Embodiment five
Fig. 5 is the structural schematic diagram for the clean device of intelligent robot that the embodiment of the present invention five provides, for the ease of saying
Bright, only parts related to embodiments of the present invention are shown.
The clean device of the intelligent robot can be the software unit being built in robot, hardware cell or soft or hard
In conjunction with unit, can also be used as independent pendant and be integrated into the robot.
The clean device of intelligent robot, comprising:
Module 51 is obtained, for obtaining the environmental information in region to be cleaned；
Judgment module 52 judges in the region to be cleaned for the environmental information according to acquisition with the presence or absence of mesh
Mark object；
Control module 53, if adjusting current clean up task for there are target objects in the region to be cleaned.
In one embodiment, the control module 53 is specifically used for:
If there are target objects in the region to be cleaned, it is moved to next region to be cleaned and is cleaned.
In one embodiment, the control module 53 is specifically used for:
If there are target object in the region to be cleaned, starting recharges mode.
In one embodiment, the control module 53 is specifically used for:
If in the region to be cleaned, there are target objects, and current operating mode is adjusted to etiquette mode.
In one embodiment, described device further include:
Operating mode keeps module, if for, there is no mobile target, keeping current work in the region to be cleaned
Operation mode continues to clean the region to be cleaned.
Embodiment six
Fig. 6 is the structural schematic diagram for the robot that the embodiment of the present invention six provides.As shown in fig. 6, the machine of the embodiment
People 6 includes: processor 60, memory 61 and is stored in the meter that can be run in the memory 61 and on the processor 60
Calculation machine program 62.The processor 60 realizes the step in above method embodiment one, example when executing the computer program 62
Step S101 to S103 as shown in Figure 1.Alternatively, realizing the step in above method embodiment two, such as step shown in Fig. 2
S201 to S203.Alternatively, realizing the step in above method embodiment three, such as step S301 to S303 shown in Fig. 3.Or
Person realizes the step in above method embodiment four, such as step S401 to S403 shown in Fig. 4.The processor 60 executes
Realize the function of each module/unit in above-mentioned each Installation practice when the computer program 62, for example, module 51 shown in Fig. 5 to
53 function.
Illustratively, the computer program 62 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 61, and are executed by the processor 60, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 62 in the robot 6 is described.For example, the computer program 62 can be divided
At module, judgment module, control module 6 is obtained, each module concrete function is as follows:
Module is obtained, for obtaining the environmental information in region to be cleaned；
Judgment module judges in the region to be cleaned for the environmental information according to acquisition with the presence or absence of target
Object；
Control module, if adjusting current clean up task for there are target objects in the region to be cleaned.
The robot may include, but be not limited only to, processor 60, memory 61.It will be understood by those skilled in the art that
Fig. 6 is only the example of robot 6, does not constitute the restriction to robot 6, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the robot can also include input-output equipment, network
Access device, bus etc..
The processor 60 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 61 can be the internal storage unit of the robot 6, such as the hard disk or memory of robot 6.
The memory 61 is also possible to the External memory equipment of the robot 6, such as the plug-in type being equipped in the robot 6 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 61 can also both include the internal storage unit of the robot 6 or wrap
Include External memory equipment.The memory 61 is for other programs needed for storing the computer program and the robot
And data.The memory 61 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that each embodiment described in conjunction with the examples disclosed in this document
Module, unit and/or method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
It does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium in certain jurisdictions.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of clean method of intelligent robot characterized by comprising
Obtain the environmental information in region to be cleaned；
According to the environmental information of acquisition, judge in the region to be cleaned with the presence or absence of target object；
If there are target objects in the region to be cleaned, current clean up task is adjusted.
2. the method according to claim 1, wherein being adjusted if there are target objects in the region to be cleaned
Whole current clean up task includes:
If there are target objects in the region to be cleaned, it is moved to next region to be cleaned and is cleaned.
3. the method according to claim 1, wherein being adjusted if there are target objects in the region to be cleaned
Whole current clean up task includes:
If there are target object in the region to be cleaned, starting recharges mode.
4. the method according to claim 1, wherein being adjusted if there are target objects in the region to be cleaned
Whole current clean up task includes:
If in the region to be cleaned, there are target objects, and current operating mode is adjusted to etiquette mode.
5. the method according to claim 1, wherein the method also includes:
If target object is not present in the region to be cleaned, current operating mode is kept to continue to the region to be cleaned
It is cleaned.
6. a kind of clean device of intelligent robot characterized by comprising
Module is obtained, for obtaining the environmental information in region to be cleaned；
Judgment module judges in the region to be cleaned for the environmental information according to acquisition with the presence or absence of target object；
Control module, if adjusting current clean up task for there are target objects in the region to be cleaned.
7. device according to claim 6, which is characterized in that the control module is specifically used for:
If there are target objects in the region to be cleaned, it is moved to next region to be cleaned and is cleaned.
8. device according to claim 6, which is characterized in that the control module is specifically used for:
If there are target object in the region to be cleaned, starting recharges mode.
9. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor is realized when executing the computer program as in claim 1 to 5
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realization is such as the step of any one of claims 1 to 5 the method when the computer program is executed by processor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573533.3A CN109664309A (en) | 2018-12-21 | 2018-12-21 | A kind of clean method, apparatus of intelligent robot and robot |
| PCT/CN2019/070823 WO2020124702A1 (en) | 2018-12-21 | 2019-01-08 | Intelligent cleaning method and device for robot, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573533.3A CN109664309A (en) | 2018-12-21 | 2018-12-21 | A kind of clean method, apparatus of intelligent robot and robot |
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| CN109664309A true CN109664309A (en) | 2019-04-23 |
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| CN201811573533.3A Pending CN109664309A (en) | 2018-12-21 | 2018-12-21 | A kind of clean method, apparatus of intelligent robot and robot |
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| WO (1) | WO2020124702A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112205939A (en) * | 2020-09-29 | 2021-01-12 | 深圳乐动机器人有限公司 | Control method of cleaning robot, cleaning robot and Internet of things system |
| CN113598657A (en) * | 2021-08-10 | 2021-11-05 | 追觅创新科技(苏州)有限公司 | Cleaning method and device for mobile robot, storage medium and electronic device |
| CN113598656A (en) * | 2021-08-10 | 2021-11-05 | 追觅创新科技(苏州)有限公司 | Cleaning method and device for mobile robot, storage medium and electronic device |
| WO2022166640A1 (en) * | 2021-02-03 | 2022-08-11 | 追觅创新科技(苏州)有限公司 | Control method for intelligent cleaning device, and intelligent cleaning device |
| WO2023016297A1 (en) * | 2021-08-10 | 2023-02-16 | 追觅创新科技(苏州)有限公司 | Cleaning method and device for mobile robot, storage medium and electronic device |
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| CN113598656A (en) * | 2021-08-10 | 2021-11-05 | 追觅创新科技(苏州)有限公司 | Cleaning method and device for mobile robot, storage medium and electronic device |
| WO2023016297A1 (en) * | 2021-08-10 | 2023-02-16 | 追觅创新科技(苏州)有限公司 | Cleaning method and device for mobile robot, storage medium and electronic device |
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