CN109871013A - Clean robot paths planning method and system, storage medium, electronic equipment - Google Patents
Clean robot paths planning method and system, storage medium, electronic equipment Download PDFInfo
- Publication number
- CN109871013A CN109871013A CN201910099877.3A CN201910099877A CN109871013A CN 109871013 A CN109871013 A CN 109871013A CN 201910099877 A CN201910099877 A CN 201910099877A CN 109871013 A CN109871013 A CN 109871013A
- Authority
- CN
- China
- Prior art keywords
- clean robot
- map
- scene
- region
- outline data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides clean robot paths planning method, including cleaning region obtains, and imports the outline data comprising region to be cleaned, and outline data is sent to map generation module；Map generates, and map generation module generates the scene map in region to be cleaned according to outline data；Path planning, path planning module plan clean robot cleaning path according to scene map.The invention further relates to clean robot path planning system, storage medium, electronic equipments.The present invention improves robot map structuring speed and accuracy by the floor plan or picture of outdoor scene by the way of data importing, to realize the ability for improving the quick planning path of robot and intelligence.Clear logic of the present invention, is skillfully constructed, and promotes and applies convenient for Intelligent cleaning robot.
Description
Technical field
The invention belongs to clean robot fields, and in particular to clean robot paths planning method and system, storage are situated between
Matter, electronic equipment.
Background technique
Robot cleaner also known as sweeper are family nurses of new generation, can clean the rooms such as hair, melon seed cases, dust
Between rubbish.With the continuous improvement of domestic level, originally always the clean robot of European & American Market sale also gradually
Ordinary citizen house as the popular vehicles are entered into, and being received by more and more people gradually, clean robot will be in the near future as white
Household electrical appliances equally become the essential cleaning helper of each family.Product also can be intelligent towards higher degree by present primary
Intelligence degree development, substitution gradually are manually cleaned.Robot cleaner is set as intelligent domestic cleaning emerging in recent years
It is standby just gradually to come into and improve people life style.
With the update of robot cleaner, automatic path planning becomes the important embodiment of clean robot intelligence,
Clean robot completes scene rule by identifying in walking using the detection devices such as gyroscope and laser, camera at present
It draws, but practical recognition effect is poor, often complicates scene outline identification, and the easy redundancy of data handling procedure, so as to cause road
Diameter planning complexity is multiplied, and is unfavorable for guaranteeing the reasonability of robot cleaner path planning, it is dead easily to form cleaning blind area
Angle, while cleaning efficiency is low.
In view of the above-mentioned problems, being badly in need of a kind of new-type clean robot paths planning method.
Summary of the invention
For overcome the deficiencies in the prior art, a kind of clean robot paths planning method proposed by the present invention, using number
According to the mode of importing, robot map structuring speed and accuracy are improved by the floor plan or picture of outdoor scene, to realize
Improve the ability and intelligence of the quick planning path of robot.
The present invention provides clean robot paths planning method, comprising the following steps:
It cleans region to obtain, imports the outline data comprising region to be cleaned, and outline data is sent to map and is generated
Module；
Map generates, and map generation module generates the scene map in region to be cleaned according to outline data；
Path planning, path planning module plan clean robot cleaning path according to scene map.
Preferably, the outline data includes floor plan or part floor plan or floor plan shooting picture or region to be cleaned
Real picture.
Preferably, the outline data in the region to be cleaned is imported by mobile terminal or mobile terminal shooting obtains.
Preferably, cleaning map is established further include: map generation module generates the barrier in scene map according to outline data
Hinder object profile and border.
Preferably, path planning further include: the vision collecting device in clean robot traveling process, on clean robot
Clean robot external environment image information is acquired, and is matched with scene map.
Preferably, top view is configured at the top of clean robot as acquisition device；The top view is used for as acquisition device
Acquire real scene image above clean robot；Top real scene image is matched with the profile and border at the top of scene map, calibration
Clean robot current location.
Preferably, the clean robot front is configured with forward sight image collecting device；The forward sight image collecting device
For acquiring real scene image in front of clean robot；Barrier profile and border progress in front real scene image and scene map
Match, position of the calibration clean robot with respect to barrier.
A kind of electronic equipment, comprising: processor；
Memory；And program, wherein described program is stored in the memory, and is configured to by processor
It executes, described program includes for executing clean robot paths planning method.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Row clean robot paths planning method.
It is described the invention further relates to clean robot path planning system, including map generation module, path planning module
Map generation module obtains the outline data comprising region to be cleaned；The map generation module according to outline data for generating
The scene map in region to be cleaned；The path planning module is used to plan clean robot cleaning path according to scene map.
Compared with prior art, the beneficial effects of the present invention are:
The present invention provides clean robot paths planning method, including cleaning region obtains, and importing includes region to be cleaned
Outline data, and outline data is sent to map generation module；Map generates, and map generation module is raw according to outline data
At the scene map in region to be cleaned；Path planning, path planning module plan that clean robot cleans road according to scene map
Diameter.The invention further relates to clean robot path planning system, storage medium, electronic equipments.The present invention is imported using data
Mode improves robot map structuring speed and accuracy by the floor plan or picture of outdoor scene, to realize raising machine
The ability and intelligence of the quick planning path of people.Clear logic of the present invention, is skillfully constructed, and answers convenient for Intelligent cleaning robot popularization
With.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is clean robot paths planning method flow diagram of the invention；
Fig. 2 is clean robot path planning system schematic diagram of the invention.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Clean robot paths planning method, as shown in Figure 1, comprising the following steps:
S1, cleaning region obtain, and import the outline data comprising region to be cleaned, and outline data is sent to map life
At module；In one embodiment, the outline data includes floor plan or part floor plan or floor plan shoots picture or to clear
Clean region real picture, user can be imported by mobile terminal or mobile terminal shooting obtains.
For example, user shoots the floor plan in house by the APP of mobile phone terminal, either when cleaning region is separate room or part
When house can selected part floor plan shot.
For another example user carries out floor plan importing using terminal, it should be understood that in the present embodiment, terminal is not limited only to
Movable termination may also include the immobile terminals such as PC, server.
In another example user directly shoots the environment within doors in region to be cleaned by the APP of mobile phone terminal, generally, tool is chosen
There is the environment of special characteristic to be shot；Preferably, choosing, there is the environment of the changeless article characteristics in position to be shot,
It is in the present embodiment, preferential to shoot house top area image since top image position remains unchanged.
In the above-described embodiments, due to saving clean robot swept in such a way that cleaning area data imports
The complicated building process that information establishes cleaning area map is acquired in journey in cleaning, the standard of clean scene map is effectively ensured
True property is conducive to clean robot and quickly efficiently carries out path planning.
S2, cleaning map is established, map generation module generates the scene map in region to be cleaned according to outline data；One
In embodiment, map generation module generates the barrier profile and border in scene map according to outline data.It should be appreciated that passing through
Come to generate scene map be image processing process, including but not limited to image binaryzation, boundary is mentioned for floor plan or real picture
It takes, boundary repairing, image completion technology；Details are not described herein each image processing process, outline data pass through map generation module
The scene map obtained after processing is the identifiable map datum of clean robot.
S3, path planning, path planning module plan clean robot cleaning path according to scene map.In cleaning machine
When people needs to be implemented clean up task, path planning module calls in scene map, and identifies to clean robot self-position
Positioning, and by positioning integration into scene map, realize that clean robot fast and accurately positions；In one embodiment, it cleans
In robot traveling process, the vision collecting device on clean robot acquires clean robot external environment image information, and
It is matched with the outline data comprising region to be cleaned is imported, clean robot is obtained in scene map by matching algorithm
Position, and according to the path of clean up task of the current location planning in scene map, planning mode includes automatic planning, people
Work planning, semi-automatic semi-artificial planning；Wherein, automatic planning includes but is not limited to plan along side, arch；Artificial planning passes through shifting
APP in dynamic terminal such as mobile phone carries out the path that walking is wanted in artificial planning；Semi-automatic semi-artificial planning includes by mobile whole
End executes automatic path planning as selected the clean region of scene map Chinese medicine on the APP on mobile phone in selection area.
In a preferred embodiment, top view is configured at the top of clean robot as acquisition device；The top view picture is adopted
Acquisition means are for acquiring real scene image above clean robot；Profile and border at the top of top real scene image and region to be cleaned into
Row matching, calibrates clean robot current location.In the present embodiment, top real scene image is mostly the constant family in fixed position
Tool, big household electrical appliances, lamps and lanterns, furred ceiling include simultaneously furniture, big household electrical appliances, lamps and lanterns, the position of furred ceiling and profile in scene map, pass through
Top view acquires simultaneously real-time matching as acquisition device in real time during traveling, is conducive to clean robot and carries out rapid image knowledge
Not, and in the process of walking calibration clean robot is located at the position in scene map, so as to rapid development cleaning path.
In another preferred embodiment, the clean robot front is configured with forward sight image collecting device；The forward sight
Image collecting device is for acquiring real scene image in front of clean robot；Barrier in front real scene image and region to be cleaned
Profile and border is matched, position of the calibration clean robot with respect to barrier.In the present embodiment, front real scene image many places
Reason is the barrier in front of clean robot is advanced, and can pass through typically, for the changeless furniture in position, big household electrical appliances and configure
In scene map, simultaneously real-time matching is acquired by forward sight image collecting device in real time during traveling, convenient for cleaning machine
The quick cognitive disorders species type of people, and rapid development avoidance path improve clean robot intelligent barrier avoiding ability.
A kind of electronic equipment, comprising: processor；Memory；And program, wherein described program is stored in the storage
It in device, and is configured to be executed by processor, described program includes for executing clean robot paths planning method.At this
In embodiment, electronic equipment is clean robot.A kind of computer readable storage medium is stored thereon with computer program, institute
It states computer program and is executed by processor clean robot paths planning method.
Clean robot path planning system, as shown in Fig. 2, including map generation module, path planning module, describedly
Figure generation module obtains the outline data comprising region to be cleaned；The map generation module be used for according to outline data generate to
Clean the profile and border in region；The path planning module is used to plan clean robot cleaning path according to profile and border.
In the present embodiment, clean robot path planning system can be configured to the cell phone application of mobile terminal or match
It is set to the computer program of terminal or is configured to program executable inside clean robot；For example, user passes through mobile phone terminal
APP shoot house floor plan, either when clean region be separate room or part house when can selected part floor plan clapped
It takes the photograph.
For another example user carries out floor plan importing using terminal, it should be understood that in the present embodiment, terminal is not limited only to
Movable termination may also include the immobile terminals such as PC, server.
In another example user directly shoots the environment within doors in region to be cleaned by the APP of mobile phone terminal, generally, tool is chosen
There is the environment of special characteristic to be shot；Preferably, choosing, there is the environment of the changeless article characteristics in position to be shot,
It is in the present embodiment, preferential to shoot house top area image since top image position remains unchanged.
In the above-described embodiments, due to saving clean robot swept in such a way that cleaning area data imports
The complicated building process that information establishes cleaning area map is acquired in journey in cleaning, the standard of clean scene map is effectively ensured
True property is conducive to clean robot and quickly efficiently carries out path planning.
It should be appreciated that map generation module, which converts floor plan or real picture, generates scene map as image procossing mistake
Journey, including but not limited to image binaryzation, Boundary Extraction, boundary repairing, image completion technology；At details are not described herein each image
Reason process, the scene map that outline data obtains after the processing of map generation module are the identifiable map number of clean robot
According to.
In one embodiment, in clean robot traveling process, the vision collecting device on clean robot acquires cleaning
Robot external environment image information, and matched with the outline data comprising region to be cleaned is imported, pass through matching algorithm
Position of the clean robot in scene map is obtained, path planning module is planned clear in scene map according to current location
The path of clean task, the planning mode of path planning module include automatic planning, artificial planning, semi-automatic semi-artificial planning；Its
In, automatic planning includes but is not limited to plan along side, arch；Artificial planning carries out people by the APP on mobile terminal such as mobile phone
To plan the path for wanting walking；Semi-automatic semi-artificial planning includes by selecting scene on the APP on mobile terminal such as mobile phone
The clean region of map Chinese medicine, executes automatic path planning in selection area.
In a preferred embodiment, top view is configured at the top of clean robot as acquisition device；The top view picture is adopted
Acquisition means are for acquiring real scene image above clean robot；Profile and border at the top of top real scene image and region to be cleaned into
Row matching, calibrates clean robot current location.In the present embodiment, top real scene image is mostly the constant family in fixed position
Tool, big household electrical appliances, lamps and lanterns, furred ceiling include simultaneously furniture, big household electrical appliances, lamps and lanterns, the position of furred ceiling and profile in scene map, pass through
Top view acquires simultaneously real-time matching as acquisition device in real time during traveling, is conducive to clean robot and carries out rapid image knowledge
Not, and in the process of walking calibration clean robot is located at the position in scene map, so as to rapid development cleaning path.
In another preferred embodiment, the clean robot front is configured with forward sight image collecting device；The forward sight
Image collecting device is for acquiring real scene image in front of clean robot；Barrier in front real scene image and region to be cleaned
Profile and border is matched, position of the calibration clean robot with respect to barrier.In the present embodiment, front real scene image many places
Reason is the barrier in front of clean robot is advanced, and can pass through typically, for the changeless furniture in position, big household electrical appliances and configure
In scene map, simultaneously real-time matching is acquired by forward sight image collecting device in real time during traveling, convenient for cleaning machine
The quick cognitive disorders species type of people, and rapid development avoidance path.
The present invention improves robot map structuring speed by the floor plan or picture of outdoor scene by the way of data importing
Degree and accuracy, to realize the ability for improving the quick planning path of robot and intelligence.Clear logic of the present invention, design are skilful
It is wonderful, it is promoted and applied convenient for Intelligent cleaning robot.
More than, only presently preferred embodiments of the present invention is not intended to limit the present invention in any form；All current rows
The those of ordinary skill of industry can be shown in by specification attached drawing and above and swimmingly implement the present invention；But all to be familiar with sheet special
The technical staff of industry without departing from the scope of the present invention, is made a little using disclosed above technology contents
The equivalent variations of variation, modification and evolution is equivalent embodiment of the invention；Meanwhile all substantial technologicals according to the present invention
The variation, modification and evolution etc. of any equivalent variations to the above embodiments, still fall within technical solution of the present invention
Within protection scope.
Claims (10)
1. clean robot paths planning method, which comprises the following steps:
It cleans region to obtain, imports the outline data comprising region to be cleaned, and outline data is sent to map generation module；
Cleaning map is established, map generation module generates the scene map in region to be cleaned according to outline data；
Path planning, path planning module plan clean robot cleaning path according to scene map.
2. clean robot paths planning method as described in claim 1, it is characterised in that: the outline data includes house type
Figure or part floor plan or floor plan shooting picture or region real picture to be cleaned.
3. clean robot paths planning method as described in claim 1, it is characterised in that: the profile in the region to be cleaned
Data are imported by mobile terminal or mobile terminal shooting obtains.
4. clean robot paths planning method as described in claim 1, which is characterized in that establish cleaning map further include:
Map generation module generates the barrier profile and border in scene map according to outline data.
5. clean robot paths planning method as claimed in claim 4, which is characterized in that path planning further include: cleaning
In robot traveling process, the vision collecting device on clean robot acquires clean robot external environment image information, and
It is matched with scene map.
6. clean robot paths planning method as claimed in claim 5, it is characterised in that: be configured at the top of clean robot
Top view is as acquisition device；The top view is as acquisition device is for acquiring real scene image above clean robot；Top outdoor scene
Image is matched with the top profile boundary of scene map, calibrates clean robot current location.
7. clean robot paths planning method as claimed in claim 5, it is characterised in that: match the clean robot front
It is equipped with forward sight image collecting device；The forward sight image collecting device is for acquiring real scene image in front of clean robot；Front
Real scene image is matched with the barrier profile and border in scene map, position of the calibration clean robot with respect to barrier.
8. a kind of electronic equipment, characterized by comprising: processor；
Memory；And program, wherein described program is stored in the memory, and is configured to be held by processor
Row, described program includes for executing the method as described in claim 1-7 any one.
9. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the computer program quilt
Processor executes the method as described in claim 1-7 any one.
10. clean robot path planning system, including map generation module, path planning module, it is characterised in that:
The map generation module obtains the outline data comprising region to be cleaned；
The map generation module is used to generate the scene map in region to be cleaned according to outline data；
The path planning module is used to plan clean robot cleaning path according to scene map.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099877.3A CN109871013B (en) | 2019-01-31 | 2019-01-31 | Cleaning robot path planning method and system, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099877.3A CN109871013B (en) | 2019-01-31 | 2019-01-31 | Cleaning robot path planning method and system, storage medium and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109871013A true CN109871013A (en) | 2019-06-11 |
| CN109871013B CN109871013B (en) | 2022-12-09 |
Family
ID=66918529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910099877.3A Active CN109871013B (en) | 2019-01-31 | 2019-01-31 | Cleaning robot path planning method and system, storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109871013B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110916574A (en) * | 2019-10-18 | 2020-03-27 | 上海善解人意信息科技有限公司 | Sweeping robot system and sweeping robot control method |
| CN110962132A (en) * | 2019-12-26 | 2020-04-07 | 珠海市一微半导体有限公司 | Robot system |
| CN111007851A (en) * | 2019-12-10 | 2020-04-14 | 武汉星巡智能科技有限公司 | Robot cleaning path planning method, device, equipment and storage medium |
| CN111176301A (en) * | 2020-03-03 | 2020-05-19 | 江苏美的清洁电器股份有限公司 | Map construction method and sweeping method of sweeping robot |
| CN111528732A (en) * | 2020-03-27 | 2020-08-14 | 珠海格力电器股份有限公司 | Cleaning robot operation control method, device and system and storage medium |
| CN111898557A (en) * | 2020-08-03 | 2020-11-06 | 追创科技(苏州)有限公司 | Map creation method, device, equipment and storage medium from mobile equipment |
| CN112764416A (en) * | 2019-10-18 | 2021-05-07 | 南京德朔实业有限公司 | Self-walking mowing system and outdoor walking equipment |
| CN112998606A (en) * | 2021-03-01 | 2021-06-22 | 深圳市无限动力发展有限公司 | Cooperative sweeping method and device for intelligent equipment and cleaning machine and computer equipment |
| CN113693501A (en) * | 2021-06-09 | 2021-11-26 | 北京石头世纪科技股份有限公司 | Cleaning equipment, cleaning path, cleaning map generation method and cleaning map generation system |
| CN114947664A (en) * | 2022-06-22 | 2022-08-30 | 汇智机器人科技(深圳)有限公司 | Control method and system applied to laser guidance of sweeping robot |
| CN115281558A (en) * | 2022-07-14 | 2022-11-04 | 珠海格力电器股份有限公司 | Working method and device of vision detection auxiliary sweeping robot and air conditioning equipment |
| CN115281558B (en) * | 2022-07-14 | 2024-05-31 | 珠海格力电器股份有限公司 | Visual detection assisted floor sweeping robot work method and device and air conditioning equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040088080A1 (en) * | 2002-10-31 | 2004-05-06 | Jeong-Gon Song | Robot cleaner, robot cleaning system and method for controlling the same |
| CN105739500A (en) * | 2016-03-29 | 2016-07-06 | 海尔优家智能科技（北京）有限公司 | Interaction control method and device of intelligent sweeping robot |
| CN106123898A (en) * | 2016-06-15 | 2016-11-16 | 成都新橙北斗智联有限公司 | The indoor paths planning method resolved based on picture |
| US20170225332A1 (en) * | 2016-02-09 | 2017-08-10 | Cobalt Robotics Inc. | Mobile Robot With Removable Fabric Panels |
| US20170337434A1 (en) * | 2016-01-22 | 2017-11-23 | Beijing Smarter Eye Technology Co. Ltd. | Warning Method of Obstacles and Device of Obstacles |
| US10043076B1 (en) * | 2016-08-29 | 2018-08-07 | PerceptIn, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| CN108520544A (en) * | 2018-04-12 | 2018-09-11 | 郑州信大先进技术研究院 | A kind of indoor map building method and device towards wisdom fire-fighting |
| CN108888203A (en) * | 2018-06-04 | 2018-11-27 | 于彦霞 | A kind of control method of separate type automatic floor cleaning machine device people |
| CN108958250A (en) * | 2018-07-13 | 2018-12-07 | 华南理工大学 | Multisensor mobile platform and navigation and barrier-avoiding method based on known map |
| CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
-
2019
- 2019-01-31 CN CN201910099877.3A patent/CN109871013B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040088080A1 (en) * | 2002-10-31 | 2004-05-06 | Jeong-Gon Song | Robot cleaner, robot cleaning system and method for controlling the same |
| US20170337434A1 (en) * | 2016-01-22 | 2017-11-23 | Beijing Smarter Eye Technology Co. Ltd. | Warning Method of Obstacles and Device of Obstacles |
| US20170225332A1 (en) * | 2016-02-09 | 2017-08-10 | Cobalt Robotics Inc. | Mobile Robot With Removable Fabric Panels |
| CN105739500A (en) * | 2016-03-29 | 2016-07-06 | 海尔优家智能科技（北京）有限公司 | Interaction control method and device of intelligent sweeping robot |
| CN106123898A (en) * | 2016-06-15 | 2016-11-16 | 成都新橙北斗智联有限公司 | The indoor paths planning method resolved based on picture |
| US10043076B1 (en) * | 2016-08-29 | 2018-08-07 | PerceptIn, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| CN108520544A (en) * | 2018-04-12 | 2018-09-11 | 郑州信大先进技术研究院 | A kind of indoor map building method and device towards wisdom fire-fighting |
| CN108888203A (en) * | 2018-06-04 | 2018-11-27 | 于彦霞 | A kind of control method of separate type automatic floor cleaning machine device people |
| CN108958250A (en) * | 2018-07-13 | 2018-12-07 | 华南理工大学 | Multisensor mobile platform and navigation and barrier-avoiding method based on known map |
| CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
Non-Patent Citations (1)
| Title |
|---|
| 柳杨等: "移动机器人室内场景主动识别的强化学习方法", 《河北工业大学学报》 * |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112764416A (en) * | 2019-10-18 | 2021-05-07 | 南京德朔实业有限公司 | Self-walking mowing system and outdoor walking equipment |
| CN110916574A (en) * | 2019-10-18 | 2020-03-27 | 上海善解人意信息科技有限公司 | Sweeping robot system and sweeping robot control method |
| CN111007851A (en) * | 2019-12-10 | 2020-04-14 | 武汉星巡智能科技有限公司 | Robot cleaning path planning method, device, equipment and storage medium |
| CN110962132A (en) * | 2019-12-26 | 2020-04-07 | 珠海市一微半导体有限公司 | Robot system |
| CN110962132B (en) * | 2019-12-26 | 2021-04-30 | 珠海市一微半导体有限公司 | Robot system |
| CN111176301A (en) * | 2020-03-03 | 2020-05-19 | 江苏美的清洁电器股份有限公司 | Map construction method and sweeping method of sweeping robot |
| WO2021174858A1 (en) * | 2020-03-03 | 2021-09-10 | 美智纵横科技有限责任公司 | Map construction method and apparatus, and cleaning method and apparatus of cleaning robot |
| CN111528732B (en) * | 2020-03-27 | 2021-06-18 | 珠海格力电器股份有限公司 | Cleaning robot operation control method, device and system and storage medium |
| CN111528732A (en) * | 2020-03-27 | 2020-08-14 | 珠海格力电器股份有限公司 | Cleaning robot operation control method, device and system and storage medium |
| WO2021189863A1 (en) * | 2020-03-27 | 2021-09-30 | 珠海格力电器股份有限公司 | Cleaning robot operation control method, apparatus, and system, and computer readable storage medium |
| CN111898557A (en) * | 2020-08-03 | 2020-11-06 | 追创科技(苏州)有限公司 | Map creation method, device, equipment and storage medium from mobile equipment |
| WO2022028110A1 (en) * | 2020-08-03 | 2022-02-10 | 追觅创新科技(苏州)有限公司 | Map creation method and apparatus for self-moving device, and device and storage medium |
| CN111898557B (en) * | 2020-08-03 | 2024-04-09 | 追觅创新科技(苏州)有限公司 | Map creation method, device, equipment and storage medium of self-mobile equipment |
| CN112998606A (en) * | 2021-03-01 | 2021-06-22 | 深圳市无限动力发展有限公司 | Cooperative sweeping method and device for intelligent equipment and cleaning machine and computer equipment |
| CN113693501A (en) * | 2021-06-09 | 2021-11-26 | 北京石头世纪科技股份有限公司 | Cleaning equipment, cleaning path, cleaning map generation method and cleaning map generation system |
| CN114947664A (en) * | 2022-06-22 | 2022-08-30 | 汇智机器人科技(深圳)有限公司 | Control method and system applied to laser guidance of sweeping robot |
| CN115281558A (en) * | 2022-07-14 | 2022-11-04 | 珠海格力电器股份有限公司 | Working method and device of vision detection auxiliary sweeping robot and air conditioning equipment |
| CN115281558B (en) * | 2022-07-14 | 2024-05-31 | 珠海格力电器股份有限公司 | Visual detection assisted floor sweeping robot work method and device and air conditioning equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109871013B (en) | 2022-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109871013A (en) | Clean robot paths planning method and system, storage medium, electronic equipment | |
| CN111202472B (en) | Terminal map construction method of sweeping robot, terminal equipment and sweeping system | |
| CN109998428B (en) | Cleaning method, system and device for sweeping robot | |
| KR102158695B1 (en) | robot cleaner and a control method of the same | |
| CN109813285A (en) | Clean robot Identify Environment, storage medium, a kind of clean robot of view-based access control model | |
| EP2869264B1 (en) | Information processing device and information processing method | |
| CN112401763A (en) | Control method of sweeping robot, sweeping robot and computer readable storage medium | |
| WO2023016188A1 (en) | Map drawing method and apparatus, floor sweeper, storage medium, and electronic apparatus | |
| CN108416271A (en) | Cleaning method and purging system | |
| US20210059493A1 (en) | Vacuum cleaner | |
| CN109045676B (en) | Chinese chess recognition learning algorithm and robot intelligent system and method based on algorithm | |
| CN109199240B (en) | Gesture control-based sweeping robot control method and system | |
| CN110174888A (en) | Self-movement robot control method, device, equipment and storage medium | |
| CN109358546B (en) | Control method, device and system of household appliance | |
| CN111028271A (en) | Multi-camera personnel three-dimensional positioning and tracking system based on human skeleton detection | |
| CN107909889B (en) | Gobang man-machine playing experiment teaching system based on visual guidance | |
| CN106599929B (en) | Virtual reality feature point screening space positioning method | |
| CN108903816A (en) | A kind of cleaning method, controller and intelligent cleaning equipment | |
| Bormann et al. | Autonomous dirt detection for cleaning in office environments | |
| CN110928282A (en) | Control method and device for cleaning robot | |
| CN111743462B (en) | Sweeping method and device of sweeping robot | |
| CN113110095A (en) | HomeMap construction method and system based on sweeping robot | |
| CN109558004A (en) | A kind of control method and device of human body auxiliary robot | |
| CN108340405A (en) | A kind of robot three-dimensional scanning system and method | |
| CN105303180B (en) | Nematode captures system and nematode method for catching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |