CN110251000A - A method of improving sweeping robot cleaning efficiency - Google Patents
A method of improving sweeping robot cleaning efficiency Download PDFInfo
- Publication number
- CN110251000A CN110251000A CN201910420891.9A CN201910420891A CN110251000A CN 110251000 A CN110251000 A CN 110251000A CN 201910420891 A CN201910420891 A CN 201910420891A CN 110251000 A CN110251000 A CN 110251000A
- Authority
- CN
- China
- Prior art keywords
- magnetic stripe
- sweeping robot
- end magnetic
- proximal end
- cleaning
- 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.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
The invention discloses a kind of methods for improving sweeping robot cleaning efficiency, and the different region of the demand that cleans is placed and formulates magnetic stripe, sweeping robot determines corresponding cleaning modes by recognize magnetic stripe.Beneficial effects of the present invention: make sweeping robot is more targeted to clean to target area, improve efficiency.
Description
Technical field
The present invention relates to region recognition fields, especially relate to a kind of room area division methods.
Background technique
The ground cleaning of domestic environment is always a dirty, tired and very cumbersome job, is getting faster in rhythm of life
Today, people begin to use sweeping robot to carry out ground to obtain a clean comfortable living environment time saving and energy savingly
Cleaning.
Sweeping robot is that one kind does not need people and takes action on one's own that the clean household electrical appliances in ground can be automatically performed, can be automatic
Barrier in identification room simultaneously can be effectively shielded from barrier, however, the huge difference with other room layout is not to sweeping the floor
The obstacle recognition ability of robot proposes very high requirement.
It is swept to be more effectively carried out, sweeping robot needs to carry out region division to indoor environment.Sweeper at present
Cleaning is mainly completed using single cleaning mode, ground can not be cleaned using different cleaning mode for varying environment.
The cleaning biggish environment of difficulty (such as: shag carpet, crowd flow the biggish place in place), sweeper uses common cleaning
Mode cleans, then cleaning effect is bad；According to strength cleaning mode or mode is repeated several times, then is cleaned in other cleaning ambients
When be in energy waste state mostly.
Summary of the invention:
To solve the technical problem in background technique, technical solution provided by the invention is as follows:
1. a kind of method for improving sweeping robot cleaning efficiency characterized by comprising
S1: multiple subregions will be divided into working region, wherein the subregion is by believing comprising same operating mode
The operating mode of the closed area that the magnetic stripe or magnetic stripe of breath and working region boundary are constituted, the adjacent subarea domain is different, described
Operating mode is related to the power output of driving wheel and cleaning assemblies；
S2: building sweeping robot environmental map；
S3: sweeping robot is worked with bending font；
S4: sweeping robot detects proximal end magnetic stripe and distal end magnetic stripe and records on map, wherein proximal end magnetic stripe is to sweep
The magnetic stripe that floor-washing robot first detects, distal end magnetic stripe are the magnetic stripe subsequently detected；
S5: sweeping robot executes avoidance action and by the proximal end magnetic stripe recognized using proximal end magnetic stripe as boundary is cleaned
Operating mode carry out bow font clean；
S6: judging whether the boundary of proximal end magnetic stripe or proximal end magnetic stripe and working region on map forms closing subregion,
If then entering S7, if otherwise returning to S3；
S7: it is labeled as current sub-region to have cleaned subregion on map and removes the operating mode of proximal end magnetic stripe；
S8: judging whether there is the distal end magnetic stripe comprising operating mode, if so, passing through the distal end magnetic comprising operating mode
Enter S3 after item, if otherwise this cleaning terminates.
Wherein, the subregion is to be surrounded by the magnetic stripe comprising a certain operating mode information or magnetic stripe with working region boundary
Closed area；The operating mode is related to the power output of driving wheel and cleaning assemblies.
Further, it is contemplated that multiplicity the case where starting point part, in one particular embodiment of the present invention, the S3 packet
It includes:
The sweeping robot magnetic from starting point random motion, in geomagnetic sensors detection to region to be cleaned at the beginning
It is worked after item with bow type,
If encountering working region boundary or obstacle before detecting magnetic stripe, avoidance action is executed, then proceedes to examine
Survey magnetic stripe.
Further, it is contemplated that multiplicity the case where starting point part, in one particular embodiment of the present invention, the step
S3 includes
In the S3, if the starting point of sweeping robot on two magnetic stripes, while receiving two magnetic strip informations, then sweep the floor
Robot draws back until one of them is identified as proximal end magnetic stripe, another is identified as distal end magnetic stripe.
Further, in order to which the information in the magnetic stripe that allows in the present invention is mapped with cleaning modes, of the invention one
In a specific embodiment, the magnetic stripe is written different control codes by magnetic card reader and corresponds to different operating modes.
Beneficial effects of the present invention: the present invention, can be according to different rings when sweeper being allowed to work by using the method for magnetic stripe
Border region uses different cleaning modes, and then reaches and obtain optimal cleaning effect with lower energy consumption.
Detailed description of the invention:
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the embodiment of the present invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is the environment map of the embodiment of the present invention；
Fig. 3 is that the magnetic stripe of the embodiment of the present invention puts schematic diagram；
Fig. 4 is that sweeper cleans track schematic diagram in the embodiment of the present invention.
Specific embodiment:
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment.And reference
Attached drawing, the present invention is described in more detail.
The method that the present invention is identified by using magnetic stripe can use different when sweeper being allowed to work according to varying environment region
Cleaning mode, and then reach and obtain optimal cleaning effect with lower energy consumption.
The sweeping robot of the method for the present invention includes: based on inertial navigation system, including odometer, gyroscope and camera shooting
Head.Wherein, inertial navigation system can remember starting point and clean the coordinate in path, constructing environment map, while it is clear to calculate planning
Pipeline purging road.Odometer is used to obtain the travel distance of sweeping robot, and the gyroscope is used to obtain the walking of sweeping robot
Angle, correcting sweeping robot sweep-out pattern, sideslip, the camera are not mounted on sweeping robot bottom by sweeping robot
Or top, for obtaining the pictorial information of environment.
In addition, sweeping robot further include power module, walking module, sensor module, control module, memory module and
Functional module.Wherein, power module is rechargeable battery, for providing electric energy in operating room for sweeping robot；Walking module
Including driving motor and traveling wheel, for moving sweeping robot in working region；Sensor module is for receiving work
The environmental information in region simultaneously feeds back to control module；The information that control module is used to be fed back according to sensor module controls sweeper
Device people movement；The sensor information that memory module is used to store the control program of sweeping robot and obtains from the external world；Function
Module refers to the specific function of sweeping robot, such as the cleaning module of sweeping robot.
Magnetic stripe of the invention includes multiple-working mode or is prohibited from entering mode, and multiple-working mode may include: strength
Cleaning modes, wet drag mode formula, standard cleaning modes etc., these modes are recorded in magnetic stripe by magnetic carrier, and recording mode is
Magnetic stripe is written into control code with magnetic card reader, each group of control code corresponds to a kind of cleaning modes.
The operating mode is related to the power output of driving wheel and cleaning assemblies, such as suction ventilator in strength cleaning modes
Power output increase be that suction increases, open mopping function etc. in wet drag mode formula.
Working region boundary of the invention is the boundary in entire region to be cleaned.
Specific steps are as follows:
Referring to Fig.1, room area division methods of the present invention, include the following steps:
S1: multiple subregions will be divided into working region, wherein the subregion is by believing comprising same operating mode
The operating mode of the closed area that the magnetic stripe or magnetic stripe of breath and working region boundary are constituted, the adjacent subarea domain is different, described
Operating mode is related to the power output of driving wheel and cleaning assemblies；
As shown in Figure 1, working region is divided into multiple subregions, and adjacent sub-district according to the difference of the demand of cleaning
The operating mode in domain is different.Such as the hair in bedroom is more, can be set as strength cleaning modes；Kitchen greasy dirt is more, to need
The wet region dragged is wanted, can be set to wet drag mode formula；Parlor only needs standard to clean, and can be set to standard cleaning modes；But dining table
Partially due to tables and chairs are more, sweeping robot, which is easier to be stuck, to be then set as dining table region to be prohibited from entering mode etc., then
Corresponding magnetic stripe is put according to ready-portioned region, it is each subregion by by comprising a certain work that magnetic stripe, which is put the standard of completion,
The closed area that the magnetic stripe or magnetic stripe of operation mode information and working region boundary surround.
S2: building sweeping robot environmental map；
The rectangular coordinate system being made of abscissa (X) and ordinate (Y) is established in the working region of sweeping robot, and
Preferentially using job initiation point, some corner of working region or cradle as origin.
S3: sweeping robot is worked with bending font；
That is the operating path of sweeping robot is arc type, this motion mode can guarantee purging zone it is capped compared with
It is comprehensive.
S4: sweeping robot detects proximal end magnetic stripe and distal end magnetic stripe and records on map, wherein proximal end magnetic stripe is to sweep
The magnetic stripe that floor-washing robot first detects, distal end magnetic stripe are the magnetic stripe subsequently detected；
According to placement regulation it is found that the boundary of two neighboring subregion is there are two magnetic stripes, sweeping robot can be detected first
To the magnetic stripe of the subregion where machine itself, referred to as proximal end magnetic stripe；Then it can detect and same boundary belonging to the magnetic stripe of proximal end
And belong to the magnetic stripe in adjacent subarea domain, referred to as distal end magnetic stripe.Proximal end magnetic stripe and distal end magnetic stripe are detected and are parsed by sweeping robot
Afterwards, magnetic stripe position is recorded on map with the information for being included.
S5: sweeping robot executes avoidance action and by the proximal end magnetic stripe recognized using proximal end magnetic stripe as boundary is cleaned
Operating mode carry out bow font clean；
Since proximal end magnetic stripe is the boundary of current sub-region where sweeping robot, then sweeping robot is parsing and is remembering
After recording proximal end magnetic stripe and distal end magnetic stripe, avoidance action is executed using proximal end magnetic stripe as boundary is cleaned, avoidance action can be retrogressing
Or turn to, arc type cleaning then is carried out according to the operating mode for including in the proximal end magnetic strip information for identifying and recording, cleaning
Boundary is the proximal end magnetic stripe of the one's respective area constantly newly recognized in cleaning process, and in current sub-region, cleaning works terminates it
Before, sweeping robot will not leave current sub-region.
S6: judging whether the boundary of proximal end magnetic stripe or proximal end magnetic stripe and working region on map forms closing subregion,
If then entering S7, if otherwise returning to S3；
I.e. sweeping robot cleaning where subregion during can constantly recognize positioned at boundary proximal end magnetic stripe and
Distal end magnetic stripe, when the boundary of the proximal end magnetic stripe of this subregion or proximal end magnetic stripe and working region forms closing subregion on map
When, it is meant that by the subregion, all traversal is primary for sweeping robot, i.e. the cleaning works of one's respective area is completed, at this moment into
Enter S7, if it is not, then returning to S3, continues cleaning works.
S7: it is labeled as current sub-region to have cleaned subregion on map and removes the operating mode of proximal end magnetic stripe；
The Working mould that the subregion of completion is labeled as the subregion cleaned and removes proximal end magnetic stripe will currently have been cleaned
Formula avoids repeating to clean.
S8: judging whether there is the distal end magnetic stripe comprising operating mode, if so, passing through the distal end magnetic comprising operating mode
Enter S3 after item, if otherwise this cleaning terminates.
It is remaining in addition to being just marked as proximal end magnetic stripe when the boundary of the first sub-regions of cleaning is identified for the first time
The subregion that cleans of needs boundary magnetic stripe it is all or part of be to be marked as distal end magnetic stripe when first labeled, these are far
It holds magnetic stripe during being cleaned the subregion where it, proximal end magnetic stripe can be changed to by distal end magnetic stripe, a sub-regions
After cleaning works whole, boundary magnetic stripe will all be marked as proximal end magnetic stripe, so not depositing when in entire working region
In the distal end magnetic stripe comprising operating mode, this means that the cleaning of entire working region has been completed.It should be noted that
It is at this moment can may also exist comprising the distal end magnetic stripe that is prohibited from entering mode in map, but since such subregion is not
It can be entered, so its boundary never becomes proximal end magnetic stripe from distal end magnetic stripe.
When there is the distal end magnetic stripe comprising operating mode in working region, sweeping robot, which passes through, includes operating mode
Enter S3 after the magnetic stripe of distal end, continues cleaning works, if it is not, then this cleaning terminates.
That is the sweeping robot distal end magnetic stripe that identifies and mark in cleaning process before, has among these including Working mould
Formula and/or the distal end magnetic stripe for being prohibited from entering mode, sweeping robot passes through the distal end magnetic stripe comprising operating mode, that is, enters
Then the subregion that need to be cleaned and not cleaned also returns to S3, repeat S3-S8.
It is illustrated combined with specific embodiments below.
Embodiment
As described in Figure 2, the working region of a home environment, including master bedroom, guest bedroom, parlor, kitchen, these areas of lavatory
Domain, wherein partially due to tables and chairs leg is more intensive, sweeping robot is easy to be stuck the dining table and chair in parlor, in being intended to allow dining table and chair
Part is to be prohibited from entering region；The floor of lavatory is more moist, and the air duct for sucking sweeping robot is likely to result in machine breakdown,
Then lavatory is also for off-limits region, and two bedrooms are since hair is more, in being intended to be set as strength purging zone, kitchen
Wish to be set as wet drag mode formula because greasy dirt is more, the spot in parlor is less, using common cleaning mode, saves the energy.
Working region is cleaned after demand has divided each sub-regions by user can start to put magnetic stripe, sweeper
Device people 100 is placed in starting point X, and magnetic stripe puts rear effect as shown in figure 3, A1, A2 magnetic stripe correspond to strength cleaning modes；B1-B7 magnetic
Item corresponds to common cleaning modes；C magnetic stripe corresponds to wet drag mode formula；D1-D5 magnetic stripe correspondence is prohibited from entering mode.
Sweeping robot can be started after being well placed magnetic stripe as desired, in order to allow sweeping robot in the shortest time
The cleaning mode of itself starting point region is inside recognized, has then put magnetic stripe B7 close to the place of X on the boundary in parlor,
Even if sweeping robot still can identify cleaning modes in a very big region in a short time in this way.Starting point X can be with
For any starting point, or cradle.
After sweeping robot starting, since magnetic stripe B7 puts very close, sweeping robot parses after recognizing magnetic stripe B7,
The information parsed is common cleaning modes, and then sweeper carries out arch cleaning according to general mode, and in cleaning process
Middle constructing environment map, the closed area that the cleaning boundary of the first sub-regions is magnetic stripe B1-B7 and working region boundary impales,
During being cleaned, sweeping robot can recognize the proximal end magnetic stripe B1 and distal end magnetic stripe positioned at master bedroom doorway first
A2, sweeping robot respectively parse B1 and A2, and parsing B1 is common cleaning modes, and A2 is strength cleaning modes, respectively will
The cleaning modes information and position of proximal end magnetic stripe B1 and distal end magnetic stripe A2 are recorded in environmental map.
During continuing to clean subregion parlor, sweeping robot can also successively recognize the proximal end magnetic on guest bedroom doorway
B2 and distal end magnetic stripe A1, the proximal end magnetic stripe B3 and distal end magnetic stripe C on kitchen doorway, proximal end magnetic stripe B4, B5 near dining table and chair and
Distal end magnetic stripe D1, D4, the proximal end magnetic stripe B6 and distal end magnetic stripe D5 on lavatory doorway, and the cleaning modes that will include in these magnetic stripes
It is recorded in environmental map with position.
Since sweeping robot is cleaned by " bow " font, when the boundary of subregion is identified complete, it is meant that when
The cleaning works of preceding subregion terminates, and parlor subregion is labeled as " cleaning ", and by the Working mould of parlor boundary magnetic stripe
Formula is removed.
The environmental map that sweeping robot records before combining includes operating mode due to existing at this moment working region
Distal end magnetic stripe, then sweeping robot passes through the distal end magnetic stripe A2 comprising operating mode, into master bedroom, according to the letter for including in A2
Breath, strength cleaning modes start to clean master bedroom, since at this moment sweeping robot comes into master bedroom, are identified as the first time originally remote
The A2 for holding magnetic stripe, is at this moment changed into proximal end magnetic stripe, clean end Rule of judgment remain as current sub-region boundary it is identified
Completely, master bedroom is labeled as having cleaned, and the operating mode of the boundary magnetic stripe of master bedroom is removed.
At this moment there is also distal end magnetic stripe A1 and C that two include operating mode in workspace, sweeping robot is sequentially entered
Guest bedroom and kitchen are cleaned according to the cleaning modes for including in magnetic stripe A1 and C, and distal end magnetic stripe are become proximal end magnetic stripe,
The Rule of judgment that cleaning terminates is same as above, by guest bedroom and kitchen labeled as having cleaned, and by guest bedroom and the boundary magnetic stripe in kitchen
Operating mode is removed.
At this moment, entire working region be not present also include operating mode distal end magnetic stripe, it is meant that entire work
The cleaning in region terminates, and sweeping robot returns to starting point X.
Further, if sweeping robot 100 is placed on two magnetic stripes at the beginning, such as A1, B2, then it sweeps the floor
Robot retreats, and using B2 as proximal end magnetic stripe, A1 is as distal end magnetic stripe.
Further, if being on two magnetic stripes that sweeping robot 100 is placed at the beginning and one is packet
Containing operating mode, another is off-limits, such as B4 and D1, since sweeping robot can retreat at the beginning, if retreated
To region is prohibited from entering, then it can exit and be prohibited from entering region, sequentially pass through D1 and B4, B4 is then labeled as proximal end magnetic stripe,
D1 is labeled as distal end magnetic stripe.
Compared with prior art, the method for sweeping robot sweeping efficiency being improved described in the embodiment of the present invention can be higher
The completion cleaning of effect, and then reach and reach optimal cleaning effect with lower energy consumption.
The present invention provides a kind of energy-efficient sweeping robot cleaning methods, will be clear by the magnetic stripe with magnetic mark
Surface sweeping is integrated into several zonules, further according to the cleaning mode that different magnetic stripe Track information planning different zones are arranged, in turn
Reach and obtains optimal cleaning effect with lower energy consumption.
It should be understood by those ordinary skilled in the art that: the above is only a specific embodiment of the present invention, and
It is not used in the limitation present invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done,
It should be included within protection scope of the present invention.
Claims (4)
1. a kind of method for improving sweeping robot cleaning efficiency characterized by comprising
S1: multiple subregions will be divided into working region, wherein the subregion is by including same operating mode information
The operating mode of the closed area that magnetic stripe or magnetic stripe and working region boundary are constituted, the adjacent subarea domain is different, the work
Mode is related to the power output of driving wheel and cleaning assemblies；
S2: building sweeping robot environmental map；
S3: sweeping robot is worked with bending font；
S4: sweeping robot detects proximal end magnetic stripe and distal end magnetic stripe and records on map, wherein proximal end magnetic stripe is sweeper
The magnetic stripe that device people first detects, distal end magnetic stripe are the magnetic stripe subsequently detected；
S5: sweeping robot executes avoidance action and by the work in the proximal end magnetic stripe recognized using proximal end magnetic stripe as boundary is cleaned
Operation mode carries out bow font and cleans；
S6: judging whether the boundary of proximal end magnetic stripe or proximal end magnetic stripe and working region on map forms closing subregion, if
Then enter S7, if otherwise returning to S3；
S7: it is labeled as current sub-region to have cleaned subregion on map and removes the operating mode of proximal end magnetic stripe；
S8: judging whether there is the distal end magnetic stripe comprising operating mode, if so, after passing through the distal end magnetic stripe comprising operating mode
Into S3, if otherwise this cleaning terminates.
2. a kind of method for improving sweeping robot cleaning efficiency according to claim 1, which is characterized in that the S3 packet
It includes
Sweeping robot is at the beginning from starting point random motion, after the magnetic stripe in geomagnetic sensors detection to region to be cleaned
It is worked with bow type,
If encountering working region boundary or obstacle before detecting magnetic stripe, avoidance action is executed, then proceedes to detection magnetic
Item.
3. a kind of method for improving sweeping robot cleaning efficiency according to claim 1, which is characterized in that the S3
In, if the starting point of sweeping robot on two magnetic stripes, while receiving two magnetic strip informations, then sweeping robot is drawn back directly
To one of them is identified as proximal end magnetic stripe, another is identified as distal end magnetic stripe.
4. a kind of method for improving sweeping robot cleaning efficiency according to claim 1, which is characterized in that the magnetic stripe
Different control codes is written by magnetic card reader and corresponds to different operating modes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910420891.9A CN110251000A (en) | 2019-05-20 | 2019-05-20 | A method of improving sweeping robot cleaning efficiency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910420891.9A CN110251000A (en) | 2019-05-20 | 2019-05-20 | A method of improving sweeping robot cleaning efficiency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110251000A true CN110251000A (en) | 2019-09-20 |
Family
ID=67914912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910420891.9A Pending CN110251000A (en) | 2019-05-20 | 2019-05-20 | A method of improving sweeping robot cleaning efficiency |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110251000A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112180924A (en) * | 2020-09-28 | 2021-01-05 | 珠海市一微半导体有限公司 | Movement control method for navigating to dense obstacles |
| CN112799398A (en) * | 2020-12-25 | 2021-05-14 | 珠海市一微半导体有限公司 | Cleaning path planning method based on path finding cost, chip and cleaning robot |
| CN112890690A (en) * | 2021-01-28 | 2021-06-04 | 深圳拓邦股份有限公司 | Robot sweeping control method and device and sweeping robot |
| CN113997281A (en) * | 2021-09-30 | 2022-02-01 | 云鲸智能(深圳)有限公司 | Robot, control method thereof, control device thereof, and computer-readable storage medium |
| CN114310871A (en) * | 2021-11-25 | 2022-04-12 | 云鲸智能(深圳)有限公司 | Robot control method, robot, control device, and readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104825101A (en) * | 2014-02-12 | 2015-08-12 | Lg电子株式会社 | Robot cleaner and controlling method thereof |
| CN105849660A (en) * | 2013-12-19 | 2016-08-10 | 伊莱克斯公司 | Robotic cleaning device |
| CN107981790A (en) * | 2017-12-04 | 2018-05-04 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| CN107997690A (en) * | 2017-12-04 | 2018-05-08 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| CN108490955A (en) * | 2018-05-04 | 2018-09-04 | 深圳市沃特沃德股份有限公司 | A kind of control method and system of sweeping robot |
| CN109079772A (en) * | 2017-06-14 | 2018-12-25 | 深圳乐动机器人有限公司 | Robot and robot system |
| CN109421067A (en) * | 2017-08-31 | 2019-03-05 | Neato机器人技术公司 | Robot virtual boundary |
-
2019
- 2019-05-20 CN CN201910420891.9A patent/CN110251000A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105849660A (en) * | 2013-12-19 | 2016-08-10 | 伊莱克斯公司 | Robotic cleaning device |
| CN104825101A (en) * | 2014-02-12 | 2015-08-12 | Lg电子株式会社 | Robot cleaner and controlling method thereof |
| CN109079772A (en) * | 2017-06-14 | 2018-12-25 | 深圳乐动机器人有限公司 | Robot and robot system |
| CN109421067A (en) * | 2017-08-31 | 2019-03-05 | Neato机器人技术公司 | Robot virtual boundary |
| CN107981790A (en) * | 2017-12-04 | 2018-05-04 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| CN107997690A (en) * | 2017-12-04 | 2018-05-08 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| CN108490955A (en) * | 2018-05-04 | 2018-09-04 | 深圳市沃特沃德股份有限公司 | A kind of control method and system of sweeping robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112180924A (en) * | 2020-09-28 | 2021-01-05 | 珠海市一微半导体有限公司 | Movement control method for navigating to dense obstacles |
| CN112180924B (en) * | 2020-09-28 | 2024-04-02 | 珠海一微半导体股份有限公司 | Mobile control method for navigating to dense obstacle |
| CN112799398A (en) * | 2020-12-25 | 2021-05-14 | 珠海市一微半导体有限公司 | Cleaning path planning method based on path finding cost, chip and cleaning robot |
| CN112890690A (en) * | 2021-01-28 | 2021-06-04 | 深圳拓邦股份有限公司 | Robot sweeping control method and device and sweeping robot |
| CN112890690B (en) * | 2021-01-28 | 2022-08-12 | 深圳拓邦股份有限公司 | Robot sweeping control method and device and sweeping robot |
| CN113997281A (en) * | 2021-09-30 | 2022-02-01 | 云鲸智能(深圳)有限公司 | Robot, control method thereof, control device thereof, and computer-readable storage medium |
| CN113997281B (en) * | 2021-09-30 | 2023-08-08 | 云鲸智能(深圳)有限公司 | Robot, control method and control device thereof, and computer-readable storage medium |
| CN114310871A (en) * | 2021-11-25 | 2022-04-12 | 云鲸智能(深圳)有限公司 | Robot control method, robot, control device, and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110251000A (en) | A method of improving sweeping robot cleaning efficiency | |
| CN107544517B (en) | Control method of intelligent cleaning robot | |
| CN110338715B (en) | Method and chip for cleaning floor by intelligent robot and cleaning robot | |
| US11914391B2 (en) | Cleaning partition planning method for robot walking along boundry, chip and robot | |
| CN110286669B (en) | Walking operation method of self-moving robot | |
| US20150223659A1 (en) | Robot cleaner and control method thereof | |
| US20170344013A1 (en) | Cleaning method for a robotic cleaning device | |
| CN106821157A (en) | The cleaning method that a kind of sweeping robot is swept the floor | |
| CN105700531A (en) | Customized map-based household sweeping robot used for two-storey house and sweeping method thereof | |
| CN103349531B (en) | The side of robot cleaner returns charging method | |
| CN110353579A (en) | A kind of clean robot automatic path planning method | |
| CN109298717A (en) | The cleaning method and chip and Intelligent cleaning robot of intelligent robot | |
| CN110393476A (en) | Clean robot and its welt traveling method, readable medium | |
| CN105816106B (en) | Intelligent sweeping robot | |
| CN105283109A (en) | Robotic vacuum cleaner and control method therefor | |
| CN109276191A (en) | A kind of path cleaning method, system and the chip of clean robot | |
| WO2019104798A1 (en) | Cleaning area selection method and device | |
| CN109124473B (en) | Cleaning control method and chip of cleaning robot based on spiral walking | |
| CN108968815A (en) | A kind of sweeping robot obstacle determines and along side running gear and method | |
| CN111568312A (en) | Object boundary extraction method and device | |
| CN108931980B (en) | Marking method and chip of robot built-in map and indoor cleaning robot | |
| CN113693501A (en) | Cleaning equipment, cleaning path, cleaning map generation method and cleaning map generation system | |
| CN205721357U (en) | A kind of domestic two-layer based on self-defined map work sweeping robot | |
| CN110731734B (en) | Control method and chip for planning and cleaning of intelligent robot and cleaning robot | |
| CN113786125B (en) | Operation method, self-mobile device, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B and C) Applicant after: GuangDong BONA Robot Co.,Ltd. Address before: 518000 2nd and 3rd floors, block D, No. 438, Donghuan Road, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Applicant before: GuangDong BONA Robot Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220516 Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B and C) Applicant before: GUANGDONG BONA ROBOT Corp.,Ltd. |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |