CN110597253A - Robot control method, chip and laser type cleaning robot - Google Patents
Robot control method, chip and laser type cleaning robot Download PDFInfo
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- CN110597253A CN110597253A CN201910838797.5A CN201910838797A CN110597253A CN 110597253 A CN110597253 A CN 110597253A CN 201910838797 A CN201910838797 A CN 201910838797A CN 110597253 A CN110597253 A CN 110597253A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000004140 cleaning Methods 0.000 title claims abstract description 15
- 230000000903 blocking effect Effects 0.000 claims description 8
- 230000001960 triggered effect Effects 0.000 claims description 7
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000013506 data mapping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention relates to a control method and a chip of a robot and a laser type cleaning robot. In addition, the robot can execute different walking strategies based on the position of the virtual wall. When the virtual wall reached by the robot is located on the boundary, the robot walks along the edge of the virtual wall and returns to the boundary, so that the edge efficiency of the robot is not influenced; when the virtual wall reached by the robot is not located on the boundary, the robot can preferentially walk along the edge of the virtual wall and go around the virtual wall for a circle until the robot returns to the current position point, if the robot encounters an obstacle in the process of going around, the robot stops going around, and then executes other actions, so that the accurate position of the virtual wall can be circled as far as possible, and the robot is prevented from passing through the virtual wall by mistake in the subsequent walking.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a robot control method, a chip and a laser type cleaning robot.
Background
In the prior art, in order to prevent the cleaning robot from entering a specific area, a virtual wall emitter or magnetic lines are generally arranged at an entrance and an exit of the specific area, and when the robot detects a virtual wall signal or a magnetic line signal emitted by the virtual wall emitter, the robot can automatically avoid the virtual wall emitter or the magnetic line signal, so as to achieve the purpose of limiting the robot from entering the specific area. The invention patent application with the Chinese patent publication number of CN106272420A discloses a robot and a robot control method, wherein the robot identifies a virtual wall according to a signal threshold and a virtual wall signal detected by a detection assembly, when the virtual wall is identified, the signal threshold is adjusted, and the robot is controlled to advance along the outer side of the virtual wall according to the adjusted signal threshold and the virtual wall signal, so that the driving wheel of the robot is positioned at the outer side of the virtual wall; the problem that cleaning of a complex environment is difficult to complete automatically due to the fact that a driving wheel of the robot spans into a virtual wall when only one large signal threshold is set or due to misjudgment when only one small signal threshold is set is solved; on the basis of accurately identifying the virtual wall, the driving wheels of the robot are positioned on the outer side of the virtual wall and do not enter the inner area of the virtual wall when the robot travels along the outer side of the virtual wall.
Disclosure of Invention
The invention provides a control method and a chip of a robot and a laser type cleaning robot, which can execute different walking strategies according to the position of a virtual wall, do not need to be externally provided with a physical virtual wall device and can also achieve a very good blocking effect. The specific technical scheme of the invention is as follows:
a control method of a robot includes the steps of: the robot reaches the position of the virtual wall, and a virtual collision signal is triggered; the virtual wall is arranged in a map and used for blocking a route traversed by the robot; the robot judges whether the virtual wall is located on the boundary, if so, the robot walks along the edge of the virtual wall until the virtual wall returns to the boundary, and if not, the robot walks along the edge of the virtual wall until the virtual wall returns to the current position point or an obstacle is detected; when the robot walks along the edge of the virtual wall, the distance of half the width of the robot body is kept between the center point of the robot and the virtual wall.
Further, the robot reaches the position of the virtual wall, and the method specifically comprises the following steps: the robot determines coordinate points at two ends of the virtual wall and the slope of a straight line where the virtual wall is located; the robot judges whether the vertical distance between the current position point and the straight line where the virtual wall is located is equal to the width of a half of the robot body, if so, the robot is determined to reach the position where the virtual wall is located, and otherwise, the robot is determined not to reach the position where the virtual wall is located.
Further, the boundary includes a physical environment boundary and a region boundary for region division in the map.
Further, the robot judges whether the virtual wall is located on the boundary, and specifically includes the following steps: the robot determines a coordinate point of a straight line where the virtual wall is located as a virtual coordinate point; the robot determines a coordinate point corresponding to the boundary as a boundary coordinate point; and the robot judges whether the virtual coordinate point and the boundary coordinate point have the same point, if so, the virtual wall is determined to be positioned on the boundary, otherwise, the virtual wall is determined not to be positioned on the boundary.
Further, the robot determines that the virtual wall is located on the boundary and walks along the edge of the virtual wall until the robot returns to the current position point, and the method further includes the following steps: and the robot sets the area covered by walking along the edge of the virtual wall as a forbidden zone.
Further, the robot determines that the virtual wall is located on the boundary and walks along the edge of the virtual wall until the step of detecting the obstacle is followed, and the method further includes the following steps: and turning the robot to the direction of 180 degrees, continuing to walk along the edge of the virtual wall until the obstacle is detected again, and setting the area covered by walking along the edge of the virtual wall as a forbidden area.
Further, the step of setting the area covered by walking along the edge of the virtual wall as a forbidden zone includes the following steps: dividing an area covered by walking along the edge of the virtual wall into a plurality of grid units; and marking the grid cells as virtual obstacle cells, and triggering virtual collision signals when the robot reaches the virtual obstacle cells.
A chip is arranged in a robot and used for controlling the robot to execute the control method of the robot.
A laser type cleaning robot is internally provided with a main control chip, and the main control chip is the chip.
According to the control method and the chip of the robot and the laser type cleaning robot, when the robot reaches the position of the virtual wall, the virtual collision signal can be triggered, so that the robot can be effectively prevented from passing through the virtual wall by mistake, and the blocking effect of the virtual wall is ensured. In addition, the robot can execute different walking strategies based on the position of the virtual wall. When the virtual wall reached by the robot is located on the boundary, the robot walks along the edge of the virtual wall and returns to the boundary, so that the edge efficiency of the robot is not influenced; when the virtual wall reached by the robot is not located on the boundary, the robot can preferentially walk along the edge of the virtual wall and go around the virtual wall for a circle until the robot returns to the current position point, if the robot encounters an obstacle in the process of going around, the robot stops going around, and then executes other actions, so that the accurate position of the virtual wall can be circled as far as possible, and the robot is prevented from passing through the virtual wall by mistake in the subsequent walking. In addition, when the robot walks along the edge of the virtual wall, the distance of half the width of the robot body between the center point of the robot and the virtual wall is kept, so that a large gap can be prevented from being formed between the robot and the virtual wall, and the reasonability of the range of the defined virtual wall is effectively guaranteed.
Drawings
Fig. 1 is a schematic flow chart of a control method of a robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a robot according to an embodiment of the present invention, in which an area covered by walking along an edge of a virtual wall is set as a forbidden zone.
Fig. 3 is a schematic diagram of a robot according to another embodiment of the present invention, in which an area covered by walking along an edge of a virtual wall is set as a forbidden zone.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention. In the following description, specific details are given to provide a thorough understanding of the embodiments. However, it will be understood by those of ordinary skill in the art that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, structures and techniques may not be shown in detail in order not to obscure the embodiments.
A control method of a robot can be a cleaning robot, a service robot, a security robot, a nursing robot or the like for household or commercial use, and can also be a logistics robot, a mowing robot or the like. As shown in fig. 1, the control method includes the steps of: and when the robot reaches the position of the virtual wall, triggering a virtual collision signal. The virtual wall is arranged in a map to block a route traversed by the robot. The route can be set by a user through an intelligent terminal such as a mobile phone and a tablet personal computer. The intelligent terminal can communicate with the robot, displays a map of a current walking area of the robot, and when a user sets a virtual wall on the displayed map by drawing lines, the robot can determine the specific coordinate position of the virtual wall in the map through data mapping. The robot can determine the current coordinate position of the robot in real time according to the inertial navigation sensor, the laser sensor and the like of the robot, and when the robot detects that the current coordinate of the robot is the same as the coordinate of the position of the virtual wall or the current coordinate of the robot is adjacent to the coordinate of the position of the virtual wall, the robot determines that the robot reaches the position of the virtual wall. Generally, in the walking process of the robot, if a collision strip at the front end of a machine body collides with an obstacle, a collision sensor is triggered to generate a collision signal, and the robot receives the collision signal and then knows that the robot collides with the obstacle. Because the virtual wall has no physical entity, even if the robot passes through the virtual wall, the collision sensor can not trigger the collision signal. Then, the robot judges whether the virtual wall is located on a boundary, wherein the boundary comprises a physical environment boundary and an area boundary for area division in the map. The physical environment boundary refers to a boundary formed by edges of physical entities such as walls, cabinets, sofas and the like; the area boundary refers to the area division of a map by a robot, each area is a rectangular area with the same shape and size, the robot traverses the areas one by taking the areas as a unit, and the boundaries of the areas are the area boundaries. If the virtual wall is positioned on the boundary, the edge of the virtual wall is connected with the boundary of the region to form a traversable part in the region, so that the robot walks along the edge of the virtual wall until the virtual wall returns to the boundary, and then continues to walk along the boundary, so that the edge efficiency of the robot can be improved, and the defined traversable part is accurate and effective. If the virtual wall is not on the boundary, the virtual wall is located in the area, the robot can possibly walk along the edge of the virtual wall for a circle to define the specific range of the virtual wall, therefore, the robot walks along the edge of the virtual wall until the robot returns to the current position point, so that the robot walks along the edge of the virtual wall for a circle to define the specific range of the virtual wall, and the problem that the robot mistakenly passes through the virtual wall in the subsequent walking can be effectively avoided. If the robot detects an obstacle in the process of walking along the edge of the virtual wall, the virtual wall is probably the position which is set between two obstacles by a user and used for preventing the robot from entering a certain block, and the robot cannot walk for a circle along the edge of the virtual wall, so the robot needs to execute subsequent other steps, the accurate position of the virtual wall can be circled as far as possible, and the situation that the robot mistakenly passes through the virtual wall in the subsequent walking and mistakenly enters the block which cannot be entered by the user is avoided. In each step, when the robot walks along the edge of the virtual wall, the distance of half the width of the robot body is kept between the center point of the robot and the virtual wall, so that a large gap can be prevented from being formed between the robot and the virtual wall, and the reasonability of the range of the defined virtual wall is effectively guaranteed. The central point is the central point of the robot body, and the coordinate position of the robot is determined according to the position of the central point.
As one embodiment, the method for enabling the robot to reach the position of the virtual wall specifically includes the following steps: first, the robot determines coordinate points (X1, Y1) and (X2, Y2) at both ends of the virtual wall, and determines that the slope of a straight line on which the coordinate points at both ends are located (i.e., a straight line on which the virtual wall is located) is K = (Y2-Y1)/(X2-X1). And then, the robot judges whether the vertical distance between the current position point of the robot and the straight line where the virtual wall is located is equal to the width of a half of the robot body, if so, the robot is determined to reach the position where the virtual wall is located, and otherwise, the robot is determined not to reach the position where the virtual wall is located. According to the method, the distance of half the width of the robot body is reserved between the robot and the virtual wall, so that the half body of the robot can be prevented from penetrating through the virtual wall and entering the area which is defined by the user and cannot be entered by the robot, the user can consider the virtual wall to be invalid, and the user experience is reduced.
As an implementation manner, the robot determines whether the virtual wall is located on the boundary, and specifically includes the following steps: firstly, the robot determines the coordinate point of the straight line where the virtual wall is located as a virtual coordinate point. Then, the robot determines the coordinate point corresponding to the boundary as a boundary coordinate point. And then, the robot judges whether the virtual coordinate point and the boundary coordinate point have the same point, if so, the virtual wall is determined to be positioned on the boundary, otherwise, the virtual wall is determined not to be positioned on the boundary. According to the method, whether the virtual wall is intersected with the boundary or not is determined by judging whether the coordinate points of the virtual wall and the boundary are the same or not, and then whether the virtual wall is located on the boundary or not is determined.
As one embodiment, after the step of determining that the virtual wall is located on the boundary and walking along the edge of the virtual wall until the virtual wall returns to the current position point, the robot further includes the following steps: and the robot sets the area covered by walking along the edge of the virtual wall as a forbidden zone. As shown in fig. 2, a circle denoted by R represents a robot, and L1L2 represents a virtual wall. The robot detects the virtual wall when in the position shown in the figure, then walks rightwards along the edge of the virtual wall, and finally returns to the current position, the covered area is the rectangular area marked by the ABCD, and the robot sets the rectangular area as a forbidden area, so that the robot cannot enter the area again in the subsequent walking process, and the blocking effect of the virtual wall is improved.
As one embodiment, the robot determines that the virtual wall is located on the boundary, and walks along the edge of the virtual wall until the obstacle is detected, and further includes the following steps: and turning the robot to the direction of 180 degrees, continuing to walk along the edge of the virtual wall until the obstacle is detected again, and setting the area covered by walking along the edge of the virtual wall as a forbidden area. As shown in fig. 3, a circle indicated by R represents a robot, a rectangular frame indicated by ABCD represents an area boundary of an area to be traversed by the robot, ab and cd represent two side panels of a tv cabinet, and ef is a virtual wall defined between the two side panels by a user. Because the lower part of the television cabinet is provided with more cables, if the robot enters the lower part of the television cabinet for cleaning, the robot is easily wound by the cables, so a user sets a virtual wall to avoid the robot entering an area with more cables. The robot starts from the point A and walks along the track of p1-p2-p3-p4-p5-p6-p7-p8-p9 in the direction indicated by an arrow to the current position shown in the figure, and at the moment, the robot detects the virtual wall. Then the robot walks upwards along the edge of virtual wall, after colliding barrier cd curb plate, turns to downwards, continues to walk along the virtual wall edge until detecting barrier ab curb plate, and like this, the region that the robot covered along the edge walking of virtual wall is bdfe rectangle region, and the robot sets up this rectangle region as forbidden area, makes the robot can not get into this region again in follow-up walking process, improves the separation effect of virtual wall. After the forbidden zone is set, the robot returns to the current position of the graph and continues to traverse the ABCD area in a bow shape.
Specifically, the step of setting the area covered by walking along the edge of the virtual wall as a forbidden zone includes the following steps: the robot divides an area covered by walking along the edge of the virtual wall into a plurality of grid units, wherein the grid units are square cells with set side lengths, and the side lengths can be set to be 10 centimeters generally. Then the grid cell is marked as a virtual obstacle cell by the robot, and when the robot is set to reach the virtual obstacle cell, a virtual collision signal is triggered, so that a more effective blocking effect can be achieved.
A chip is arranged inside a robot and used for controlling the robot to execute the control method of the robot, when the robot reaches the position of a virtual wall, a virtual collision signal is triggered, so that the robot can be effectively prevented from passing through the virtual wall by mistake, and the blocking effect of the virtual wall is guaranteed. In addition, the robot can execute different walking strategies based on the position of the virtual wall. When the virtual wall reached by the robot is located on the boundary, the robot walks along the edge of the virtual wall and returns to the boundary, so that the edge efficiency of the robot is not influenced; when the virtual wall reached by the robot is not located on the boundary, the robot can preferentially walk along the edge of the virtual wall and go around the virtual wall for a circle until the robot returns to the current position point, if the robot encounters an obstacle in the process of going around, the robot stops going around, and then executes other actions, so that the accurate position of the virtual wall can be circled as far as possible, and the robot is prevented from passing through the virtual wall by mistake in the subsequent walking. In addition, when the robot walks along the edge of the virtual wall, the distance of half the width of the robot body between the center point of the robot and the virtual wall is kept, so that a large gap can be prevented from being formed between the robot and the virtual wall, and the reasonability of the range of the defined virtual wall is effectively guaranteed.
A laser type cleaning robot is a cleaning robot such as a floor sweeping robot or a floor mopping robot and the like which is provided with a laser radar sensor, a main control chip is arranged in the laser type cleaning robot, and the main control chip is the chip. When the robot arrives at the virtual wall position, the virtual collision signal can be triggered, so that the robot can be effectively prevented from passing through the virtual wall by mistake, and the blocking effect of the virtual wall is ensured. In addition, the robot can execute different walking strategies based on the position of the virtual wall. When the virtual wall reached by the robot is located on the boundary, the robot walks along the edge of the virtual wall and returns to the boundary, so that the edge efficiency of the robot is not influenced; when the virtual wall reached by the robot is not located on the boundary, the robot can preferentially walk along the edge of the virtual wall and go around the virtual wall for a circle until the robot returns to the current position point, if the robot encounters an obstacle in the process of going around, the robot stops going around, and then executes other actions, so that the accurate position of the virtual wall can be circled as far as possible, and the robot is prevented from passing through the virtual wall by mistake in the subsequent walking. In addition, when the robot walks along the edge of the virtual wall, the distance of half the width of the robot body between the center point of the robot and the virtual wall is kept, so that a large gap can be prevented from being formed between the robot and the virtual wall, and the reasonability of the range of the defined virtual wall is effectively guaranteed.
In the above embodiments, directional words such as "up", "down", "left", and "right" refer to directions such as up, down, left, and right in the drawings, unless otherwise specified. If the specific description exists, the specific description definition is carried out, for example, the left side of the robot refers to the left side of the forward direction of the robot, and does not refer to the left side of the drawing.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. These programs may be stored in a computer-readable storage medium (such as a ROM, a RAM, a magnetic or optical disk, or various other media that can store program codes). Which when executed performs steps comprising the method embodiments described above. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A control method of a robot, characterized by comprising the steps of:
the robot reaches the position of the virtual wall, and a virtual collision signal is triggered; the virtual wall is arranged in a map and used for blocking a route traversed by the robot;
the robot judges whether the virtual wall is located on the boundary, if so, the robot walks along the edge of the virtual wall until the virtual wall returns to the boundary, and if not, the robot walks along the edge of the virtual wall until the virtual wall returns to the current position point or an obstacle is detected; when the robot walks along the edge of the virtual wall, the distance of half the width of the robot body is kept between the center point of the robot and the virtual wall.
2. The method according to claim 1, wherein the robot reaches the position of the virtual wall, and specifically comprises the following steps:
the robot determines coordinate points at two ends of the virtual wall and the slope of a straight line where the virtual wall is located;
the robot judges whether the vertical distance between the current position point and the straight line where the virtual wall is located is equal to the width of a half of the robot body, if so, the robot is determined to reach the position where the virtual wall is located, and otherwise, the robot is determined not to reach the position where the virtual wall is located.
3. The method of claim 1, wherein the boundaries comprise physical environment boundaries and regional boundaries within a map that are regionally partitioned.
4. The method of claim 2, wherein the robot determines whether the virtual wall is located on a boundary, comprising:
the robot determines a coordinate point of a straight line where the virtual wall is located as a virtual coordinate point;
the robot determines a coordinate point corresponding to the boundary as a boundary coordinate point;
and the robot judges whether the virtual coordinate point and the boundary coordinate point have the same point, if so, the virtual wall is determined to be positioned on the boundary, otherwise, the virtual wall is determined not to be positioned on the boundary.
5. The method of claim 4, wherein: the robot judges that the virtual wall is positioned on the boundary and walks along the edge of the virtual wall until the robot returns to the current position point, and the method further comprises the following steps:
and the robot sets the area covered by walking along the edge of the virtual wall as a forbidden zone.
6. The method of claim 4, wherein: the robot judges that the virtual wall is located on the boundary and walks along the edge of the virtual wall until the obstacle is detected, and the robot further comprises the following steps:
and turning the robot to the direction of 180 degrees, continuing to walk along the edge of the virtual wall until the obstacle is detected again, and setting the area covered by walking along the edge of the virtual wall as a forbidden area.
7. The method according to claim 5 or 6, wherein the area covered by walking along the edge of the virtual wall is set as a forbidden zone, and the method comprises the following steps:
dividing an area covered by walking along the edge of the virtual wall into a plurality of grid units;
and marking the grid cells as virtual obstacle cells, and triggering virtual collision signals when the robot reaches the virtual obstacle cells.
8. The utility model provides a chip sets up inside the robot, its characterized in that: the chip is used for controlling a robot to execute the control method of the robot of any one of claims 1 to 7.
9. The utility model provides a laser formula cleaning machines people, built-in main control chip which characterized in that: the master control chip is the chip of claim 8.
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| CN201910838797.5A CN110597253B (en) | 2019-09-05 | 2019-09-05 | Robot control method, chip and laser type cleaning robot |
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| CN201910838797.5A CN110597253B (en) | 2019-09-05 | 2019-09-05 | Robot control method, chip and laser type cleaning robot |
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| CN110597253B CN110597253B (en) | 2022-12-09 |
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| WO2021248845A1 (en) * | 2020-06-12 | 2021-12-16 | 珠海一微半导体股份有限公司 | Cleaning subarea planning method for robot walking along edge, chip and robot |
| CN114847810A (en) * | 2022-07-08 | 2022-08-05 | 深圳市云鼠科技开发有限公司 | Cleaning robot obstacle crossing method, device, equipment and medium based on LDS laser |
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| CN114847810B (en) * | 2022-07-08 | 2022-09-20 | 深圳市云鼠科技开发有限公司 | Cleaning robot obstacle crossing method, device, equipment and medium based on LDS laser |
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