CN115151174A - 一种清洁机器人及其清洁控制方法 - Google Patents

一种清洁机器人及其清洁控制方法 Download PDF

Info

Publication number
CN115151174A
CN115151174A CN202180014614.3A CN202180014614A CN115151174A CN 115151174 A CN115151174 A CN 115151174A CN 202180014614 A CN202180014614 A CN 202180014614A CN 115151174 A CN115151174 A CN 115151174A
Authority
CN
China
Prior art keywords
cleaning robot
stain
cleaning
vision sensor
robot
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
Application number
CN202180014614.3A
Other languages
English (en)
Inventor
朱松
谭一云
何明明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of CN115151174A publication Critical patent/CN115151174A/zh
Pending legal-status Critical Current

Links

Images

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
    • A47L11/28—Floor-scrubbing 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
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • 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
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Manipulator (AREA)

Abstract

一种清洁机器人及其清洁控制方法。清洁机器人上设置有视觉传感器(503)，包括：机器人主体(500)，视觉传感器(503)，设置于机器人主体(500)上，用于拍摄图像；运动模块，设置于机器人主体(500)上，配置为支撑机器人主体(500)并带动清洁机器人运动；清洁模块，设置于机器人主体(500)上，配置为对工作表面进行清洁；控制模块，设置于机器人主体(500)上，配置为调节视觉传感器(503)的拍摄方向，使得清洁机器人具有至少两种不同的功能模式。通过一套视觉传感器(503)，便能够实现清洁机器人的多个功能，能够节省清洁机器人的成本。

Description

PCT国内申请，说明书已公开。

Claims (10)

  1. PCT国内申请，权利要求书已公开。
CN202180014614.3A 2020-12-25 2021-12-24 一种清洁机器人及其清洁控制方法 Pending CN115151174A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN202011566034.9A CN114680732A (zh) 2020-12-25 2020-12-25 一种清洁机器人及其清洁控制方法
CN2020115660349 2020-12-25
PCT/CN2021/141053 WO2022135556A1 (zh) 2020-12-25 2021-12-24 一种清洁机器人及其清洁控制方法

Publications (1)

Publication Number Publication Date
CN115151174A true CN115151174A (zh) 2022-10-04

Family

ID=82130417

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202011566034.9A Pending CN114680732A (zh) 2020-12-25 2020-12-25 一种清洁机器人及其清洁控制方法
CN202180014614.3A Pending CN115151174A (zh) 2020-12-25 2021-12-24 一种清洁机器人及其清洁控制方法

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN202011566034.9A Pending CN114680732A (zh) 2020-12-25 2020-12-25 一种清洁机器人及其清洁控制方法

Country Status (2)

Country Link
CN (2) CN114680732A (zh)
WO (1) WO2022135556A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116327054A (zh) * 2023-04-19 2023-06-27 追觅创新科技(苏州)有限公司 洗地机的清洗控制方法和洗地机

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114680732A (zh) * 2020-12-25 2022-07-01 苏州宝时得电动工具有限公司 一种清洁机器人及其清洁控制方法

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1955839A (zh) * 2005-10-27 2007-05-02 Lg电子株式会社 用于控制自动清洁器的摄像装置的设备与方法
CN103194991A (zh) * 2013-04-03 2013-07-10 西安电子科技大学 智能机器人道路清理系统及清理方法
CN104407610A (zh) * 2014-07-21 2015-03-11 东莞市万锦电子科技有限公司 地面清洁机器人系统及其控制方法
CN104586322A (zh) * 2013-10-31 2015-05-06 Lg电子株式会社 移动机器人及其工作方法
US20170332868A1 (en) * 2016-05-20 2017-11-23 Lg Electronics Inc. Autonomous cleaner
CN207424680U (zh) * 2017-11-20 2018-05-29 珊口（上海）智能科技有限公司 移动机器人
CN108113595A (zh) * 2016-11-28 2018-06-05 沈阳新松机器人自动化股份有限公司 一种节能清扫机器人系统、方法及机器人
CN108247647A (zh) * 2018-01-24 2018-07-06 速感科技（北京）有限公司 一种清洁机器人
CN110558902A (zh) * 2019-09-12 2019-12-13 炬佑智能科技(苏州)有限公司 可移动机器人及其特定物检测方法、装置与电子设备
CN111166247A (zh) * 2019-12-31 2020-05-19 深圳飞科机器人有限公司 垃圾分类处理方法及清洁机器人
CN114680732A (zh) * 2020-12-25 2022-07-01 苏州宝时得电动工具有限公司 一种清洁机器人及其清洁控制方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101570377B1 (ko) * 2009-03-31 2015-11-20 엘지전자 주식회사 단일 카메라를 장착한 로봇 청소기의 3차원 환경 인식 방법
CN106569489A (zh) * 2015-10-13 2017-04-19 录可系统公司 具有视觉导航功能的扫地机器人及其导航方法
KR102314539B1 (ko) * 2017-06-09 2021-10-18 엘지전자 주식회사 인공지능 이동 로봇의 제어 방법
CN209360580U (zh) * 2018-11-07 2019-09-10 深圳市沃普德科技有限公司 一种智能机器人摄像头模组
CN109890573B (zh) * 2019-01-04 2022-05-03 上海阿科伯特机器人有限公司 移动机器人的控制方法、装置、移动机器人及存储介质
CN110160543A (zh) * 2019-04-22 2019-08-23 广东工业大学 实时定位和地图构建的机器人
CN113163125A (zh) * 2020-01-03 2021-07-23 苏州宝时得电动工具有限公司 自移动设备
CN112101378A (zh) * 2020-08-20 2020-12-18 上海姜歌机器人有限公司 机器人重定位方法、装置及设备

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1955839A (zh) * 2005-10-27 2007-05-02 Lg电子株式会社 用于控制自动清洁器的摄像装置的设备与方法
US20070100501A1 (en) * 2005-10-27 2007-05-03 Lg Electronics Inc. Apparatus and method for controlling camera of robot cleaner
CN103194991A (zh) * 2013-04-03 2013-07-10 西安电子科技大学 智能机器人道路清理系统及清理方法
CN104586322A (zh) * 2013-10-31 2015-05-06 Lg电子株式会社 移动机器人及其工作方法
CN104407610A (zh) * 2014-07-21 2015-03-11 东莞市万锦电子科技有限公司 地面清洁机器人系统及其控制方法
US20170332868A1 (en) * 2016-05-20 2017-11-23 Lg Electronics Inc. Autonomous cleaner
CN108113595A (zh) * 2016-11-28 2018-06-05 沈阳新松机器人自动化股份有限公司 一种节能清扫机器人系统、方法及机器人
CN207424680U (zh) * 2017-11-20 2018-05-29 珊口（上海）智能科技有限公司 移动机器人
CN108247647A (zh) * 2018-01-24 2018-07-06 速感科技（北京）有限公司 一种清洁机器人
CN110558902A (zh) * 2019-09-12 2019-12-13 炬佑智能科技(苏州)有限公司 可移动机器人及其特定物检测方法、装置与电子设备
CN111166247A (zh) * 2019-12-31 2020-05-19 深圳飞科机器人有限公司 垃圾分类处理方法及清洁机器人
CN114680732A (zh) * 2020-12-25 2022-07-01 苏州宝时得电动工具有限公司 一种清洁机器人及其清洁控制方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116327054A (zh) * 2023-04-19 2023-06-27 追觅创新科技(苏州)有限公司 洗地机的清洗控制方法和洗地机

Also Published As

Publication number Publication date
CN114680732A (zh) 2022-07-01
WO2022135556A1 (zh) 2022-06-30

Similar Documents

Publication Publication Date Title
US10456004B2 (en) Mobile robot
US10877484B2 (en) Using laser sensor for floor type detection
US10678251B2 (en) Cleaning method for a robotic cleaning device
US9946263B2 (en) Prioritizing cleaning areas
KR102071947B1 (ko) 청소 로봇 및 그 제어방법
CN115151174A (zh) 一种清洁机器人及其清洁控制方法
CN110325938B (zh) 电动吸尘器
US20130204483A1 (en) Robot cleaner
GB2570240A (en) Electric vacuum cleaner
US11474533B2 (en) Method of detecting a difference in level of a surface in front of a robotic cleaning device
KR101555589B1 (ko) 청소기의 제어방법
WO2016005011A1 (en) Method in a robotic cleaning device for facilitating detection of objects from captured images
US20220299650A1 (en) Detecting objects using a line array
US20240159901A1 (en) Optical sensing system
Palacín et al. Measuring coverage performances of a floor cleaning mobile robot using a vision system
JP2018196513A (ja) 電気掃除機
KR100722762B1 (ko) 로봇 청소기의 장애물 형태 감지 장치 및 그 방법
KR20190123366A (ko) 로봇 청소기
CN110946512A (zh) 基于激光雷达和摄像头的扫地机器人的控制方法及装置
CN113613536B (zh) 机器人清扫器
WO2020059292A1 (ja) 自律走行掃除機
US20240197130A1 (en) Structured light module and self-moving device
CN116250765A (zh) 一种脏污清洁方法

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