CN115657695A - Walking control method and device of underwater cleaning robot - Google Patents
Walking control method and device of underwater cleaning robot Download PDFInfo
- Publication number
- CN115657695A CN115657695A CN202211288802.8A CN202211288802A CN115657695A CN 115657695 A CN115657695 A CN 115657695A CN 202211288802 A CN202211288802 A CN 202211288802A CN 115657695 A CN115657695 A CN 115657695A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- cleaning robot
- robot
- along
- starting position
- 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
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a walking control method of an underwater cleaning robot, which comprises the steps of determining a cleaning starting position, cleaning a first side area along a first direction from the cleaning starting position until a first designated position is reached, controlling the cleaning robot to return to the cleaning starting position, controlling the cleaning robot to clean along a second direction until a second designated position is reached, and controlling the cleaning robot to finish cleaning. According to the technical scheme, the determination of the cleaning starting position is added in the process of controlling the robot to clean the swimming pool, so that repeated cleaning is avoided, the logic judgment complexity of the robot is simplified, and the cruising time of single operation of the robot is prolonged while the robot can complete the cleaning task.
Description
Technical Field
The invention relates to the field of robot cleaning, in particular to a walking control method and a walking control device for an underwater cleaning robot.
Background
In the process of cleaning the dirt at the bottom of the swimming pool, the walking path of the automatic swimming pool cleaning robot directly determines the cleaning efficiency, the number of missed cleaning areas, the number of repeated cleaning areas and the cleaning time. The quality of the walking path is a key index for measuring the working performance of the cleaning machine.
The prior art discloses a walking path planning method and a walking path planning device of a multifunctional swimming pool cleaning robot, which have the functions of adapting to swimming pools with various shapes, carrying out obstacle avoidance cleaning on obstacles at the bottom of the swimming pool, avoiding repeated cleaning and the like. However, the solutions disclosed in the prior art require extremely high costs and are extremely complex in logic decisions, which results in long cleaning times.
Disclosure of Invention
The invention provides a walking control method and a walking control device for an underwater cleaning robot, and aims to solve the technical problems of high cost, complicated logic judgment and repeated cleaning.
In order to solve the technical problem, an embodiment of the present invention provides a walking control method for an underwater cleaning robot, including the following steps:
determining a cleaning starting position, wherein the cleaning starting position is that the cleaning robot walks to touch the pool wall along any direction after falling into water;
cleaning a first side area, wherein the cleaning robot cleans from the cleaning starting position along a first direction until reaching a first designated position;
returning to the cleaning starting position, and controlling the cleaning robot to return to the cleaning starting position after the cleaning robot reaches the first designated position;
and cleaning a second side area, controlling the cleaning robot to clean along a second direction after the cleaning robot returns to the cleaning starting position until reaching a second appointed position, and then controlling the cleaning robot to finish cleaning.
Compared with the technology of controlling the walking path of the cleaning machine by calculating various data through the ultrasonic sensor and the photoelectric encoder in the prior art, the step of determining the cleaning starting position is added in the cleaning process, the repeated cleaning condition is avoided, and the cleaning efficiency is improved. Meanwhile, the cleaning robot has no requirement and limitation on the determination of the cleaning starting position, the first designated position and the second designated position, a user can put the cleaning robot into the swimming pool at any angle and at any position, and the cleaning robot can determine the corresponding position by self judgment, so that the operation of the user is greatly facilitated. Meanwhile, the cleaning robot can be guaranteed to be cleaned in place only by changing the advancing direction of the corresponding specified position, the problem that the logic judgment of the cleaning robot is too complex is solved, meanwhile, the time required by the logic judgment of the robot is reduced, and the cruising time of single operation of the robot is prolonged.
As a preferred example, the first side region and the second side region do not overlap.
According to the technical scheme of the embodiment, the first side area and the second side area are not overlapped, the condition of repeated cleaning is avoided, and the cleaning efficiency is improved.
As a preferred example, the cleaning robot is controlled to return to the cleaning start position in an arbitrary direction, preferably in a straight line.
The technical solution provided in this embodiment includes, but is not limited to, returning to the cleaning start position along a straight line, and the return route may be selected by the user, and if the user does not select, the technical solution is preferably a straight line return.
As a preferred example, the cleaning robot cleans along a first direction from the cleaning start position until reaching a first designated position, specifically:
controlling the cleaning robot to perform arch cleaning in the first side area along the first direction until a first designated position is reached, and recording the number of arches in real time;
the cleaning robot carries out arch cleaning along a second direction in a second side area until reaching a second appointed position;
when the cleaning robot detects the pool wall, the cleaning robot is controlled to rotate 90 degrees along the first direction or the second direction and then rotate 90 degrees in the same direction to move forwards.
This embodiment is through the record to the bow-shaped quantity of robot, for later stage calculation return angle make earlier stage preparation, bow-shaped washing also can avoid appearing wasing the omission problem simultaneously as far as possible.
As a preferred example, the step until the first designated position is reached specifically includes:
and controlling the cleaning robot to do the bow-shaped cleaning along the first direction in the first side area, and recording the current touch position as the first designated position when the cleaning robot is detected to touch the pool wall and the travelable distance along the first direction is determined to be insufficient for next bow-shaped cleaning.
The distance between the cleaning robot and the pool wall is monitored in real time through the distance sensor, the cleaning size of the cleaning robot is compared with the cleaning size of the cleaning robot, a first designated position is determined, and the cleaning area is guaranteed not to be omitted.
As a preferred example, the above-mentioned time until reaching the second designated position specifically includes:
and controlling the cleaning robot to do the bow-shaped cleaning along the second direction in the second side area, and when the cleaning robot is detected to touch the pool wall and the travelable distance along the second direction is determined not to be enough for next bow-shaped cleaning, recording the current touch position as the second designated position.
As a preferable example, after the cleaning robot reaches the first designated position, the control unit controls the cleaning robot to return to the cleaning start position, specifically:
after the cleaning robot reaches the first designated position, rotating a return angle and returning to the cleaning starting position along a straight line;
wherein the return angle is determined by the forward direction of the cleaning robot;
if the advancing direction of the cleaning robot at the first designated position is the same as the advancing direction of the cleaning robot at the cleaning starting position, the cleaning robot rotates 90 degrees to the cleaning starting position and advances along a straight line to return to the cleaning starting position;
and if the advancing direction of the cleaning robot at the first designated position is different from the advancing direction of the cleaning robot at the cleaning starting position, calculating to obtain the return angle according to the number of the arches, rotating the return angle, and advancing along a straight line to return to the cleaning starting position.
In the embodiment, the specific position of the first designated position is judged by comparing the measured values of the course angle of the inertial sensor of the cleaning robot at the cleaning starting position and the first designated position, so that the requirement limit of the cleaning robot on the designated position is reduced; meanwhile, the specific position of the first designated position is judged, so that the cleaning robot can flexibly select the rotation angle and the advancing distance.
As a preferred example, the first side region and the second side region comprise at least one arcuate path, the distance between adjacent arcuate paths being less than or equal to a robot cleaning dimension;
wherein the arcuate path is a travel route of the cleaning robot during arcuate cleaning.
In the embodiment, the cleaning completion degree of the cleaning robot is determined by setting the distance between the adjacent arc paths to be less than or equal to the cleaning distance of the robot, so that the cleaning speed of the robot is increased, and the completion degree of the cleaning work of the robot is ensured, thereby improving the cleaning efficiency of the robot.
As a preferred example, when the cleaning robot reaches the cleaning start position, the position of the cleaning robot is adjusted until the cleaning robot is perpendicular to the wall of the pool, and then the arcuate cleaning is performed.
This embodiment provides for later arcuate cleaning and return angle calculations by adjusting the positional orientation of the cleaning robot when it reaches the cleaning start position, determining that the cleaning robot is oriented in a direction perpendicular to the walls of the pool at the beginning of the first side area cleaning.
Correspondingly, the embodiment of the invention also provides a walking control device of the underwater cleaning robot, which comprises: a distance sensor, an inertial sensor, a direction control device;
wherein the distance sensor is used for detecting the distance between the cleaning robot and the pool wall;
the inertial sensor is used for detecting the course angle of the cleaning robot;
and the direction control device is used for controlling the walking direction of the cleaning robot.
Drawings
FIG. 1: the invention provides a flow diagram of an embodiment of a walking control method of an underwater cleaning robot;
FIG. 2: a schematic flow diagram of an embodiment of a cleaning robot returning to a cleaning start position according to the present invention;
FIG. 3: the invention provides a schematic structural diagram of an embodiment of a walking control device of an underwater cleaning robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, a flow chart of an embodiment of a walking control method of an underwater cleaning robot according to an embodiment of the present invention includes steps 101 to 104, and each of the steps specifically includes:
step 101: and determining a cleaning starting position, wherein the cleaning starting position is that the cleaning robot walks to touch the pool wall along any direction after falling into water.
In this embodiment, in the prior art, the control of the cleaning robot needs to determine the next action of the robot through an extremely complex determination logic, which includes a large number of calculation formulas and a process of sorting the calculation data, so that the time required for the determination process is long, and the manufacturing cost of the cleaning robot is high. Therefore, the invention adds the judgment and the determination of the cleaning starting point in the control process of the common cleaning robot, and avoids the problem of repeated cleaning after the first designated position is determined. Meanwhile, the invention is a cleaning robot control method for the rectangular swimming pool, so that the logic judgment required in the cleaning process is simple and clear, and the corresponding required judgment time is short, thereby improving the endurance time of the robot in single operation and reducing the energy consumption of the robot for cleaning the whole swimming pool.
In this embodiment, the cleaning robot can be placed in the swimming pool at any angle, and the cleaning work can be carried out without manual intervention in the whole cleaning process. The distance sensor of the walking control device of the cleaning robot is responsible for monitoring the walking process of the robot in real time, and the robot can conveniently perform positioning work. The cleaning starting position is that the cleaning robot walks linearly along any direction from the floor position of the swimming pool to the place where the robot touches the wall of the swimming pool, and when the robot walks in the swimming pool, a distance sensor in the control device monitors whether the robot advances to touch the wall of the swimming pool in real time so as to determine that the swimming pool is cleaned completely. Meanwhile, the specific position of the cleaning starting position is not limited in the embodiment, and when the cleaning robot linearly advances from the place where the swimming pool falls to touch the wall of the swimming pool in any direction, the place is determined as the cleaning starting position.
And after the initial cleaning position is reached, controlling the cleaning robot to adjust the position until the cleaning robot is vertical to the wall of the swimming pool and back to the wall of the swimming pool, and then controlling the cleaning robot to start subsequent cleaning. The cleaning robot can perform the adjustment operation after moving to the cleaning starting position every time, so that the subsequent control of the cleaning robot to perform the arc cleaning is ensured to be more smooth.
Step 102: and cleaning a first side area, wherein the cleaning robot cleans along a first direction from the cleaning starting position until reaching a first designated position.
In this embodiment, the robot cleaning mode is an arc cleaning mode, which can ensure the completeness of the swimming pool cleaning to the greatest extent. The first designated position is also not particularly limited, which means that the traveling direction of the robot when the robot starts cleaning and the traveling direction of the robot when the robot reaches the first designated position may be the same or opposite, and a judgment is made for two different cases to determine that the subsequent step 103 returns to the cleaning start position to be performed smoothly.
In this embodiment, the arcuate cleaning is performed by controlling the cleaning robot to rotate 90 degrees in the first direction or the second direction and then to rotate 90 degrees in the same direction and then to move forward when the cleaning robot detects the pool wall. And simultaneously, when the cleaning robot performs bow-shaped cleaning in the first side area along the first direction, the bow number and the walking distance of the cleaning robot touching the pool wall during the first bow-shaped cleaning are recorded in real time until the first specified position is reached, and preparation is made for subsequent calculation of the return angle.
In this embodiment, the first direction is not limited, and the cleaning robot is controlled to perform arcuate cleaning to perform 90-degree rotation in the first direction, which includes both clockwise and counterclockwise rotation directions.
The first side area comprises at least one arched path, the arched path is a traveling path of the cleaning robot during arched cleaning, and the distance between every two adjacent arched paths is smaller than or equal to the cleaning size of the robot, so that the cleaning degree of the cleaning robot during arched cleaning is ensured, the cleaning speed of the cleaning robot is improved, and the quality of cleaning work completion is also ensured. If the cleaning starting position of the cleaning robot is located at the corner of the swimming pool, after the first side area is cleaned, the distance sensor of the body of the cleaning robot detects and determines that the second side area is not needed to be cleaned, namely, the second side area does not exist, and the cleaning robot stops cleaning after the first side area is cleaned.
In this embodiment, the cleaning robot is controlled to perform the arcuate cleaning in the first direction in the first side area, and when it is detected that the cleaning robot touches a pool wall and it is determined that the travelable distance in the first direction is not sufficient for the next arcuate cleaning, the current touched position is recorded as the first designated position. This embodiment is through distance sensor real-time supervision cleaning robot and the distance of pool wall promptly to compare its washing size with cleaning robot, confirm first assigned position and confirm the washing completion degree in the first side region of swimming pool simultaneously, guarantee that the washing region does not have the omission.
Step 103: and returning to the cleaning starting position, and controlling the cleaning robot to return to the cleaning starting position after the cleaning robot reaches the first designated position.
In this embodiment, the cleaning robot is controlled to return to the cleaning start position from the first designated position, including but not limited to returning along a straight line, the user may set a return route by himself or herself as desired, and if the user does not make any relevant setting, the cleaning robot preferably returns to the cleaning start position along a straight line.
Step 104: and cleaning a second side area, controlling the cleaning robot to clean along a second direction after the cleaning robot returns to the cleaning starting position until reaching a second appointed position, and then controlling the cleaning robot to finish cleaning.
In this embodiment, the cleaning robot is controlled to clean the second side area of the swimming pool, wherein the second side area is not overlapped with the first side area, so that the repeated cleaning is avoided, and the cleaning efficiency is improved.
Also in this embodiment, the cleaning robot cleans in a second direction, which is opposite to the first direction. Namely, if the first direction is clockwise rotation, the second direction is anticlockwise rotation; if the first direction is counterclockwise rotation, the second direction is clockwise rotation.
In this embodiment, the reaching of the second designated position is specifically to control the cleaning robot to perform the arcuate cleaning in the second direction in the second side area, and when it is detected that the cleaning robot touches the pool wall and it is determined that the travelable distance in the second direction is not enough for performing the next arcuate cleaning, the current touched position is recorded as the second designated position.
In this embodiment, the second assigned position does not do the restriction equally, and cleaning robot washs to first assigned position from wasing the initial position, returns after and washs the initial position and begin to wash, to the second assigned position, has guaranteed the comprehensive washing of whole swimming pool, has avoided repeated washing to ensure the integrality in washing region simultaneously.
As another example of the embodiment of the present invention, referring to fig. 2, fig. 2 is a schematic flowchart of an embodiment of returning the cleaning robot to the cleaning start position according to the present invention. FIG. 2 is a block diagram of a specific embodiment of step 103 of FIG. 1, wherein the first designated position is determined to be reached when a pool wall is detected by a distance sensor mounted on the body of the cleaning robot, the current course angle of the cleaning robot is detected by an inertial sensor, the current course angle is compared with the course angle of the cleaning robot at the cleaning start position, and if the two are the same, the cleaning robot rotates 90 degrees to the cleaning start position and travels along a straight line back to the cleaning start position; if the two are different, the return angle is calculated according to the number of the arches, and the return angle is rotated and returns to the cleaning starting position along the straight line.
In this example, the return angle includes, but is not limited to, controlling the cleaning robot to rotate 180 degrees and then rotate clockwise by a first angle, or controlling the cleaning robot to rotate 90 degrees and then rotate counterclockwise by a second angle. Wherein, first angle is the arctangent value of the regional side length of first side of swimming pool and cleaning robot walking distance, and the second angle is the arctangent value of cleaning robot walking distance and the regional side length of first side of swimming pool.
Wherein, the product of two data of bow-shaped quantity and robot body width that cleaning robot gathered before the regional length of side of the first side of swimming pool was before the cleaning process, the regional diagonal length of the first side of swimming pool is the product of the regional length of side of the first side of swimming pool and robot walking distance.
According to the cleaning robot, the rotating angle required by the cleaning robot can be obtained through twice rotation and twice calculation, the advancing direction of the robot is ensured to be the cleaning starting direction, the calculation process is simplified, the calculation time of the cleaning robot is shortened, and the cleaning efficiency of the cleaning robot is improved.
In order to better explain the working principle and the step flow of the walking control method of the underwater cleaning robot of the present invention, refer to the above related descriptions without limitation.
Correspondingly, referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of the walking control device of the underwater cleaning robot provided by the invention. The device includes: a distance sensor, an inertial sensor, a direction control device;
wherein the distance sensor is used for detecting the distance between the cleaning robot and the pool wall;
the inertial sensor is used for detecting the course angle of the cleaning robot;
and the direction control device is used for controlling the walking direction of the cleaning robot.
In conclusion, the invention provides a walking control method and a walking control device of an underwater cleaning robot, which are characterized in that the determination of a cleaning starting position is added in the control process, the repeated cleaning is avoided, meanwhile, only two times of calculation, two times of rotation and one time of comparison are carried out in the advancing process, the logic judgment complexity of the robot is greatly simplified, and the single operation duration of the robot is improved while the robot is ensured to completely complete the cleaning task.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.
Claims (10)
1. A walking control method of an underwater cleaning robot is characterized by comprising the following steps:
determining a cleaning starting position, wherein the cleaning starting position is that the cleaning robot walks to touch the pool wall along any direction after falling into water;
cleaning a first side area, wherein the cleaning robot cleans from the cleaning starting position along a first direction until reaching a first designated position;
returning to the cleaning starting position, and controlling the cleaning robot to return to the cleaning starting position after the cleaning robot reaches the first designated position;
and cleaning a second side area, controlling the cleaning robot to clean along a second direction after the cleaning robot returns to the cleaning starting position until reaching a second appointed position, and then controlling the cleaning robot to finish cleaning.
2. A method as claimed in claim 1, wherein said first side area and said second side area do not overlap.
3. A walking control method of an underwater cleaning robot according to claim 1, wherein the cleaning robot is controlled to return to the cleaning start position in an arbitrary direction, preferably in a straight line.
4. The walking control method of an underwater cleaning robot as claimed in claim 1, wherein the cleaning robot cleans from the cleaning start position along a first direction until reaching a first designated position, specifically:
controlling the cleaning robot to perform arch cleaning in the first side area along the first direction until a first designated position is reached, and recording the number of arches in real time;
the cleaning robot carries out arch cleaning along a second direction in a second side area until reaching a second appointed position;
when the cleaning robot detects the pool wall, the cleaning robot is controlled to rotate 90 degrees along the first direction or the second direction and then rotate 90 degrees in the same direction to advance.
5. The walking control method of an underwater cleaning robot as claimed in claim 4, wherein said step until reaching a first designated position is specifically:
and controlling the cleaning robot to do the bow-shaped cleaning along the first direction in the first side area, and recording the current touch position as the first designated position when the cleaning robot is detected to touch the pool wall and the travelable distance along the first direction is determined to be insufficient for next bow-shaped cleaning.
6. The walking control method of the underwater cleaning robot as claimed in claim 4, wherein the step until reaching the second designated position is specifically:
and controlling the cleaning robot to perform the arch cleaning along the second direction in the second side area, and when the cleaning robot is detected to touch the pool wall and the travelable distance along the second direction is determined not to be enough for next arch cleaning, recording the current touch position as the second designated position.
7. The method for controlling the walking of the underwater cleaning robot according to claim 1, wherein after the cleaning robot reaches the first designated position, the cleaning robot is controlled to return to the cleaning start position, specifically:
after the cleaning robot reaches the first designated position, rotating a return angle and returning to the cleaning starting position along a straight line;
wherein the return angle is determined by the forward direction of the cleaning robot;
if the advancing direction of the cleaning robot at the first designated position is the same as the advancing direction of the cleaning robot at the cleaning starting position, the cleaning robot rotates 90 degrees to the cleaning starting position and advances along a straight line to return to the cleaning starting position;
and if the advancing direction of the cleaning robot at the first designated position is different from the advancing direction of the cleaning robot at the cleaning starting position, calculating to obtain the return angle according to the number of the arches, rotating the return angle, and advancing along a straight line to return to the cleaning starting position.
8. A method of walk control for an underwater cleaning robot as recited in claim 4, wherein said first side region and said second side region include at least one arcuate path, the distance between adjacent arcuate paths being less than or equal to a robot sweep dimension;
wherein the arcuate path is a travel route of the cleaning robot during arcuate cleaning.
9. The method as claimed in claim 1, wherein when the cleaning robot reaches the cleaning start position, the position of the cleaning robot is adjusted until the cleaning robot is perpendicular to the wall of the pool, and then the arcuate cleaning is performed.
10. A walking control device of an underwater cleaning robot, characterized by comprising: a distance sensor, an inertial sensor, a direction control device;
the distance sensor is used for detecting the distance between the cleaning robot and the pool wall;
the inertial sensor is used for detecting the course angle of the cleaning robot;
and the direction control device is used for controlling the walking direction of the cleaning robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211288802.8A CN115657695A (en) | 2022-10-20 | 2022-10-20 | Walking control method and device of underwater cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211288802.8A CN115657695A (en) | 2022-10-20 | 2022-10-20 | Walking control method and device of underwater cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115657695A true CN115657695A (en) | 2023-01-31 |
Family
ID=84989750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211288802.8A Pending CN115657695A (en) | 2022-10-20 | 2022-10-20 | Walking control method and device of underwater cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115657695A (en) |
-
2022
- 2022-10-20 CN CN202211288802.8A patent/CN115657695A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112137529B (en) | Cleaning control method based on dense obstacles | |
| CN107368079B (en) | The planing method and chip in robot cleaning path | |
| CN107703930B (en) | The continuous of robot sweeps control method | |
| CN106527423B (en) | Cleaning robot and control method thereof | |
| CN107544517B (en) | Control method of intelligent cleaning robot | |
| CN107340768B (en) | Path planning method of intelligent robot | |
| CN108634886B (en) | Control method and chip after robot cleaning interruption | |
| CN106970623B (en) | Intelligent cleaning device and grid path operation method thereof | |
| JP3598881B2 (en) | Cleaning robot | |
| JP2023501569A (en) | Area cleaning planning method, tip and robot where robot travels along edges | |
| KR100963783B1 (en) | Controlling method of robot cleaner | |
| CN102063123B (en) | Control method of performing rotational traveling of robot cleaner | |
| CN109997089A (en) | Floor treatment machine and floor treatment method | |
| CN107390698A (en) | The benefit of sweeping robot sweeps method and chip | |
| CN110236455A (en) | Control method, device, equipment and the storage medium of floor-mopping robot | |
| CN107678429B (en) | Robot control method and chip | |
| WO2014135008A1 (en) | Edge-to-center cleaning method used by robot cleaner | |
| JPH04333902A (en) | Automatic running cleaning system of cleaner | |
| JP2002204769A (en) | Self-propelled cleaner | |
| KR20080098842A (en) | Cleaning robot unit and cleaning method using thereof | |
| KR101412582B1 (en) | Robot cleaner and controlling method of the same | |
| KR100728226B1 (en) | The Driving Control Apparatus for Moving Robot and Method Thereof | |
| CN106774359A (en) | A kind of vehicle body attitude method of adjustment of sweeping robot | |
| KR100963781B1 (en) | Controlling method of robot cleaner | |
| CN106774302A (en) | A kind of method of sweeping robot avoiding barrier |
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 |