CN207189671U - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
- Publication number
- CN207189671U CN207189671U CN201721078572.7U CN201721078572U CN207189671U CN 207189671 U CN207189671 U CN 207189671U CN 201721078572 U CN201721078572 U CN 201721078572U CN 207189671 U CN207189671 U CN 207189671U
- Authority
- CN
- China
- Prior art keywords
- range
- height
- self
- robot
- sensor
- 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.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
A kind of self-movement robot, including control unit robot body (10) and setting on the body, the robot body includes multilayer cartographic information harvester (20), obstacle information for Collecting operation environment different height, the multilayer cartographic information harvester includes the first range sensor and second distance sensor, first range sensor is arranged on robot body top, second distance sensor is arranged on robot body bottom, wherein, the finding range of the finding range ＞ second distance sensors of first range sensor.The utility model is by setting multilayer map harvester, it is ensured that self-movement robot is unimpeded in complex environment, safe and efficient walking, while reduces the storage capacity and amount of calculation of control unit, and production cost is reduced in the case where ensureing avoidance.
Description
Technical field
A kind of self-movement robot is the utility model is related to, belongs to small household appliances manufacturing technology field.
Background technology
With artificial intelligence technology research extensively and profoundly, research of the China to self-movement robot is just progressively goed deep into, right
The requirement of self-movement robot also more and more higher, but existing self-movement robot independence is performed under complex environment, can
When requiring higher task by property, weaker to environment sensing ability and bad to the avoidance effect of track route, integrated level is not
It is high.
Now robot on the market mostly using the sensor with two-dimentional perceptional function such as laser range sensor come
Detection barrier simultaneously build figure, although it can obtain larger detection range, its price is high, and be generally used for height compared with
On small sweeping robot.Because there is very more short and small barriers interior, robot still needs to travel through the exhausted big portion of working environment
Subregion could obtain the line drawing of working region, and it is less efficient to build figure.Or such as Chinese publication
Multi-function robot disclosed by CN201520339856.1, although robot body height is higher, laser range finder is set
In the bottom of robot, it still needs to the most areas for traveling through working environment when building figure, efficiency is low；There is one kind on the market
Using the first-class robot with three-dimensional perception function is imaged, figure and positioning are built using camera, although whole area can be obtained
The three-dimensional map in domain, but camera is not directly available the range information of barrier, it is necessary to carry out substantial amounts of data processing, response
Speed is slow and is easy to produce erroneous judgement.
Utility model content
Technical problem to be solved in the utility model is in view of the shortcomings of the prior art, there is provided a kind of from mobile machine
People, by setting multilayer map harvester, it is ensured that self-movement robot is unimpeded in complex environment, safe and efficient row
Walk, while reduce the storage capacity and amount of calculation of control unit, production cost is reduced in the case where ensureing avoidance.
Technical problem to be solved in the utility model is achieved by the following technical solution：
The utility model provides a kind of self-movement robot, including robot body and sets control on the body
Unit, the robot body include multilayer cartographic information harvester, the barrier for Collecting operation environment different height
Information, the multilayer cartographic information harvester include the first range sensor and second distance sensor, the first Distance-sensing
Device is arranged on robot body top, and second distance sensor is arranged on robot body bottom, wherein, the first range sensor
Finding range ＞ second distance sensors finding range.
Wherein, first range sensor and second distance sensor are respectively used to obtain the first height barrier thing information
With the second height barrier thing information, described control unit receives the first height barrier thing information and the second height barrier thing information simultaneously
Correspondence establishment the first level information two-dimensional map and the second level information two-dimensional map.
In order to improve the ability of multilayer cartographic information harvester, the multilayer cartographic information harvester also includes setting
The 3rd range sensor between the first range sensor and second distance sensor, and the survey of the 3rd range sensor
Away from scope between the finding range of the first range sensor and second distance sensor.
In order to facilitate positioning and building figure, first range sensor is laser range finder, and residing for laser range finder
The 4/5 of height ＞ robot body height.
In order that collision obstacle, the laser range finder are not arranged on robot body for robot body extreme higher position
On top surface, height ＞ robot bodies height and the height of the ranging working height range of laser range finder residing for laser range finder
Degree is poor.
Preferably, the robot body height ＞ 40cm.
In order to detect more barriers, the second distance sensor is ultrasonic range finder, the ultrasonic ranging
1/5 of height ＜ robot body height residing for instrument.
For anti-crosstalk, the ultrasonic range finder includes ultrasonic transmitter and ultrasonic receiver, the ultrasonic wave
Barriers are provided between transmitter and ultrasonic receiver, the barriers are located at the outer surface of self-movement robot body, use
Continuous surface between the cut-off ultrasonic transmitter and ultrasonic receiver.Preferably, the barriers is are arranged on
State a plurality of groove between ultrasonic transmitter and ultrasonic receiver.
Preferably, the 3rd range sensor is infrared range-measurement system, and the height residing for the infrared range-measurement system is machine
The 1/3-2/3 of human body's height.Specifically, the quantity of the infrared range-measurement system has 5, wherein 3 infrared range-measurement systems are with parallel
It is arranged in the mode of operation surface below laser range finder, in 3 infrared range-measurement systems below middle infrared range-measurement system
It is sequentially provided with other 2 infrared range-measurement systems.
Preferably, the self-movement robot is air purifying robot, and first range sensor is laser ranging
Instrument, the height ＞ 50cm of the air purifying robot, the height residing for the laser range finder are 50cm-60cm.
In summary, the utility model is by setting multilayer map harvester, it is ensured that self-movement robot is in complexity
Unimpeded in environment, safe and efficient walking, while reduce the storage capacity and amount of calculation of control unit, ensureing the situation of avoidance
Under reduce production cost.
Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is described in detail.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model self-movement robot.
Embodiment
Fig. 1 is the structural representation of the utility model self-movement robot.As shown in figure 1, the utility model provides one kind
Self-movement robot (such as air purifying robot, sweeping robot), including robot body 10 and it is arranged on the body
Control unit (not shown) on 10, the robot body 10 includes multilayer cartographic information harvester 20, for adopting
Collect the obstacle information of operating environment different height.The multilayer cartographic information harvester 20 is electrically connected with control unit,
The obstacle information collected is sent to control unit, control unit receives and handles the obstacle information of different height, root
Multilayer map is established according to obstacle information, the multilayer map includes the two-dimensional map of at least two Different Plane height.
The robot body 10 also includes the components such as walking unit 11, detection unit and functional unit.The walking is single
Member 11 can be by motor, driving wheel and driven wheels into for driving self-movement robot to walk；Detection unit is used to detect certainly
Operating environment and manipulating object of mobile robot etc., and detection signal is sent to control unit, to facilitate control unit
Self-movement robot is controlled to perform different functions；Functional unit can be polytype, for example, when functional unit includes cleaning
During component, self-movement robot can perform cleaning, and when functional unit includes mechanical arm, self-movement robot can be with
The functions such as carrying, crawl are realized, when functional unit includes air purifier, self-movement robot can purify air, this reality
With the new type for being not intended to limit functional unit.
The multilayer cartographic information harvester 20 includes multiple range sensors, residing for plurality of range sensor
Height is different, and the range sensor includes ultrasonic range finder 22, infrared range-measurement system 23 and laser range finder 21 etc..
Specifically, multilayer cartographic information harvester 20 can include the first range sensor and second distance senses
Device, the first range sensor are arranged on the top of robot body 10, and second distance sensor is arranged on the bottom of robot body 10,
Wherein, the finding range ＞ second distance sensors of the first range sensor, it is preferred that the ranging of first range sensor
Scope is more than 2 times of second distance sensor instrument distance scope.First range sensor and second distance the sensor difference
For the obstacle information of height where gathering it, i.e., described first range sensor and second distance sensor are respectively used to obtain
The first height barrier thing information and the second height barrier thing information are taken, described control unit receives and handles the obstacle of different height
Thing information (the first height barrier thing information and the second height barrier thing information), the two-dimensional map of level where correspondence establishment
(the first level information two-dimensional map and the second level information two-dimensional map).
Further, multilayer cartographic information harvester 20 also includes being arranged on the first range sensor and second distance passes
The 3rd range sensor between sensor, the finding range of the 3rd range sensor is between the first range sensor and second distance
Between the finding range of sensor.Preferably, as shown in figure 1, the first range sensor is laser range finder 21, second distance passes
Sensor is ultrasonic range finder 22, and the 3rd range sensor is infrared range-measurement system 23.
In the present embodiment, the finding range of laser range finder 21 is 3m-8m, it is preferred that it is 1 to set quantity.Laser Measuring
Distance meter 21 includes LASER Discharge Tube, reception pipe, motor and process chip etc., and under motor driven, laser range finder 21 passes through certainly
Turn the object in the range of 360 ° around measurement, while it is also equipped with the function of auxiliary positioning, because it is arranged on robot body
10 tops, the visual field is preferable, and the positioning of self-movement robot in the present embodiment is completed by laser range finder 21, can also
Using other sensors such as code-disc or gyroscope on self-movement robot etc. come auxiliary positioning, another aspect laser range finder 21
Barrier maximum height be can also confirm that to judge whether self-movement robot can pass through furniture as desk.Specifically,
Height (the machine of height (the distance between laser range finder 21 and operation surface) ＞ robot bodies 10 residing for laser range finder 21
The maximum height of the distance between the peak of device human body 10 and operation surface, i.e. self-movement robot) 4/5, specifically,
Laser range finder 21 can be arranged on the top surface of robot body 10, because laser range finder 21 is when measuring barrier,
There is ranging working height range L in the vertical direction itself, i.e., laser range finder, which is surveyed, actually launches small angle
Spindle light beam (being usually 1 ° -3 °) so that the laser range finder can be at least detected positioned at self-movement robot top surface and machine
The barrier of height, prevents self-movement robot top surface or laser range finder from colliding barrier between device human body's height.Cause
This, height ＞ robot bodies height and the height of the ranging working height range of laser range finder residing for laser range finder
Difference.Preferably, the height ＞ 40cm of robot body 10, further preferred ＞ 50cm, the altitude range residing for laser range finder 21
For 50cm-60cm.According to statistics, the height (such as tea table, seats, vase) of indoor most of short and small articles is generally lower than
50cm, the height residing for laser range finder 21 is controlled between 50cm-60cm, can effectively circumvent the resistance of above-mentioned barrier
Gear, efficiency of the laser range finder 21 when establishing map is improved, it, which needs to walk in the fraction region of operating environment, is
It can obtain the line drawing of whole operating environment.The method of the two-dimensional map of height where laser range finder positions and established it
Disclose and sensed using laser ranging for prior art, such as patent document CN101809461A and CN 200610053690.2
Device come build figure and positioning technical scheme, will not be repeated here.
The ultrasonic range finder 22 includes 3 ultrasonic transmitters 221 and 2 ultrasonic receivers 222, and this practicality is new
Type is not intended to limit quantity and the position of transmitter and receiver, and those skilled in the art can be adjusted according to being actually needed.
The characteristic of the ultrasonic range finder 22 is that measurement angle is wide, and the barrier in operating environment is typically all on ground, institute
The leak detection of barrier can be reduced as far as possible to be arranged on bottom；In addition, ultrasonic range finder 22 is to glass, (such as office has very
More glass walls) etc. the low material Effect on Detecting of infrared reflectivity it is good, ultrasonic range finder 22 is arranged on robot body 10
Bottom, self-movement robot is enabled to find various barriers (such as Foot of chair and sofa leg) in time when walking, so as to
Collision free.Specifically, the height (the distance between ultrasonic range finder 22 and operation surface) residing for ultrasonic range finder 22
The 1/5 of the height of ＜ robot bodies 10.Method of two-dimensional map of height is where ultrasonic range finder positions and established it
Prior art, patent document CN104536447A and CN201510363054.9 disclose to carry out building figure and positioning using ultrasonic wave
Technical scheme, will not be repeated here.
You need to add is that (do not show in figure provided with barriers between the ultrasonic transmitter and ultrasonic receiver
Go out), barriers are arranged on the outer surface of self-movement robot body, are connect for separating the ultrasonic transmitter and ultrasonic wave
The continuous surface between device is received, plays anti-crosstalk effect.Preferably, barriers include being arranged on ultrasonic transmitter and ultrasonic wave connects
Receive a plurality of groove between device.Barriers include but is not limited to groove or raised line, can also be intensive salient point or pit,
Either one section is isolated flexible glue etc..
Because the accuracy of detection of ultrasonic range finder 22 is relatively low, detecting distance is relatively short (1m or so), and Laser Measuring
Although the accuracy of detection of distance meter 21 and detecting distance are higher, its cost is also very high, therefore, the He of laser range finder 21 in the present embodiment
Infrared range-measurement system 23 is additionally provided between ultrasonic range finder 22, the detecting distance of infrared range-measurement system 23 is 1m-1.5m, is preferably
1.2m.The setting of infrared range-measurement system 23, the perfect detection range of detection unit 20, from mobile when avoiding the occurrence of special-shaped barrier
The problem of robot collides because can't detect.In order to not collided when ensureing self-movement robot work, infrared survey
The setting quantity of distance meter 23 is The more the better, but considers edge effect and production cost, the setting of the infrared range-measurement system 23
Quantity has 5, wherein 3 infrared range-measurement systems 23 are arranged in a manner of parallel to operation surface below laser range finder 21,3
Other 2 infrared range-measurement systems 23 are sequentially provided with positioned at the middle lower section of infrared range-measurement system 23 so that basic in infrared range-measurement system 23
Cover the barrier on self-movement robot direct of travel.Specifically, height (the infrared range-measurement system 23 residing for infrared range-measurement system 23
The distance between operation surface) be the height of robot body 10 1/3-2/3.Infrared range-measurement system 23 positions and established its institute
It is prior art in the method for the two-dimensional map of height, will not be repeated here.From the foregoing, established respectively in the present embodiment
5 two-dimensional maps, for forming multilayer map.
Table 1 shows that self-movement robot completes work when different height sets different distance sensor in experiment
Collision frequency.The height of self-movement robot employed in experiment is 60cm, and the numeral 21 in table is represented in corresponding height
There is provided laser range finder 21, numeral 22 represents is provided with ultrasonic range finder 22 in corresponding height, and numeral 23 is represented corresponding
Highly it is provided with infrared range-measurement system 23.From table 1 it follows that position sets different range sensors at various height
When, self-movement robot completes the collision frequency difference that work is undergone, and self-movement robot does not pass through in the experiment of serial number 1
What successive collision has just smoothly completed work.
Table 1
The characteristics of taking full advantage of different distance sensor using the detection unit 20 of the structure of sequence number 1, can almost detect
The obstacle frequently encountered to daily life, avoids the problem of self-movement robot collides when walking.
The utility model is not intended to limit the specific set location and height of range sensor, and those skilled in the art can be with
It is designed according to being actually needed.
Preferably, in order to facilitate working sensor, sensor can be arranged on rotary components (such as above-mentioned motor),
Enable the sensor to rotate around the periphery of robot body 10, or, robot body 10 can be arranged on rotary components,
Robot body 10 is rotated in place, i.e., can be not when self-movement robot is in the random site of operating environment
The obstacle information of large range of operating environment is obtained in the case of movement.
A kind of traveling method applied to self-movement robot as described above, methods described bag is also disclosed in the utility model
Include：
Step 1：The obstacle information of Collecting operation environment different height；
Step 2：The obstacle information of different height is handled, the corresponding two-dimensional map for generating multiple different heights, is established more
Layer map；
Step 3：The walking path of self-movement robot is planned according to multilayer map.
Wherein, plan that the walking path of self-movement robot can be planned walking automatically by self-movement robot in step 3
Walking path is planned in path by hand by user.
The course of work of self-movement robot is as follows in the utility model：
First, self-movement robot gathers different height in operating environment by multilayer cartographic information harvester 20
Detection signal is sent to control unit by obstacle information, multilayer cartographic information harvester 20 after information is gathered, and control is single
Member is according to the two-dimensional map of the obstacle information of the multiple corresponding different heights of the obstacle information generation for including different height, planning
Walking is performed after the walking path of self-movement robot, for example, the obstacle information in each two-dimensional map is taken into union, is obtained
All obstacle informations of operating environment, so as to avoid self-movement robot in the process of walking with the obstacle in operating environment
Thing collides.
The utility model is by setting multilayer map harvester, it is ensured that self-movement robot is smooth in complex environment
Logical, safe and efficient walking, while reduce the storage capacity and amount of calculation of control unit, reduced in the case where ensureing avoidance
Production cost.
Claims (12)
1. a kind of self-movement robot, including robot body (10) and control unit on the body is set, the machine
Device human body includes multilayer cartographic information harvester (20), for the obstacle information of Collecting operation environment different height, its
It is characterised by, the multilayer cartographic information harvester includes the first range sensor and second distance sensor, the first distance
Sensor is arranged on robot body top, and second distance sensor is arranged on robot body bottom, wherein, the first distance passes
The finding range of the finding range ＞ second distance sensors of sensor.
2. self-movement robot as claimed in claim 1, it is characterised in that first range sensor and second distance pass
Sensor is respectively used to obtain the first height barrier thing information and the second height barrier thing information, and it is high that described control unit receives first
Spend obstacle information and the second height barrier thing information and correspondence establishment the first level information two-dimensional map and the second plane
Elevation information two-dimensional map.
3. self-movement robot as claimed in claim 1, it is characterised in that the multilayer cartographic information harvester also includes
The 3rd range sensor being arranged between the first range sensor and second distance sensor, and the 3rd range sensor
Finding range between the finding range of the first range sensor and second distance sensor.
4. self-movement robot as claimed in claim 1, it is characterised in that first range sensor is laser range finder
(21), the laser range finder is arranged on the top surface of robot body (10), the height ＞ robots residing for laser range finder
The difference in height of the ranging working height range of body height and laser range finder.
5. self-movement robot as claimed in claim 4, it is characterised in that robot body (10) the height ＞ 40cm.
6. self-movement robot as claimed in claim 1, it is characterised in that first range sensor is laser range finder
(21) 4/5 of height ＞ robot bodies (10) height, and residing for laser range finder.
7. self-movement robot as claimed in claim 1, it is characterised in that the second distance sensor is ultrasonic ranging
Instrument (22), 1/5 of height ＜ robot bodies (10) height residing for the ultrasonic range finder.
8. self-movement robot as claimed in claim 7, it is characterised in that the ultrasonic range finder (22) includes ultrasonic wave
Transmitter (221) and ultrasonic receiver (222), are provided with barriers between the ultrasonic transmitter and ultrasonic receiver,
The barriers are located at the outer surface of self-movement robot body, for separating the ultrasonic transmitter and ultrasonic receiver
Between continuous surface.
9. self-movement robot as claimed in claim 8, it is characterised in that the barriers are sent out to be arranged on the ultrasonic wave
A plurality of groove between emitter (221) and ultrasonic receiver (222).
10. self-movement robot as claimed in claim 3, it is characterised in that the 3rd range sensor is infrared distance measurement
Instrument (23), the height residing for the infrared range-measurement system are the 1/3-2/3 of robot body (10) height.
11. self-movement robot as claimed in claim 10, it is characterised in that the quantity of the infrared range-measurement system (23) has 5
It is individual, wherein 3 infrared range-measurement systems are arranged in a manner of parallel to operation surface below laser range finder (21), 3 infrared surveys
In distance meter other 2 infrared range-measurement systems are sequentially provided with below middle infrared range-measurement system.
12. self-movement robot as claimed in claim 1, it is characterised in that the self-movement robot is air cleaner
Device people, first range sensor are laser range finder, the height ＞ 50cm of the air purifying robot, the Laser Measuring
Height residing for distance meter is 50cm-60cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721078572.7U CN207189671U (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721078572.7U CN207189671U (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207189671U true CN207189671U (en) | 2018-04-06 |
Family
ID=61795453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721078572.7U Active CN207189671U (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207189671U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108726633A (en) * | 2018-06-20 | 2018-11-02 | 虞惠敏 | A kind of softening water processing robot of automatically walk cleaning |
| WO2019037668A1 (en) * | 2017-08-25 | 2019-02-28 | 科沃斯机器人股份有限公司 | Self-moving robot and travel method thereof, and obstacle distribution display method |
| CN109421055A (en) * | 2017-08-25 | 2019-03-05 | 科沃斯机器人股份有限公司 | Self-movement robot |
| WO2020221123A1 (en) * | 2019-04-28 | 2020-11-05 | 郑州宇通客车股份有限公司 | Vehicle control system based on height of obstacle, and vehicle |
| WO2020243901A1 (en) * | 2019-06-04 | 2020-12-10 | Texas Instruments Incorporated | An optical time of flight sensor for navigation systems in robotic applications |
| CN112155487A (en) * | 2019-08-21 | 2021-01-01 | 追创科技(苏州)有限公司 | Sweeping robot, control method of sweeping robot and storage medium |
-
2017
- 2017-08-25 CN CN201721078572.7U patent/CN207189671U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019037668A1 (en) * | 2017-08-25 | 2019-02-28 | 科沃斯机器人股份有限公司 | Self-moving robot and travel method thereof, and obstacle distribution display method |
| CN109421055A (en) * | 2017-08-25 | 2019-03-05 | 科沃斯机器人股份有限公司 | Self-movement robot |
| CN108726633A (en) * | 2018-06-20 | 2018-11-02 | 虞惠敏 | A kind of softening water processing robot of automatically walk cleaning |
| WO2020221123A1 (en) * | 2019-04-28 | 2020-11-05 | 郑州宇通客车股份有限公司 | Vehicle control system based on height of obstacle, and vehicle |
| WO2020243901A1 (en) * | 2019-06-04 | 2020-12-10 | Texas Instruments Incorporated | An optical time of flight sensor for navigation systems in robotic applications |
| US11733360B2 (en) | 2019-06-04 | 2023-08-22 | Texas Instruments Incorporated | Optical time of flight sensor for navigation systems in robotic applications |
| CN112155487A (en) * | 2019-08-21 | 2021-01-01 | 追创科技(苏州)有限公司 | Sweeping robot, control method of sweeping robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207189671U (en) | Self-movement robot | |
| CN207189673U (en) | Self-movement robot | |
| CN109426248A (en) | The method of self-movement robot and its traveling method, display distribution of obstacles | |
| CN105425801B (en) | Intelligent cleaning robot and its clean method based on advanced Path Planning Technique | |
| US20220167820A1 (en) | Method and Apparatus for Constructing Map of Working Region for Robot, Robot, and Medium | |
| CN107920709A (en) | Robotic cleaning device system | |
| Hasan et al. | Path planning algorithm development for autonomous vacuum cleaner robots | |
| CN104731101B (en) | Clean robot indoor scene Map building method and robot | |
| US20220039623A1 (en) | Autonomous vacuum operation in response to dirt detection | |
| CN108196555A (en) | The control method that autonomous mobile robot is walked along side | |
| CN207164586U (en) | A kind of sweeping robot navigation system | |
| CN209574563U (en) | Clean robot | |
| US7085624B2 (en) | Autonomous machine | |
| CN105813528B (en) | The barrier sensing of robotic cleaning device is creeped | |
| KR20190077481A (en) | Robot mapping system and method | |
| CN110393482A (en) | Maps processing method and clean robot | |
| CN107357297A (en) | A kind of sweeping robot navigation system and its air navigation aid | |
| CN108852184A (en) | A kind of non-blind area sweeping robot and its cleaning control method based on deep learning algorithm | |
| CN103431812A (en) | Cleaning robot based on ultrasonic radar detection and travelling control method thereof | |
| CN107402569A (en) | Self-movement robot and map constructing method, assembly robot's map call method | |
| CN106970623A (en) | Intelligent cleaning device and its trellis paths operational method | |
| EA039532B1 (en) | Automatic cleaning device and cleaning method | |
| CN109512344A (en) | A kind of mobile robot | |
| CN102981148B (en) | Positioning system and method thereof | |
| CN107491077A (en) | A kind of indoor floor-sweeping machine device people based on cell phone application control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |