CN104216404A - 一种自移动装置及其控制方法 - Google Patents
一种自移动装置及其控制方法 Download PDFInfo
- Publication number
- CN104216404A CN104216404A CN201310213355.4A CN201310213355A CN104216404A CN 104216404 A CN104216404 A CN 104216404A CN 201310213355 A CN201310213355 A CN 201310213355A CN 104216404 A CN104216404 A CN 104216404A
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- lower view
- view sensor
- control module
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- self
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- 238000000034 method Methods 0.000 title claims description 19
- 238000004891 communication Methods 0.000 claims description 3
- 239000002699 waste material Substances 0.000 abstract description 8
- 239000000725 suspension Substances 0.000 abstract description 2
- 239000000428 dust Substances 0.000 description 8
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 241000519996 Teucrium chamaedrys Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
Claims (10)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310213355.4A CN104216404B (zh) | 2013-05-31 | 2013-05-31 | 一种自移动装置及其控制方法 |
EP14804380.5A EP3007023B1 (en) | 2013-05-31 | 2014-05-29 | Self-moving device and control method therefor |
PCT/CN2014/078784 WO2014190919A1 (zh) | 2013-05-31 | 2014-05-29 | 一种自移动装置及其控制方法 |
JP2016515639A JP6815197B2 (ja) | 2013-05-31 | 2014-05-29 | 自走式装置およびその制御方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310213355.4A CN104216404B (zh) | 2013-05-31 | 2013-05-31 | 一种自移动装置及其控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104216404A true CN104216404A (zh) | 2014-12-17 |
CN104216404B CN104216404B (zh) | 2017-02-15 |
Family
ID=51988013
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310213355.4A Active CN104216404B (zh) | 2013-05-31 | 2013-05-31 | 一种自移动装置及其控制方法 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3007023B1 (zh) |
JP (1) | JP6815197B2 (zh) |
CN (1) | CN104216404B (zh) |
WO (1) | WO2014190919A1 (zh) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108089580A (zh) * | 2017-12-14 | 2018-05-29 | 北京奇虎科技有限公司 | 智能扫地装置沿边工作的方法及装置 |
CN108720729A (zh) * | 2017-04-14 | 2018-11-02 | 科沃斯机器人股份有限公司 | 清洁机器人 |
CN108724143A (zh) * | 2018-05-31 | 2018-11-02 | 深圳市银星智能科技股份有限公司 | 移动机器人及其控制方法 |
WO2018201713A1 (zh) * | 2017-05-03 | 2018-11-08 | 深圳市银星智能科技股份有限公司 | 清洁设备 |
CN110051290A (zh) * | 2019-04-04 | 2019-07-26 | 尚科宁家(中国)科技有限公司 | 一种控制扫地机器人的方法 |
WO2019165860A1 (zh) * | 2018-03-02 | 2019-09-06 | 科沃斯机器人股份有限公司 | 清洁机器人及其运行控制方法 |
US10905298B2 (en) | 2017-05-03 | 2021-02-02 | Shenzhen Silver Star Intelligent Technology Co., Ltd. | Cleaning equipment |
US10925447B2 (en) | 2017-03-10 | 2021-02-23 | Sharkninja Operating Llc | Agitator with debrider and hair removal |
WO2021184747A1 (zh) * | 2020-03-20 | 2021-09-23 | 美智纵横科技有限责任公司 | 控制方法、装置以及存储介质 |
US11202542B2 (en) | 2017-05-25 | 2021-12-21 | Sharkninja Operating Llc | Robotic cleaner with dual cleaning rollers |
US11525921B2 (en) | 2018-04-03 | 2022-12-13 | Sharkninja Operating Llc | Time of flight sensor arrangement for robot navigation and methods of localization using same |
US11583158B2 (en) | 2018-08-01 | 2023-02-21 | Sharkninja Operating Llc | Robotic vacuum cleaner |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102343513B1 (ko) * | 2015-04-17 | 2021-12-28 | 에이비 엘렉트로룩스 | 로봇 청소 장치 및 로봇 청소 장치의 제어 방법 |
CN113243830A (zh) * | 2021-05-17 | 2021-08-13 | 威海锴滢智能科技有限公司 | 一种基于坠物提醒的清扫机器人 |
Citations (11)
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JPH01180010A (ja) * | 1988-01-08 | 1989-07-18 | Sanyo Electric Co Ltd | 移動車 |
JPH10222226A (ja) * | 1997-01-31 | 1998-08-21 | Mazda Motor Corp | 無人搬送車の誘導装置 |
JP2001125642A (ja) * | 2000-09-08 | 2001-05-11 | Bandai Co Ltd | 移動装置 |
CN1423025A (zh) * | 2001-12-05 | 2003-06-11 | 温馨环保工程技术有限公司 | 自动行驶式清扫装置及自动行驶式清扫方法 |
US20060053580A1 (en) * | 2004-09-13 | 2006-03-16 | Lg Electronics Inc. | Robot cleaner |
CN200972604Y (zh) * | 2006-11-14 | 2007-11-07 | 喻礼琼 | 一种用于移动平台的台阶检测装置 |
CN101108480A (zh) * | 2006-07-18 | 2008-01-23 | 深圳职业技术学院 | 机器人及其行走控制方法 |
CN102023638A (zh) * | 2010-12-20 | 2011-04-20 | 西南交通大学 | 一种摊铺机行走控制装置及控制方法 |
US20120011669A1 (en) * | 2007-05-09 | 2012-01-19 | Irobot Corporation | Compact autonomous coverage robot |
CN102591338A (zh) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | 擦玻璃机器人的控制***及其控制方法 |
CN202477560U (zh) * | 2012-03-02 | 2012-10-10 | 成浩 | 具有攀爬功能的移动式清洁机器人 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7155308B2 (en) | 2000-01-24 | 2006-12-26 | Irobot Corporation | Robot obstacle detection system |
US6956348B2 (en) * | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
CA2416621C (en) * | 2001-06-12 | 2006-09-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
JP4838978B2 (ja) * | 2002-12-16 | 2011-12-14 | アイロボット コーポレイション | 自律的床清掃ロボット |
US7441298B2 (en) * | 2005-12-02 | 2008-10-28 | Irobot Corporation | Coverage robot mobility |
JP2007156884A (ja) * | 2005-12-06 | 2007-06-21 | Sharp Corp | 自走式掃除機システム |
US8961695B2 (en) * | 2008-04-24 | 2015-02-24 | Irobot Corporation | Mobile robot for cleaning |
CN102488481A (zh) * | 2011-11-25 | 2012-06-13 | 马英南 | 一种智能扫地机器人的设计方法 |
CN103092206A (zh) * | 2013-02-27 | 2013-05-08 | 慈溪思达电子科技有限公司 | 管道机器人的遍历路径规划方法 |
-
2013
- 2013-05-31 CN CN201310213355.4A patent/CN104216404B/zh active Active
-
2014
- 2014-05-29 EP EP14804380.5A patent/EP3007023B1/en active Active
- 2014-05-29 JP JP2016515639A patent/JP6815197B2/ja active Active
- 2014-05-29 WO PCT/CN2014/078784 patent/WO2014190919A1/zh active Application Filing
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01180010A (ja) * | 1988-01-08 | 1989-07-18 | Sanyo Electric Co Ltd | 移動車 |
JPH10222226A (ja) * | 1997-01-31 | 1998-08-21 | Mazda Motor Corp | 無人搬送車の誘導装置 |
JP2001125642A (ja) * | 2000-09-08 | 2001-05-11 | Bandai Co Ltd | 移動装置 |
CN1423025A (zh) * | 2001-12-05 | 2003-06-11 | 温馨环保工程技术有限公司 | 自动行驶式清扫装置及自动行驶式清扫方法 |
US20060053580A1 (en) * | 2004-09-13 | 2006-03-16 | Lg Electronics Inc. | Robot cleaner |
CN101108480A (zh) * | 2006-07-18 | 2008-01-23 | 深圳职业技术学院 | 机器人及其行走控制方法 |
CN200972604Y (zh) * | 2006-11-14 | 2007-11-07 | 喻礼琼 | 一种用于移动平台的台阶检测装置 |
US20120011669A1 (en) * | 2007-05-09 | 2012-01-19 | Irobot Corporation | Compact autonomous coverage robot |
CN102023638A (zh) * | 2010-12-20 | 2011-04-20 | 西南交通大学 | 一种摊铺机行走控制装置及控制方法 |
CN102591338A (zh) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | 擦玻璃机器人的控制***及其控制方法 |
CN202477560U (zh) * | 2012-03-02 | 2012-10-10 | 成浩 | 具有攀爬功能的移动式清洁机器人 |
Non-Patent Citations (1)
Title |
---|
科沃斯测评: "《网络证据》", 25 May 2013 * |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10925447B2 (en) | 2017-03-10 | 2021-02-23 | Sharkninja Operating Llc | Agitator with debrider and hair removal |
US11925303B2 (en) | 2017-03-10 | 2024-03-12 | Sharkninja Operating Llc | Agitator with debrider and hair removal |
CN108720729A (zh) * | 2017-04-14 | 2018-11-02 | 科沃斯机器人股份有限公司 | 清洁机器人 |
US10905298B2 (en) | 2017-05-03 | 2021-02-02 | Shenzhen Silver Star Intelligent Technology Co., Ltd. | Cleaning equipment |
WO2018201713A1 (zh) * | 2017-05-03 | 2018-11-08 | 深圳市银星智能科技股份有限公司 | 清洁设备 |
US11202542B2 (en) | 2017-05-25 | 2021-12-21 | Sharkninja Operating Llc | Robotic cleaner with dual cleaning rollers |
US11839346B2 (en) | 2017-05-25 | 2023-12-12 | Sharkninja Operating Llc | Robotic cleaner with dual cleaning rollers |
CN108089580A (zh) * | 2017-12-14 | 2018-05-29 | 北京奇虎科技有限公司 | 智能扫地装置沿边工作的方法及装置 |
CN108089580B (zh) * | 2017-12-14 | 2021-05-18 | 北京奇虎科技有限公司 | 智能扫地装置沿边工作的方法及装置 |
WO2019165860A1 (zh) * | 2018-03-02 | 2019-09-06 | 科沃斯机器人股份有限公司 | 清洁机器人及其运行控制方法 |
US11525921B2 (en) | 2018-04-03 | 2022-12-13 | Sharkninja Operating Llc | Time of flight sensor arrangement for robot navigation and methods of localization using same |
CN108724143A (zh) * | 2018-05-31 | 2018-11-02 | 深圳市银星智能科技股份有限公司 | 移动机器人及其控制方法 |
US11583158B2 (en) | 2018-08-01 | 2023-02-21 | Sharkninja Operating Llc | Robotic vacuum cleaner |
CN110051290A (zh) * | 2019-04-04 | 2019-07-26 | 尚科宁家(中国)科技有限公司 | 一种控制扫地机器人的方法 |
WO2021184747A1 (zh) * | 2020-03-20 | 2021-09-23 | 美智纵横科技有限责任公司 | 控制方法、装置以及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
WO2014190919A1 (zh) | 2014-12-04 |
EP3007023A1 (en) | 2016-04-13 |
CN104216404B (zh) | 2017-02-15 |
EP3007023A4 (en) | 2017-04-19 |
JP2016520389A (ja) | 2016-07-14 |
JP6815197B2 (ja) | 2021-01-20 |
EP3007023B1 (en) | 2018-11-28 |
EP3007023A8 (en) | 2016-12-21 |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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