CN108634872A - From mobile cleaning robot system - Google Patents
From mobile cleaning robot system Download PDFInfo
- Publication number
- CN108634872A CN108634872A CN201810290228.7A CN201810290228A CN108634872A CN 108634872 A CN108634872 A CN 108634872A CN 201810290228 A CN201810290228 A CN 201810290228A CN 108634872 A CN108634872 A CN 108634872A
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- Prior art keywords
- optical
- optical signal
- robot
- light beam
- clean robot
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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
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- 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
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- 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
The present invention relates to a kind of from mobile cleaning robot system, including clean robot and portable base, clean robot includes, optical receiver for receiving optical signal on all directions that clean robot is advanced, control unit, it is provided on portable base for orienting first towards external emission, the first of two light beams, two optical transmitting sets, first, two optical transmitting sets are respectively provided with restriction first, the first of two light beam coverage areas, two optical signal regions, first, there is the first gap area between two optical signal regions, the maximum width of first gap area is less than or equal to the outer diameter of robot body；A time threshold is preset in control unit, when the optical signal that optical receiver is received converts between the first and second pipe signal and signal conversion time interval is less than or equal to time threshold, control unit judges that clean robot crosses the first gap area.Certainly the mobile clean robot of this case facilitates user and is managed to the working range of robot.
Description
Technical field
The present invention relates to a kind of from mobile cleaning robot system.
Background technology
Currently, be widely used from mobile clean robot, such as the dust-collecting robot of dust suction, mopping robot, this
A little clean robots at work, need to be limited in the range of a limitation or be limited within a certain period of time a model
Interior movement is enclosed to execute work.As the clean robot of household can be moved after the cleaning for completing a room by room door
It moves to another room, if user is not intended to the robot to enter another room after the cleaning for not completing the room, usually
Solution be to close room door so that the clean robot is limited at work in the room in.But closing room door can make
It obtains user's disengaging room to be affected, and sometimes forgets about closing door, then can influence to use.
A kind of method of positioning and restriction for robot is disclosed in the Chinese patent of Publication No. CN1241080C
And system, the system include：One portable obstacle signal conveyer, the portable obstacle signal conveyer are mainly transmitted along an axis
Signal;One movable machine people can make once to detect that the obstacle signal avoids the obstacle signal at once.The positioning and restriction
In system, as a result of portable obstacle signal conveyer so that user can be formed together in the position of such as room door
Manually " obstacle ", as long as robot detects that the obstacle is avoided at once, to effectively prevent robot to pass through the room door
It is moved to outside.But it since the signal that the portable obstacle signal conveyer emits outward has directionality, certainly will want in this way
It asks user when putting the portable obstacle signal conveyer, needs to place its welt, and the portable obstacle signal passes
It send in device inside and outside the orientation traveling optical signal emitted, is no signal condition, the matched robot used
Can not know it is to move or move from outside to inside from inside to outside when robot rushes across optical signal region, be utilized to influence user
The portable obstacle signal conveyer gives robot and adds other functions.
Invention content
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of high certainly mobile cleaners of intelligence degree
Device people's system.
In order to realize that the purpose of foregoing invention, the present invention adopt the following technical scheme that：A kind of mobile clean robot system certainly
System, including：
Clean robot can independently advance and execute cleaning, the cleaner during advancing on the ground
Device people include robot body, on all directions that the clean robot is advanced receive optical signal optical receiver,
Driving mechanism and control unit for driving the clean robot to advance, the optical receiver, the driving
Mechanism connects with signal with the control unit；
At least one portable base can be supported in a plane, be provided with for direction on the portable base
The pedestal periphery transmitting orients the first optical transmitting set of the first light beam and for being oriented towards the pedestal periphery external emission
Second optical transmitting set of the second light beam, first optical transmitting set have the first light for limiting the first light beam coverage area
Signal area, second optical transmitting set has the second optical signal region for limiting the second light beam coverage area, described
The first optical signal region include beam angle for limiting first light beam first side circle and the second side boundary, it is described
The second optical signal region include the beam angle for limiting second light beam third lateral boundaries and four side circle, it is described
First side circle and third lateral boundaries it is adjoining and therebetween have one first gap area, first gap area
Maximum width is less than or equal to the outer diameter of the robot body；When the clean robot advances to first optical signal
When in region, the optical receiver can receive first beam signal；When the clean robot advances to
When in the second optical signal region, the optical receiver can receive second beam signal；When described
When clean robot is advanced in first gap area, the optical receiver does not receive first and second light
Beam signal；
Wherein, a time threshold is preset in the control unit, once the optical receiver is from can receive described the
One converting optical signals are to can receive the second optical signal or from that can receive second converting optical signals to can receive
When first optical signal and signal conversion time interval are less than or equal to the time threshold, the control unit is judged
The clean robot crosses first gap area.
In above-mentioned technical proposal, it is preferred that the first side circle and third lateral boundaries is substantially parallel, and described first
Gap area is in narrow strip.
In above-mentioned technical proposal, it is preferred that the second side boundary and four side circle is adjoining and shape between the two
At one second gap area.
In above-mentioned technical proposal, it is preferred that the second side boundary and four side circle are substantially parallel, and described second
Gap area is in narrow strip.
In above-mentioned technical proposal, it is preferred that the control unit, for if it is judged that the clean robot is got over
First gap area is crossed, then controls the clean robot and changes direction of travel.
In above-mentioned technical proposal, it is preferred that the beam angle of first light beam is to be less than 180 ° more than or equal to 90 °.
In above-mentioned technical proposal, it is preferred that the beam angle of second light beam is to be less than 180 ° more than or equal to 90 °.
In above-mentioned technical proposal, it is preferred that first optical transmitting set and the second optical transmitting set is installed in the base
In the side wall surface of seat.
In above-mentioned technical proposal, it is preferred that be provided on the portable base for emitting to the pedestal periphery
The third optical transmitting set of 360 ° of omnidirectional's third optical signals, the third optical transmitting set, which has, limits the third optical signal covering
The radius in the third optical signal region of range, the third optical signal region is less than the first optical signal region and second
The radius in optical signal region, when the clean robot advances in the third optical signal region, the light connects
The third optical signal can be received by receiving device；The control unit, if receiving institute for the optical receiver
When the third optical signal stated, then controls the clean robot and change direction of travel.
The present invention obtains following advantageous effect compared with prior art：This case is working from mobile cleaning robot system
When, clean robot will not arbitrarily enter in " forbidden zone ", under " assistance " of portable base to facilitate user couple
The working range of robot is managed.
Description of the drawings
Attached drawing 1 is a kind of operating diagram from mobile cleaning robot system provided in an embodiment of the present invention；
Attached drawing 2 is a kind of composition schematic diagram of clean robot provided in an embodiment of the present invention；
Attached drawing 3 is a kind of stereoscopic schematic diagram of portable base provided in an embodiment of the present invention；
Attached drawing 4 is that a kind of optical signal of portable base provided in an embodiment of the present invention covers schematic diagram；
Attached drawing 5 is a kind of stereoscopic schematic diagram for portable base that another embodiment of the present invention provides；
Attached drawing 6 is that a kind of optical signal for portable base that another embodiment of the present invention provides covers schematic diagram；
Attached drawing 7 is a kind of operating diagram from mobile cleaning robot system that another embodiment of the present invention provides.
Specific implementation mode
For technology contents, construction feature, institute's reached purpose and effect of invention is described in detail, simultaneously below in conjunction with embodiment
Cooperation attached drawing is described in detail.
With reference first to Fig. 1, which schematically illustrate the certainly mobile cleaning robot systems that can implement the embodiment of the present disclosure
Exemplary layout.May include clean robot 100 and a pair of of portable base from mobile cleaning robot system in the example
200.Clean robot 100 can independently advance and execute cleaning during advancing on the ground.Portable base 200
It can be supported in any one plane, have the function of " indicator " and " virtual wall " setting, clean robot 100 can be given
Separating cleaning region can also indicate that clean robot 100 does not enter a certain " forbidden zone " interior operation, i.e. 200 energy of portable base
It is enough that cleaning mobile human 100 is guided to carry out cleaning specifying region or be moved in specified region.
As shown in Fig. 2, clean robot 100 includes robot body 101, all sides for advancing in clean robot
To（That is 360 ° of directions）It is upper receive optical signal optical receiver 102, for drive robot body move driving mechanism 103 with
And control unit 104, optical receiver 102 connect with signal with control unit 104.Optical receiver 102 obtains optical signal from outside
Information, and feed back to control unit 104 at any time and handle.Driving mechanism 103 connects with signal with control unit 104, drives
Motivation structure 103 controls work by control unit 104.
As shown in Figure 3,4, the first light for emitting the first light beam of orientation towards pedestal periphery is provided on the pedestal 200
Transmitter 202, for emitting the second optical transmitting set 203 of the second light beam of orientation towards pedestal periphery and for pedestal periphery
Emit the third optical transmitting set 204 of 360 ° of omnidirectional's third optical signals, the first optical transmitting set 202 and the second optical transmitting set 203 are pacified
In the side wall surface 201 of pedestal 200, third optical transmitting set 203 is mounted on the top of pedestal 200.In this example, the first light beam and
The beam angle of second light beam is 120 °.First optical transmitting set 202 has the first optical signal region for limiting the first beam range
R1, the first optical signal region R1 include the first side circle L1 and the second side boundary L2 of the beam angle for limiting the first light beam.
Second optical transmitting set 203 has the second optical signal region R2 for limiting the second beam range.Second optical signal region R2 includes using
In the third lateral boundaries L3 and four side circle L3 of the beam angle for limiting the second light beam.First side circle L1 and third lateral boundaries L3
It is adjoining and substantially parallel, there is the gap area G1 in narrow strip between first side circle L1 and third lateral boundaries L3,
The maximum width of gap region G1 is less than the outer diameter of robot body 101.There is third optical transmitting set 203 restriction third optical signal to cover
The third optical signal region R3 of lid range.When clean robot 100 is advanced in the first optical signal region R1, robot body
Optical receiver 102 on 101 can only receive the first beam signal；When clean robot 100 advances to the second optical signal area
When in the R2 of domain, the optical receiver 102 on robot body 101 can only receive the second beam signal；When clean robot 100
When advancing in gap area G1, the optical receiver 102 on robot body 101 can not receive the first and second optical signal；Work as cleaner
When device people 100 is advanced in third optical signal region R3, optical receiver 102 can receive third optical signal
A time threshold T is preset in control unit 1040Once optical receiver 102 is from can detect the first optical signal（Both machine
People is in the first optical signal region R1）The second optical signal can be detected by transforming to（Both robot was in the second optical signal region
In R2）And the time interval t of signal transformation is less than or equal to time threshold T0When, control unit 104 judges robot sheet
Body 101 crosses gap area G1.
It is " empty if the function setting of portable base 200 is at this time when robot body 101 crosses gap area G1
Quasi- wall ", then the control unit 104 on clean robot 100 is when judging that robot body 101 crosses gap area G1, control
Unit 104 processed will be immediately controlled clean robot 100 and turn around.
In this example, when robot body 101 is moved in third optical signal region R3, the control on clean robot 100
Unit 104 processed is judging that robot body 101 will collide pedestal 200, and control unit 104 will control clean robot 100
Change direction of travel and is moved away from the direction of pedestal 200.Third optical transmitting set 204 can be formed around pedestal 200
One " fence ", to avoid clean robot 100 from colliding pedestal 200 in moving process.
Continue as shown in Figure 1, this be by a pair of base 200 and 2000 be individually positioned between room 300 and room 400 with
And at the gate inhibition between room 300 and room 500, clean robot 100 is only permitted the conduct in room 300 at this time.The reality
It applies in example, is placed between room 300 and room 400 first optical transmitting set of the pedestal 200 at gate inhibition towards 300 inside of room
Emit the first light beam and form the first optical signal region R1, the second optical transmitting set 202 emits the second light beam shape towards 400 inside of room
At the second optical signal region R2, the gap area G1 between the first optical signal region R1 and the second optical signal region R2 will be directed at room
Between gated area between 300 and room 400；Another is placed between room 300 and room 500 pedestal 2000 at gate inhibition
The first optical transmitting set form the first optical signal region R1 ', the second optical transmitting set court towards the first light beam of the inside of room 500 transmitting
The second optical signal region R2 ', the first optical signal region R1 ' and the second optical signal are formed to 300 inside the second light beam of transmitting of room
Gap area G1 ' between the R2 ' of region will be directed at another gated area between room 300 and room 500.Work as clean robot
100 when moving and reaching at the first optical signal region R1 in the room, and optical receiver 102 can receive the first optical signal, with
The movement for robot illustrates robot when the optical receiver 102 of robot 100, which transforms to, to receive the second optical signal
100 are moved at the second optical signal region R2, and the optical signal that optical receiver 102 receives at this time is in the first and second optical signal
Between convert, the control unit 104 of robot will carry out timing to the interval time that the secondary signal converts, if signal becomes
The time interval changed is less than or equal to time threshold T0, then illustrate that robot 100 has passed over gap area G1 or G1 ', at this time
Control unit in robot due to setting program is configured to not allow to cross gate inhibition and to mobile on the outside of room, robot will
Change conduct direction to avoid entering in " forbidden zone " 400 or 500.In the example, when the light that the optical receiver in robot receives
Signal converts between the first and second optical signal, and the time interval of signal transformation is much larger than time threshold T0, then explanation is clear
Clean robot is moved to from close to a pedestal near another pedestal, this information can also help control unit to understand cleaner
Device people plans subsequent movement to facilitate control unit in the mobile route in currently cleaning region.
As shown in figure 5, this is another embodiment of portable base, in this example, it is arranged on the pedestal 200 " useful
Second is oriented in emitting the first optical transmitting set 202 " of the first light beam of orientation towards pedestal periphery, being used to emit towards pedestal periphery
Second optical transmitting set 203 " of light beam and for pedestal periphery emit 360 ° of omnidirectional's third optical signals third optical transmitting set
204 ", the first optical transmitting set 202 " and the second optical transmitting set 203 " is installed in the side wall surface 201 " of pedestal 200 " and the two
It is away from each other setting.As shown in fig. 6, substantially 180 ° of the beam angle of the first light beam and the second light beam, the first optical transmitting set 202 " tool
There is the first optical signal region R1 " for limiting the first beam range, the first optical signal region R1 " includes for limiting the first light beam
The first side circle L1 " and the second side boundary L2 " of beam angle, the second optical transmitting set 203 " have limit the second beam range the
Two optical signal region R2 ", the second optical signal region R2 ' include the third lateral boundaries L3 " of the beam angle for limiting the second light beam
With four side circle L4 ".First side circle L1 " and third lateral boundaries L3 " are adjoining and substantially parallel, first side circle L1 "
Have the first gap area G1 " in narrow strip, the maximum width of the first gap area G1 " small between third lateral boundaries L3 "
In the outer diameter equal to robot body 201 ".The second side boundary L2 " and four side circle L4 " are adjoining and substantially parallel, the
There is the second gap area G2 " in narrow strip between dual side-edge circle L2 " and four side circle L4 ", the second gap area G2's "
Maximum width is again smaller than the outer diameter equal to robot body 201 ".In this example, the first gap area G1 " and the second gap area
The symmetrical settings of G2 ".When clean robot advances in the first optical signal region R1 ", the optical receiver on robot body
The first beam signal will be received；When clean robot advances in the second optical signal region R2 ", on robot body
Optical receiver can receive the second beam signal；When clean robot advances to the first gap area G1 " or the second gap
When in the G2 " of region, the optical receiver on robot body can not receive the first and second optical signal；When clean robot advances to third
When in the R3 " of optical signal region, optical receiver can receive third optical signal.
As shown in fig. 7, this is that pedestal 200 " is placed on to the intersection for waiting for region 300 " and waiting for forbidden zone domain 400 ", at this time clearly
Clean robot 100 ", which is not allowed to cross intersection to enter, waits for forbidden zone domain 400 ", i.e., robot 100 " is only capable of in region 300 "
Conduct.Pedestal 200 " is placed on to the centre position of that intersection, the first gap area G1 " that pedestal 200 " is formed after opening and
Second gap area G2 " extends respectively along intersection so that forming " identification between region 400 " and region 500 "
Area ", robot 100 ' is in moving process, once cross the first gap area G1 " or the second gap area G2 ", robot
Optical receiver on 100 " is by the optical signal detected from the control list on the first converting optical signals to the second optical signal, robot
The time interval converted to signal is carried out timing by member, once conversion time interval t " is less than or equal to time threshold T0When, control
Unit judges that the first gap area G1 " or the second gap area G2 " crosses in robot, and robot 100 " will change traveling side
To waiting for forbidden zone domain to leave.Certainly, if the optical receiver of robot is entered in third optical signal region R3 ", machine
People will also execute and turn to step.
Certainly, pedestal 200 " can also be used as boundary " restriction " and is used sometimes, such as in attached example shown in Fig. 7, it is assumed that area
The not instead of prohibited area of domain 400 ", region to be cleaned, setting portable base 200 " can be by " large area a clear area
Domain " is separated into multiple " zonules " and is cleaned respectively, and clean robot 100 can be limited to region by portable base 200 "
It lets pass and enters in region 400 " again after a period of time in 300 ", it in this way will be so that region 300 " can be abundant by clean robot
Cleaning.
Therefore, the pedestal 200 of this case is also used as big region being separated into several other than as " gate inhibition " use
The description of cell is used, and as the used time of description, robot can be helped to improve covered ground rate.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by spirit, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of from mobile cleaning robot system, it is characterised in that：Including：
Clean robot can independently advance and execute cleaning, the cleaner during advancing on the ground
Device people include robot body, on all directions that the clean robot is advanced receive optical signal optical receiver,
Driving mechanism and control unit for driving the clean robot to advance, the optical receiver, the driving
Mechanism connects with signal with the control unit；
At least one portable base can be supported in a plane, be provided with for direction on the portable base
The pedestal periphery transmitting orients the first optical transmitting set of the first light beam and for orienting second towards pedestal periphery transmitting
Second optical transmitting set of light beam, first optical transmitting set have the first optical signal for limiting the first light beam coverage area
Region, second optical transmitting set have a second optical signal region for limiting the second light beam coverage area, and described the
One optical signal region includes first side circle and the second side boundary of the beam angle for limiting first light beam, and described
Two optical signal regions include the third lateral boundaries and four side circle of the beam angle for limiting second light beam, and described
Side boundary and third lateral boundaries are adjoining and between the two with one first gap area, the maximum of first gap area
Width is less than or equal to the outer diameter of the robot body；When the clean robot advances to the first optical signal region
When interior, the optical receiver can receive first beam signal；Described in being advanced to when the clean robot
The second optical signal region in when, the optical receiver can receive second beam signal；When the cleaning
When robot advances in first gap area, the optical receiver does not receive the first and second light beam letter
Number；
Wherein, a time threshold is preset in the control unit, once the optical receiver is from can receive described the
One converting optical signals are to can receive the second optical signal or from that can receive second converting optical signals to can receive
When first optical signal and signal conversion time interval are less than or equal to the time threshold, the control unit is judged
The clean robot crosses first gap area.
2. according to claim 1 from mobile cleaning robot system, it is characterised in that：The first side circle and
Three lateral boundaries are substantially parallel, and first gap area is in narrow strip.
3. according to claim 1 from mobile cleaning robot system, it is characterised in that：The second side boundary and
Four side circle is adjoining and one second gap area of formation between the two.
4. according to claim 3 from mobile cleaning robot system, it is characterised in that：The second side boundary and
Four side circle is substantially parallel, and second gap area is in narrow strip.
5. according to claim 1 from mobile cleaning robot system, it is characterised in that：The control unit, is used for
If it is judged that the clean robot crosses first gap area, then controls the clean robot and change row
Into direction.
6. according to claim 1 from mobile cleaning robot system, it is characterised in that：The light beam of first light beam
Angle is to be less than 180 ° more than or equal to 90 °.
7. according to claim 1 from mobile cleaning robot system, it is characterised in that：The light beam of second light beam
Angle is to be less than 180 ° more than or equal to 90 °.
8. according to claim 1 from mobile cleaning robot system, it is characterised in that：First optical transmitting set and
Second optical transmitting set is installed in the side wall surface of the pedestal.
9. according to claim 1 from mobile cleaning robot system, it is characterised in that：It is set on the portable base
It is equipped with the third optical transmitting set for emitting 360 ° of omnidirectional's third optical signals to the pedestal periphery, the third optical transmitting set
With the third optical signal region for limiting the third optical signal coverage area, the radius in the third optical signal region is less than
The radius in the first optical signal region and the second optical signal region, when the clean robot advances to the third
When in optical signal region, the optical receiver can receive the third optical signal；The control unit, for such as
When optical receiver described in fruit receives the third optical signal, then controls the clean robot and change direction of travel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810290228.7A CN108634872B (en) | 2018-03-30 | 2018-03-30 | Self-moving cleaning robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810290228.7A CN108634872B (en) | 2018-03-30 | 2018-03-30 | Self-moving cleaning robot system |
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| CN108634872A true CN108634872A (en) | 2018-10-12 |
| CN108634872B CN108634872B (en) | 2020-11-17 |
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ID=63745559
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200077859A1 (en) * | 2018-09-11 | 2020-03-12 | Pixart Imaging Inc. | Cleaning robot and rechare path determining method therefor |
| CN111568307A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Robot cleaning execution method, device and computer readable storage medium |
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| US20200077859A1 (en) * | 2018-09-11 | 2020-03-12 | Pixart Imaging Inc. | Cleaning robot and rechare path determining method therefor |
| US11712143B2 (en) * | 2018-09-11 | 2023-08-01 | Pixart Imaging Inc. | Cleaning robot and recharge path determining method therefor |
| CN111568307A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Robot cleaning execution method, device and computer readable storage medium |
| CN111568307B (en) * | 2019-02-19 | 2023-02-17 | 北京奇虎科技有限公司 | Robot cleaning work execution method, device and computer readable storage medium |
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