CN108888203A - A kind of control method of separate type automatic floor cleaning machine device people - Google Patents
A kind of control method of separate type automatic floor cleaning machine device people Download PDFInfo
- Publication number
- CN108888203A CN108888203A CN201810565366.1A CN201810565366A CN108888203A CN 108888203 A CN108888203 A CN 108888203A CN 201810565366 A CN201810565366 A CN 201810565366A CN 108888203 A CN108888203 A CN 108888203A
- Authority
- CN
- China
- Prior art keywords
- cleaning equipment
- equipment ontology
- map
- chargeable region
- control method
- 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
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
- A47L11/40—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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
-
- 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)
Abstract
The present invention relates to the control methods of separate type automatic floor cleaning machine device people a kind of, the separate type automatic floor cleaning machine device people includes thermoinduction camera and the cleaning equipment ontology separately positioned with the thermoinduction camera, by being wirelessly connected between the thermoinduction camera and the cleaning equipment ontology, and it is spaced a predetermined distance setting.The control method includes the following steps：S1 is disposably obtained whole environment pictures in space to be cleaned by the thermoinduction camera, and whole environment pictures is sent to the cleaning equipment ontology；S2 analyzes whole environment pictures and obtains initial position of the cleaning equipment ontology in the map and construct coordinate system；S3, the caloric information for analyzing the environment map on piece determine heat distribution zone domain on the map；S4 drives the cleaning equipment ontology to advance towards chargeable region, and receives heat by the solar panel on cleaning equipment ontology for described this bulk charging of cleaning equipment.
Description
Technical field
The present invention relates to a kind of intelligent robot technology fields, relate more specifically to a kind of separate type automatic floor cleaning machine
The control method of device people.
Background technique
The appearance of the separate types automatic floor cleaning machine device people such as sweeping robot, floor-mopping robot, largely undertakes
A part of household cleaning labour, allows people to have more times to lie fallow.Existing separate type automatic floor cleaning machine device people one
Well matched to have corresponding charging unit, charging unit in a certain range clean by radiation signal, the automatic ground of separate type
Charging unit is found within the scope of radiation signal by robot, so docking charging.However, such mode needs to clean for each
One charging unit of device configuration, in occupation of certain space；And charging unit is found in separate type automatic floor cleaning machine device people
In the process, due to signal interference etc., separate type automatic floor cleaning machine device people often occur can not find the feelings of charging unit
Condition, therefore can not charge in time for separate type automatic floor cleaning machine device people.
Summary of the invention
The present invention provides the control method of separate type automatic floor cleaning machine device people a kind of, the automatic ground of separate type
Clean robot includes thermoinduction camera and the cleaning equipment ontology separately positioned with the thermoinduction camera, the thermoinduction
By being wirelessly connected between camera and the cleaning equipment ontology, and be spaced a predetermined distance setting, the control method include with
Lower step：
S1, disposably obtains whole environment pictures in space to be cleaned by the thermoinduction camera, and by the whole
Environment picture is spliced to form the map in space to be cleaned, and the map is sent to the cleaning equipment ontology；
S2 analyzes the map and obtains initial position of the cleaning equipment ontology in the map, with described initial
Position is origin, using the initial direction of advance of the cleaning equipment ontology as x-axis, to be y perpendicular to the initial direction of advance
Axis constructs coordinate system；
S3, the caloric information for analyzing the environment map on piece determine heat distribution zone domain on the map；
S4 drives the cleaning equipment ontology to advance towards chargeable region, and passes through the sun on cleaning equipment ontology
Energy panel receives heat for described this bulk charging of cleaning equipment, wherein the heat intensity in the chargeable region is higher than too
The minimum radiation intensity of positive energy battery panel optical-electronic conversion.
Preferably, in step s 4, the step of driving cleaning equipment ontology is advanced towards chargeable region include：When
When only including a chargeable region, directly drives the cleaning equipment ontology and advance towards the chargeable region；When including extremely
When few two chargeable regions, according to the area in chargeable region, heat intensity and apart from the cleaning equipment ontology away from
From driving the cleaning equipment ontology to advance towards corresponding chargeable region.
Preferably, it is described according to the area in chargeable region, heat intensity and apart from the cleaning equipment ontology away from
Include from, the step of driving the cleaning equipment ontology to advance towards corresponding chargeable region：According to the face in chargeable region
Product, heat intensity calculate each chargeable region by the solar panel full of the time needed for battery, and described in driving
Cleaning equipment ontology is advanced towards charging time most short corresponding chargeable region.
Preferably, it is described according to the area in chargeable region, heat intensity and apart from the cleaning equipment ontology away from
Include from, the step of driving the cleaning equipment ontology to advance towards corresponding chargeable region：Drive the cleaning equipment sheet
Body is greater than the area of the solar battery panel towards the area in chargeable region, and nearest apart from the cleaning equipment ontology
Chargeable region advance.
Preferably, in step sl, whole environment maps that space to be cleaned is disposably obtained by thermoinduction camera
Piece, and the step of whole environment pictures are spliced to form the map in space to be cleaned includes：In 24 hours, by described
The thermoinduction camera interval predetermined time disposably obtains whole environment pictures in space to be cleaned, and will whole environment pictures immediately
It is spliced to form space to be cleaned at the time of point map, and the moment point map is sent to the cleaning equipment ontology.
Preferably, after step S1, further comprise：
The moment point map was stored respectively in the cleaning equipment ontology in 24 hours by S11.
Preferably, the control method further comprises：
S5, when the intelligent cleaning equipment execute clean when, call corresponding moment point map.
Preferably, the control method further comprises：
S6 drives when battery capacity is lower than first threshold according to the heat distribution zone domain called at the time of point map
The cleaning equipment ontology is advanced towards charging time most short corresponding chargeable region, or the driving cleaning equipment ontology
It is greater than the area of the solar battery panel towards the area in chargeable region, and nearest apart from the cleaning equipment ontology
It advances in chargeable region.
Preferably, the control method further comprises：
S7 calls corresponding moment point map, and according to calling at the end of the intelligent cleaning equipment cleaning task
Heat distribution zone domain in moment point map drives the cleaning equipment ontology most short corresponding chargeable towards the charging time
Region is advanced, or the driving cleaning equipment ontology is greater than the face of the solar battery panel towards the area in chargeable region
Product, and the chargeable region nearest apart from the cleaning equipment ontology is advanced.
Preferably, the control method further comprises：
S8 is further labeled the purging zone in traveling process according at the time of point map is called.
It can be seen that the present invention provides separate type automatic floor cleaning machine device people, pass through separately positioned thermoinduction camera
Whole environment pictures in space to be cleaned, and the heat distribution zone by analyzing the environment map on piece can disposably be obtained
Domain, so that the cleaning equipment ontology be driven to advance towards chargeable region, and by the solar panel receive heat with
It charges for the separate type automatic floor cleaning machine device people.So as to avoid can not find charging dress due to signal interference etc.
The case where setting, and can charge in time for separate type automatic floor cleaning machine device people.
Detailed description of the invention
The embodiment of the present invention is described in more detail below with reference to attached drawing, above-mentioned and other mesh of the invention
, feature and advantage will be apparent.Attached drawing is used to that the embodiment of the present invention is further explained, which is constituted
Part of specification, and be used to explain the present invention together with the embodiment of the present invention, it is not construed as limiting the invention.Attached
In figure, identical appended drawing reference typically represents the same or similar component or step.
Fig. 1 is the stereoscopic schematic diagram of separate type automatic floor cleaning machine device people in the embodiment of the present invention；
Fig. 2 is the stereoscopic schematic diagram of the solar panel of separate type automatic floor cleaning machine device people described in Fig. 1；
Fig. 3 is the sensing schematic diagram of solar panel heat described in Fig. 2.
Description of symbols：
100：Separate type automatic floor cleaning machine device people
10：Thermoinduction camera
20：Cleaning equipment ontology
21：Fuselage
22：Driving assembly
23：Solar panel
231：Heat absorbing units；
232：Substrate
233：Heat-sink shell
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, this is described in detail below with reference to accompanying drawings
The example embodiment of invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than of the invention
Whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.It is sent out based on described in the present invention
Bright embodiment, those skilled in the art's obtained all other embodiment in the case where not making the creative labor all are answered
It falls under the scope of the present invention.
Fig. 1-3 is please referred to, the embodiment of the present invention provides the controlling party of separate type automatic floor cleaning machine device people 100 a kind of
Method, the separate type automatic floor cleaning machine device people 100 include thermoinduction camera 10 and separate with the thermoinduction camera 10
The cleaning equipment ontology 20 of setting, by being wirelessly connected between the thermoinduction camera 10 and the cleaning equipment ontology 20, and
It is spaced a predetermined distance setting, the control method includes the following steps：：
S1 disposably obtains whole environment pictures in space to be cleaned by the thermoinduction camera 10, and will be described complete
Portion's environment picture is spliced to form the map in space to be cleaned, and the map is sent to the cleaning equipment ontology 20；
S2 analyzes the map and obtains initial position of the cleaning equipment ontology 20 in the map, with described first
Beginning position is origin, using the initial direction of advance of the cleaning equipment ontology 20 as x-axis, perpendicular to the initial direction of advance
Coordinate system is constructed for y-axis；
S3, the caloric information for analyzing the environment map on piece determine heat distribution zone domain on the map；
S4 drives the cleaning equipment ontology 20 to advance towards chargeable region, and by cleaning equipment ontology 20
Solar panel receives heat so that the cleaning equipment ontology 20 charges, wherein the heat intensity in the chargeable region
Higher than the minimum radiation intensity of 21 optical-electronic of solar battery panel conversion.In step sl, the thermoinduction camera 10 can be set
It is placed on the eminence position of the clean space, such as on wall or on window, it is hereby achieved that preferable shooting visual angle, and one
Secondary property obtains whole environment pictures in space to be cleaned.The quantity of the thermoinduction camera 10 is unlimited, as long as can obtain more complete
Whole environment pictures in the space to be cleaned in face.In addition, the thermoinduction camera 10 is also unlimited in other embodiments
In to be fixedly installed, whole environment pictures of the clean space can also be directly acquired in moving process.
Further, can in 24 hours, by the thermoinduction camera 10 be spaced the predetermined time disposably obtain to
Whole environment pictures of clean space, and instant whole environment pictures are spliced to form space to be cleaned at the time of point map, and
The moment point map is sent to the cleaning equipment ontology 20.Preferably, it after step S1, can further include：
The moment point map is stored respectively in the cleaning equipment ontology 20 by S11 in 24 hours.
Alternatively, it is also possible to directly provide the floor plan in space to be cleaned, and should be to by the thermoinduction camera 10 shooting
The heat distribution zone domain photo in clean space different moments chargeable region, and by heat distribution zone domain photo in conjunction with described
Floor plan constructs the map in space to be cleaned.
In step s 2, it needs to be labeled the initial of the cleaning equipment ontology 20, so as to quickly quasi-
True building coordinate-system.Specifically, can be in conjunction with 20 specific shape of cleaning equipment ontology, and according to its specific shape pair
Initially it is labeled.In the present embodiment, the cleaning equipment ontology 20 is ellipse, therefore, it can be with the length of ellipse
Axis direction is defined as x-axis, and short axle is defined as y-axis building coordinate system.
In step s 4, the driving cleaning equipment ontology 20 towards chargeable region advance the step of include：When only wrapping
When including a chargeable region, directly drives the cleaning equipment ontology 20 and advance towards the chargeable region；When including at least
When two chargeable regions, according to the area in chargeable region, heat intensity and apart from the cleaning equipment ontology 20 away from
From driving the cleaning equipment ontology 20 to advance towards corresponding chargeable region.
In other implementations, described according to the area in chargeable region, heat intensity and apart from the cleaning equipment sheet
The distance of body 20, drive the cleaning equipment ontology 20 towards corresponding chargeable region advance the step of include：According to can fill
Area, the heat intensity in electric region calculate the time needed for each chargeable region is full of battery by the solar panel,
And the cleaning equipment ontology 20 is driven to advance towards charging time most short corresponding chargeable region.
In other implementations, described according to the area in chargeable region, heat intensity and apart from the cleaning equipment sheet
The distance of body 20, drive the cleaning equipment ontology 20 towards corresponding chargeable region advance the step of include：Described in driving
Cleaning equipment ontology 20 is greater than the area of the solar battery panel towards the area in chargeable region, and apart from the cleaning
It advances in the nearest chargeable region of apparatus body 20.
It may further include as further improved, described control method：
S5, when the intelligent cleaning equipment execute clean when, call corresponding moment point map.
In addition, when the intelligent cleaning equipment is when executing cleaning, it, can be according to tune when battery capacity is lower than first threshold
Drive the cleaning equipment ontology 20 most short corresponding towards the charging time with the heat distribution zone domain at the time of point map
Chargeable region is advanced, or the area in the driving cleaning equipment ontology 20 towards chargeable region is greater than the solar battery
The area of panel, and advance apart from the nearest chargeable region of the cleaning equipment ontology 20.In other embodiments, described
Control method can further comprise：According at the time of point map is called, further the purging zone in traveling process is carried out
Mark.
In addition, calling corresponding moment point map, and according to calling at the end of the intelligent cleaning equipment cleaning task
Heat distribution zone domain at the time of point map drive the cleaning equipment ontology 20 towards the charging time most it is short it is corresponding can
Charged area is advanced, or the area in the driving cleaning equipment ontology 20 towards chargeable region is greater than the solar battery face
The area of plate, and advance apart from the nearest chargeable region of the cleaning equipment ontology 20.
The cleaning equipment ontology 20 may include fuselage 21, control unit with (not indicated in figure), driving assembly 22 and
Solar panel 23.In the present embodiment, the fuselage 21 is substantially in ellipticity, and the driving component 22 includes being arranged in the machine
The wheel of 21 lower section of body, the driving component 22 drive the fuselage 21 to walk in environment to be cleaned.
The solar panel 23 includes several heat absorbing units, and several heat absorbing units 231 form a heat-sink shell 233,
The solar panel 23 further includes substrate 232, and the heat-sink shell 233 is covered on the substrate 232, the heat-sink shell 233
For soft material layer, the substrate 232 is hard material layer, and the substrate 232 carries the heat-sink shell 233.The solar energy
The shape of panel 23 is unlimited, can be rectangular, round, oval etc..
Referring to Fig. 3, several heat absorbing units 231 need to keep as far as possible when the heat-sink shell 233 is in sensed heat
The consistency of heat absorption guarantees that each heat absorbing units of the heat-sink shell 233 can receive compared with heat-flash amount, the heat absorption
The part heat sink region (gray area) of layer 233 can receive stronger heat, remaining region of the heat-sink shell 233 can receive
The heat arrived is lower, at this point, the controller controls the driving component 22 towards the movement of the direction F, so that the heat-sink shell 233
Several heat absorbing units 231 receive stronger heat.
Charge management module is further connected between the battery and the controller.When needing to be implemented cleaning task,
The controller controls the separate type automatic floor cleaning machine device people 100 in ground running so that (figure is not by cleaning assemblies
Show), such as round brush, side brush, water tank, mop etc. carry out cleaning task.
It should be understood that the separate type automatic floor cleaning machine device people 100 can also include lighting device (not shown),
Such as electric light etc. can be connect by the charge management module with the controller, be charged for the lighting device.Thus
As it can be seen that constructing coordinate system in the embodiment of the present invention in the initial position of movement routine and establishing corresponding map, by according to pre-
If move mode moved, complete to the label of entire map.It, can be in this manner for automatic cleaning robot
Complete the cleaning task to entire room.Also, the paths planning method of the embodiment of the present invention ensure that the automatic ground of separate type
Clean robot 10 realizes all region covering with less distance, ensure that path is optimal, also correspondingly saves separate type certainly
Dynamic robot for cleaning floor 10 uses electricity, keeps its more efficient.
The present invention is converted into electric energy using thermal energy as separate type automatic floor cleaning machine device people charging, saves to be separately configured and fill
Electric stake saves the space for placing charging pile in family, while saving household electricity, realizes intelligentized charging and swept
Journey.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (10)
1. a kind of control method of separate type automatic floor cleaning machine device people, which is characterized in that the automatic ground of separate type is clear
Clean robot includes thermoinduction camera and the cleaning equipment ontology separately positioned with the thermoinduction camera, the thermoinduction phase
By being wirelessly connected between machine and the cleaning equipment ontology, and it is spaced a predetermined distance setting, the control method includes following
Step：
S1, disposably obtains whole environment pictures in space to be cleaned by the thermoinduction camera, and by whole environment
Picture is spliced to form the map in space to be cleaned, and the map is sent to the cleaning equipment ontology；
S2 analyzes the map and obtains initial position of the cleaning equipment ontology in the map, with the initial position
For origin, using the initial direction of advance of the cleaning equipment ontology as x-axis, using perpendicular to the initial direction of advance as y-axis structure
Build coordinate system；
S3, the caloric information for analyzing the environment map on piece determine heat distribution zone domain on the map；
S4 drives the cleaning equipment ontology to advance towards chargeable region, and passes through the solar energy face on cleaning equipment ontology
Plate receives heat for described this bulk charging of cleaning equipment, wherein the heat intensity in the chargeable region is higher than solar energy
The minimum radiation intensity of battery panel optical-electronic conversion.
2. control method according to claim 1, which is characterized in that in step s 4, the driving cleaning equipment ontology
Include towards the step of chargeable region traveling：When only including a chargeable region, the cleaning equipment sheet is directly driven
Body is advanced towards the chargeable region；It is strong according to the area in chargeable region, heat when including at least two chargeable regions
Degree and the distance apart from the cleaning equipment ontology, drive the cleaning equipment ontology towards corresponding chargeable area row
Into.
3. control method according to claim 2, which is characterized in that described strong according to area, the heat in chargeable region
Degree and the distance apart from the cleaning equipment ontology drive the cleaning equipment ontology to advance towards corresponding chargeable region
The step of include：Each chargeable region, which is calculated, according to the area in chargeable region, heat intensity passes through the solar panel
Full of the time needed for battery, and drive the cleaning equipment ontology towards charging time most short corresponding chargeable area row
Into.
4. control method according to claim 2, which is characterized in that described strong according to area, the heat in chargeable region
Degree and the distance apart from the cleaning equipment ontology drive the cleaning equipment ontology to advance towards corresponding chargeable region
The step of include：The cleaning equipment ontology is driven to be greater than the face of the solar battery panel towards the area in chargeable region
Product, and the chargeable region nearest apart from the cleaning equipment ontology is advanced.
5. control method according to claim 1, which is characterized in that in step sl, described to pass through thermoinduction camera one
Secondary property obtains whole environment pictures in space to be cleaned, and whole environment pictures are spliced to form to the map in space to be cleaned
The step of include：In 24 hours, the complete of space to be cleaned is disposably obtained by the thermoinduction camera interval predetermined time
Portion's environment picture, and instant whole environment pictures are spliced to form space to be cleaned at the time of point map, and by the moment point
Map is sent to the cleaning equipment ontology.
6. control method according to claim 1, which is characterized in that after step S1, further comprise：
The moment point map was stored respectively in the cleaning equipment ontology in 24 hours by S11.
7. control method according to claim 6, which is characterized in that further comprise：
S5, when the intelligent cleaning equipment execute clean when, call corresponding moment point map.
8. control method according to claim 7, which is characterized in that further comprise：
S6, when battery capacity is lower than first threshold, according to the heat distribution zone domain driving called at the time of point map
Cleaning equipment ontology is advanced towards charging time most short corresponding chargeable region, or the driving cleaning equipment ontology direction
The area in chargeable region is greater than the area of the solar battery panel, and fills apart from the cleaning equipment ontology is nearest
It advances in electric region.
9. control method according to claim 6, which is characterized in that further comprise：
S7 calls corresponding moment point map at the end of the intelligent cleaning equipment cleaning task, and at the time of according to calling
Heat distribution zone domain in point map drives the cleaning equipment ontology towards charging time most short corresponding chargeable region
It advances, or the driving cleaning equipment ontology is greater than the area of the solar battery panel towards the area in chargeable region,
And the chargeable region nearest apart from the cleaning equipment ontology is advanced.
10. control method according to claim 7, which is characterized in that further comprise：
S8 is further labeled the purging zone in traveling process according at the time of point map is called.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810565366.1A CN108888203A (en) | 2018-06-04 | 2018-06-04 | A kind of control method of separate type automatic floor cleaning machine device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810565366.1A CN108888203A (en) | 2018-06-04 | 2018-06-04 | A kind of control method of separate type automatic floor cleaning machine device people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108888203A true CN108888203A (en) | 2018-11-27 |
Family
ID=64344343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810565366.1A Pending CN108888203A (en) | 2018-06-04 | 2018-06-04 | A kind of control method of separate type automatic floor cleaning machine device people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108888203A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109871013A (en) * | 2019-01-31 | 2019-06-11 | 莱克电气股份有限公司 | Clean robot paths planning method and system, storage medium, electronic equipment |
| CN110825079A (en) * | 2019-10-15 | 2020-02-21 | 珠海格力电器股份有限公司 | Map construction method and device |
| CN112754359A (en) * | 2020-12-31 | 2021-05-07 | 武汉理工大学 | Intelligent cleaning robot applying laser sensing and charging technology |
| CN114521843A (en) * | 2022-04-21 | 2022-05-24 | 深圳市倍思科技有限公司 | Cleaning position determining method and device, terminal equipment and intelligent cleaning system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100090369A (en) * | 2009-02-06 | 2010-08-16 | 웅진코웨이주식회사 | Robot cleaner having light condenser and method for controlling power charging using the same |
| CN103220955A (en) * | 2010-09-20 | 2013-07-24 | 玛纽尔公司 | Cleaning robot system and its method for controlling |
| CN104393359A (en) * | 2014-12-15 | 2015-03-04 | 上海摩软通讯技术有限公司 | Intelligent robot charging method and automatically-charged intelligent robot |
| CN107092262A (en) * | 2017-06-19 | 2017-08-25 | 成都领创先科技有限公司 | A kind of indoor intelligent cleaning device |
| CN107280590A (en) * | 2017-08-03 | 2017-10-24 | 佛山市盈智轩科技有限公司 | Family cleaning assembly and clean method |
| CN107822564A (en) * | 2017-10-26 | 2018-03-23 | 绵阳鑫阳知识产权运营有限公司 | Sweeping robot with charge function of following spot |
-
2018
- 2018-06-04 CN CN201810565366.1A patent/CN108888203A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100090369A (en) * | 2009-02-06 | 2010-08-16 | 웅진코웨이주식회사 | Robot cleaner having light condenser and method for controlling power charging using the same |
| CN103220955A (en) * | 2010-09-20 | 2013-07-24 | 玛纽尔公司 | Cleaning robot system and its method for controlling |
| CN104393359A (en) * | 2014-12-15 | 2015-03-04 | 上海摩软通讯技术有限公司 | Intelligent robot charging method and automatically-charged intelligent robot |
| CN107092262A (en) * | 2017-06-19 | 2017-08-25 | 成都领创先科技有限公司 | A kind of indoor intelligent cleaning device |
| CN107280590A (en) * | 2017-08-03 | 2017-10-24 | 佛山市盈智轩科技有限公司 | Family cleaning assembly and clean method |
| CN107822564A (en) * | 2017-10-26 | 2018-03-23 | 绵阳鑫阳知识产权运营有限公司 | Sweeping robot with charge function of following spot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109871013A (en) * | 2019-01-31 | 2019-06-11 | 莱克电气股份有限公司 | Clean robot paths planning method and system, storage medium, electronic equipment |
| CN109871013B (en) * | 2019-01-31 | 2022-12-09 | 莱克电气股份有限公司 | Cleaning robot path planning method and system, storage medium and electronic equipment |
| CN110825079A (en) * | 2019-10-15 | 2020-02-21 | 珠海格力电器股份有限公司 | Map construction method and device |
| CN112754359A (en) * | 2020-12-31 | 2021-05-07 | 武汉理工大学 | Intelligent cleaning robot applying laser sensing and charging technology |
| CN114521843A (en) * | 2022-04-21 | 2022-05-24 | 深圳市倍思科技有限公司 | Cleaning position determining method and device, terminal equipment and intelligent cleaning system |
| CN114521843B (en) * | 2022-04-21 | 2022-07-12 | 深圳市倍思科技有限公司 | Cleaning position determining method and device, terminal equipment and intelligent cleaning system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108888203A (en) | A kind of control method of separate type automatic floor cleaning machine device people | |
| CN104393359B (en) | The charging method of intelligent robot and the intelligent robot of automatic charging | |
| US20190009313A1 (en) | Robotic waterless cleaning and inspection system with an assistive robotic docking train system and method | |
| US20160044843A1 (en) | Rail systems and methods for installation and operation of photovoltaic arrays | |
| CN107390676A (en) | Tunnel crusing robot and tunnel cruising inspection system | |
| CN109984688A (en) | A kind of clean method in Robot side and robot | |
| CN112828879B (en) | Task management method and device, intelligent robot and medium | |
| CN106712694A (en) | Photovoltaic array cross-panel cleaning method and device | |
| CN104300890A (en) | Photovoltaic plate cleaning device | |
| CN110112674A (en) | A kind of autonomous crusing robot of transmission line of electricity based on flight obstacle detouring and obstacle-detouring method | |
| CN106734010A (en) | Photovoltaic plant clean method and system | |
| CN108814432B (en) | Self-charging sweeping robot | |
| CN107977010A (en) | A kind of cleaning robot control method applied to photovoltaic array | |
| CN205354374U (en) | Large -scale parking area car position detecting system based on solar energy unmanned aerial vehicle crowd | |
| CN109782772A (en) | A kind of air navigation aid, system and cleaning robot | |
| CN107733365A (en) | The EL automatic testing equipments and system of a kind of photovoltaic module | |
| CN108436921A (en) | A kind of sweeping robot intelligent control method | |
| CN108803586A (en) | A kind of working method of sweeping robot | |
| CN110676753B (en) | Intelligent inspection robot for power transmission line | |
| CN105262193A (en) | Solar power supply system used for expressway video monitoring | |
| CN113749565A (en) | Multi-floor cleaning control method for robot | |
| CN209772846U (en) | Intelligent robot system for automatic cleaning of photovoltaic module | |
| CN108514389A (en) | A kind of control method of intelligent cleaning equipment | |
| CN104914857A (en) | Intelligent boundary column | |
| CN107790420A (en) | A kind of photovoltaic module panel automatic dust removing apparatus |
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 | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20210514 |
|
| AD01 | Patent right deemed abandoned |