CN109222765B - Intelligent self-moving equipment - Google Patents
Intelligent self-moving equipment Download PDFInfo
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- CN109222765B CN109222765B CN201811215595.7A CN201811215595A CN109222765B CN 109222765 B CN109222765 B CN 109222765B CN 201811215595 A CN201811215595 A CN 201811215595A CN 109222765 B CN109222765 B CN 109222765B
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- intelligent self
- mobile device
- trigger signal
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- bumper
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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
- A47L11/24—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
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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
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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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent self-mobile device, comprising: a robot body; the bumper component is arranged on the periphery of the robot body and is movably connected with the robot body, when external acting force is applied, the bumper component is displaced, and when the external acting force disappears, the bumper component is reset; the detection switch component is arranged on the robot body, and can be triggered to generate a trigger signal when the bumper component is displaced; the intelligent self-mobile device comprises a detection switch assembly, a robot body, a processor, a control strategy and a control strategy, wherein the processor is respectively coupled with the detection switch assembly and the robot body and is used for receiving a trigger signal generated by the detection switch assembly, counting duration time of the trigger signal, determining a preset control strategy corresponding to the duration time of the trigger signal, further controlling the intelligent self-mobile device to execute corresponding operation according to the preset control strategy, and the intelligent self-mobile device can flexibly execute corresponding operation according to the application condition of external acting force, so that different operations can be executed for different environments, and the intelligent self-mobile device is more intelligent.
Description
Technical Field
The invention relates to the technical field of intelligent equipment, in particular to intelligent self-mobile equipment.
Background
With the rapid development of the information age and the continuous improvement of the life quality requirements of people, intelligent self-mobile equipment is widely applied, and meanwhile, the intelligent self-mobile equipment is a popular research direction in the field of service robots. The intelligent self-moving equipment can automatically complete cleaning work on the ground, windows and the like by means of certain artificial intelligence, for example, a sweeping robot mainly performs cleaning work on the ground, and a window cleaning robot mainly performs cleaning work on glass.
In the prior art, when the intelligent self-moving device detects an obstacle, the original moving path is changed immediately, judgment and analysis on the surrounding environment are absent, cleaning omission is easy to cause, meanwhile, a bumper (used for protecting the intelligent self-moving device) can only move along the moving direction of the intelligent self-moving device, that is, the existing intelligent self-moving device can only detect the obstacle in the moving direction, detection is limited, and the intelligent self-moving device is easy to be blocked by furniture such as a bed bottom, a cabinet bottom and the like.
Disclosure of Invention
In view of the above, the present invention provides an intelligent self-mobile device, which can flexibly execute corresponding operations according to the application condition of external force, so as to execute different operations for different environments.
In order to solve the technical problems, the invention adopts a technical scheme that: provided is an intelligent self-mobile device, comprising:
a robot body;
the bumper component is arranged on the periphery of the robot body and is movably connected with the robot body, when external acting force is applied, the bumper component is displaced, and when the external acting force is eliminated, the bumper component is reset;
the detection switch assembly is arranged on the robot body, and when the bumper assembly is displaced, the detection switch assembly is triggered to generate a trigger signal;
the processor is respectively coupled with the detection switch assembly and the robot body, and is used for receiving the trigger signal generated by the detection switch assembly, counting the duration of the trigger signal, determining a preset control strategy corresponding to the duration of the trigger signal, and further controlling the intelligent self-mobile equipment to execute corresponding operation according to the preset control strategy.
The beneficial effects are that: according to the intelligent self-moving device, the bumper component of the intelligent self-moving device is movably connected with the robot body, when external acting force is applied, the bumper component can displace, so that the switch component is detected to be triggered to generate a trigger signal, meanwhile, the duration time of the trigger signal is counted, the preset control strategy corresponding to the duration time of the trigger signal is determined, further, the intelligent self-moving device is controlled to execute corresponding operation according to the preset control strategy, the intelligent self-moving device can flexibly execute corresponding operation according to the application condition of the external acting force, different operations are executed indirectly according to different environments, and the intelligent self-moving device is more intelligent and humanized.
Drawings
FIG. 1 is a schematic diagram of an explosion structure of an embodiment of the intelligent self-mobile device of the present invention;
fig. 2 is a schematic view showing a structure in which the detection switch assembly 30 shown in fig. 1 is fixed to the robot body 10.
Detailed Description
Referring to fig. 1, fig. 1 is a schematic diagram of an explosion structure of an embodiment of an intelligent self-mobile device according to the present invention, the intelligent self-mobile device includes: robot body 10, bumper assembly 20, detection switch assembly 30, and processor 40.
Firstly, the intelligent self-mobile device is a machine device for automatically executing work, which can not only receive human command, but also run a pre-programmed program, and has the task of assisting or replacing human work, such as a robot for cleaning a floor sweeping robot, a window cleaning robot and the like used in daily life.
The bumper assembly 20 is disposed at the periphery of the robot body 10, and is generally higher than the robot body 10, when the intelligent self-moving device encounters an obstacle during traveling, the bumper assembly 20 will first contact the obstacle, thereby protecting the traveling robot body 10 and the impacted object, in the present invention, the bumper assembly 20 is movably connected with the robot body 10, when an external force is applied, it will displace, and when the external force is removed, it will reset.
The detection switch assembly 30 is disposed on the robot body 10, and when the bumper assembly 20 is displaced, the detection switch assembly 30 is triggered to generate a trigger signal.
Specifically, when the bumper assembly 20 moves under an external force, the detection switch assembly 30 is triggered to generate a trigger signal, that is, when the bumper assembly 20 receives the external force, the detection switch assembly 30 generates the trigger signal, so that the generated trigger signal can reflect the situation of the external force applied to the bumper assembly 20 by the bumper assembly 20, and the external force is the force applied to the bumper assembly 20 by the obstacle, so that the external force applied to the bumper assembly 20 can be separated by analyzing the trigger signal, thereby indirectly judging and analyzing the surrounding environment in which the smart self-mobile device encounters the obstacle.
The processor 40 is coupled to the detection switch assembly 30 and the robot body 10, and the processor 40 is configured to receive the trigger signal generated by the detection switch assembly 30, count the duration of the trigger signal, determine a preset control policy corresponding to the duration of the trigger signal, and further control the intelligent self-mobile device to perform a corresponding operation according to the preset control policy. The processor 40 is an integrated circuit chip having signal processing capabilities, and may be a Microprocessor (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, without limitation.
When the bumper assembly 20 is subjected to an external force, the detection switch assembly 30 generates a trigger signal, so that the duration of the trigger signal, that is, the duration of the external force applied to the bumper assembly 20, that is, the preset control strategy corresponding to the duration of the trigger signal corresponds to the external force applied to the bumper assembly 20, and indirectly corresponds to the surrounding environment in which the smart self-mobile device encounters an obstacle. The duration of the trigger signal is counted, a preset control strategy corresponding to the duration of the trigger signal is determined, and then the intelligent self-moving equipment is controlled to execute corresponding operation according to the preset control strategy, so that the intelligent self-moving equipment can be controlled to execute corresponding operation by combining with the surrounding environment of the intelligent self-moving equipment when encountering an obstacle.
Wherein, when an external force is applied, the displacement of the bumper assembly 20 specifically includes: when subjected to an external force, the bumper assembly 20 is displaced in a first plane that is perpendicular to the direction of movement of the smart self-moving device and/or in a second plane that is parallel to the direction of movement of the smart self-moving device.
That is, when the bumper assembly 20 is subjected to an external force in the moving direction, it is displaced in the second plane, when the bumper assembly 20 is subjected to an external force in a direction perpendicular to the moving direction, it is displaced in the first plane, for example, when the sweeping robot encounters an obstacle such as a table corner during traveling, the bumper assembly 20 is displaced in the second plane, that is, moves in the intelligent self-moving device moving direction, when the sweeping robot encounters an obstacle such as a bed bottom, a cabinet bottom, etc., the bumper assembly 20 is displaced in the first plane, that is, moves in a direction perpendicular to the moving direction, specifically, the bumper assembly 20 moves downward in the vertical plane, or rotates downward around the robot body 10.
Through setting up bumper subassembly 20 can take place the displacement in first plane, also can take place the displacement in the second plane, guarantee can detect the obstacle in the direction of movement, also can detect the obstacle in the direction perpendicular to the direction of movement, to sweeping the floor the robot, can prevent effectively that it from boring under the furniture of bed bottom, cabinet bottom etc. not co-altitude.
In one application scenario, the processor 40 is specifically configured to count the duration of the trigger signal, i.e., the duration of the external force that is applied to the bumper assembly 20 in a single pass.
When the duration of the trigger signal does not reach the first threshold, the obstacle is possibly moved away immediately after the intelligent self-moving device touches the obstacle, or the intelligent self-moving device bumps the obstacle, but the obstacle is flushed away, so that the surrounding environment is smooth for the intelligent self-moving device to move, the intelligent self-moving device is controlled to keep the original moving state, and particularly the original moving path is kept, so that cleaning omission is avoided, for example, the robot for sweeping the floor encounters the obstacle such as hanging clothes in the sweeping process, the robot for sweeping the floor quickly rushes through the clothes although the trigger signal is generated under the action of the obstacle such as the clothes, and the duration of the trigger signal does not reach the first threshold, and the robot for sweeping the floor is controlled to continuously move, namely the original moving state is kept; when the duration of the trigger signal is greater than or equal to a first threshold value, which indicates that the intelligent self-moving equipment possibly encounters an obstacle which is difficult to pass through at the moment, the intelligent self-moving equipment is controlled to change the original motion state so as to avoid the obstacle, and particularly, the original motion path of the self-moving equipment can be controlled to be changed, for example, the floor sweeping robot encounters furniture with different heights such as a bed bottom and a cabinet bottom in the process of sweeping, and the duration of the trigger signal generated by the furniture is greater than or equal to the first threshold value, so that the floor sweeping robot is controlled to change the original motion state; when the duration of the trigger signal is greater than or equal to a second threshold (the second threshold is greater than the first threshold), the intelligent self-moving equipment is indicated to fail to avoid the obstacle and is blocked by the obstacle, the intelligent self-moving equipment is controlled to start a escaping mode, the escaping mode is a mode which is favorable for the intelligent self-moving equipment to break away from the current state, for example, the sweeping robot is blocked under furniture with different heights such as a bed bottom and a cabinet bottom in the sweeping process, and because the intelligent self-moving equipment is in a blocked state at this moment, the duration of the trigger signal is greater than or equal to the second threshold, and the sweeping robot is controlled to start the escaping mode.
Optionally, in this application scenario, the processor 40 is further specifically configured to control the intelligent self-mobile device to send out the alarm signal when the duration of the trigger signal is greater than or equal to a third threshold, where the third threshold is greater than the second threshold.
Although the getting rid of the poverty mode helps the intelligent self-moving equipment to break away from the current state, there is also the condition that the intelligent self-moving equipment is still in the stranded state after the getting rid of the poverty mode is started, wherein the duration of the trigger signal is greater than or equal to the third threshold value, which indicates that the intelligent self-moving equipment is still in the clamped state after the getting rid of the poverty mode is started, at this time, the processor 40 controls the intelligent self-moving equipment to send out an alarm signal, and reminds the user to help the intelligent self-moving equipment break away from the stranded state in an artificial mode, so that the intelligent self-moving equipment is prevented from being in the stranded state all the time and wasting electric quantity and damaging the machine.
In this application scenario, the first threshold, the second threshold, and the third threshold may be determined according to specific situations, for example, the first threshold, the second threshold, and the third threshold are set to 2S, 5S, and 10S, respectively, so long as the second threshold is ensured to be greater than the first threshold, and the third threshold is ensured to be greater than the second threshold, and the numerical value thereof is not particularly limited.
Wherein the processor 40 controls the intelligent self-mobile device to start the getting rid of poverty mode comprises: the processor 40 controls the intelligent self-moving device to change the original moving state, specifically, controls the intelligent self-moving device to change the original moving path, and simultaneously controls the intelligent self-moving device to perform at least one of the actions of decelerating, lowering the height and changing the grip.
Specifically, the processor 40 controls the smart self-moving device to perform one of decelerating, lowering the altitude, changing the grip, or performing several actions simultaneously while controlling the smart self-moving device to change the original motion state. Wherein controlling the intelligent self-moving device to change the original motion state refers to changing the original moving path.
For example, when the bumper assembly 20 is displaced in the first plane by the external force, so that the detection switch assembly 30 is triggered to generate the trigger signal, and the duration of the trigger signal is greater than the second threshold, which indicates that the smart self-moving device may be stuck under furniture such as a bed bottom, a cabinet bottom, etc., the smart self-moving device is controlled to change the original moving path, and simultaneously, the smart self-moving device is controlled to slow down, reduce the height and change the ground grabbing force, so that the smart self-moving device can quickly break away from the dilemma.
In another application scenario, the processor 40 is further specifically configured to count the total number of times the trigger signal is triggered in a preset time period; when the total number of times that the trigger signal is triggered in a preset time period is greater than or equal to a time threshold, the intelligent self-mobile device is controlled to change the original motion state.
Specifically, in the application scenario, the trigger signal is in a discontinuous state, which indicates that the intelligent self-mobile device may encounter an obstacle and wash over the obstacle in the working process, but the intelligent self-mobile device encounters the obstacle more than once, the total number of times the trigger signal is triggered in a preset time period is counted, when the total number of times the trigger signal is triggered in the preset time period is greater than or equal to a time threshold, which indicates that the number of the obstacle encountered by the intelligent self-mobile device exceeds a certain value, the moving path is not smooth, the intelligent self-mobile device is controlled to change the original moving state, namely, the moving path, so that the intelligent self-mobile device is prevented from colliding with the obstacle for multiple times, thereby protecting the intelligent self-mobile device, wherein the preset time period and the time threshold can be designed by a designer according to actual demands, for example, the preset time period is set to be 1 minute, the time threshold is set to be 5 times, that is, namely, when the number of times the intelligent self-mobile device encounters the obstacle for 1 minute reaches 5 times or more than 5 times, the original moving state is controlled.
In both of the above application scenarios, the controlling of the intelligent self-mobile device to change the original motion state by the processor 40 includes: the processor 40 controls the intelligent back-off or turning from the mobile device.
In the present invention, the detection switch assembly 30 specifically includes: the automatic reset switch 31 is in a closed state after receiving pressure, and is automatically reset and restored to an initial state after the pressure disappears.
The automatic reset switch 31 is coupled to the processor 40, and when the bumper assembly 20 is displaced by an external force, the automatic reset switch 31 is closed to generate a trigger signal under the pressure of the bumper assembly 20, and when the external force disappears to reset the bumper assembly 20, the automatic reset switch 31 is opened to terminate the trigger signal.
That is, when the bumper assembly 20 receives an external force to generate displacement, the automatic reset switch 31 is closed to generate a trigger signal, and when the external force is removed, the automatic reset switch 31 is opened to terminate the trigger signal, thereby ensuring that the duration of the trigger signal is equal to the duration of the external force applied to the bumper assembly 20.
In an application scenario, as shown in fig. 2, the detection switch assembly 30 is located on the upper surface of the robot body 10, and when the smart self-mobile device is displaced in the first plane, the detection switch assembly 30 is triggered to generate a trigger signal, so that an obstacle in a direction perpendicular to the moving direction can be detected.
For example, for the robot cleaner, when the bumper assembly 20 encounters an external force during cleaning and is displaced in the first plane, for example, when the bumper assembly 20 encounters an obstacle such as a bed bottom, the bumper assembly 20 presses the automatic reset switch 31 to close the automatic reset switch 31, and when the robot cleaner breaks away from the obstacle such as the bed bottom, the bumper assembly 20 is reset, and at this time, the automatic reset switch 31 is opened to terminate the trigger signal.
Optionally, with continued reference to fig. 2, the detection switch assembly 30 further includes: return springs 32 the number of return springs 32 is at least two, for example three or five.
When the number of the return springs 32 is two, the two return springs 32 are respectively disposed on both sides of the automatic return switch 31, when an external force is applied to the bumper assembly 20, the two return springs 32 contract, and when the external force disappears, the two return springs 32 return to the original state to help the bumper assembly 20 return, so that the bumper assembly 20 is prevented from being unable to return due to self weight or the like after the external force disappears.
In order to alleviate the impact force of the obstacle on the intelligent self-moving device when the intelligent self-moving device encounters the obstacle, the bumper assembly 20 is made of elastic soft rubber, and specifically, the bumper assembly 20 may be made of elastic soft rubber as a whole or partially made of elastic soft rubber. Wherein the elastic soft rubber comprises at least one of rubber and silica gel.
With continued reference to fig. 1, optionally, the smart self-mobile device further includes: the fixed bolster 50, fixed bolster 50 and robot body 10 fixed connection, detection switch subassembly 30 are fixed on fixed bolster 50, support detection switch subassembly 30 through the fixed bolster 50 with robot body 10 fixed connection, guarantee that it can be triggered when receiving external effort, and can not wholly take place the displacement when receiving external pressure.
The bumper assembly 20 specifically includes: a front-collision bumper upper cover 21 and a front-collision bumper lower cover 22.
Wherein, the shape of front collision bumper upper cover 21 and front collision bumper lower cover 22 matches each other, and its both ends are fixed connection respectively after with robot body 10 fixed connection, through setting up bumper subassembly 20 into two parts, be convenient for dismantle it and renew the part when bumper subassembly 20 takes place to damage.
In summary, unlike the prior art, the intelligent self-mobile device of the present invention can flexibly execute corresponding operations according to the application conditions of external forces, indirectly execute different operations for different external environments, and is more intelligent and humanized.
The foregoing description is only of embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1. An intelligent self-mobile device, comprising:
a robot body;
the bumper component is arranged on the periphery of the robot body and is movably connected with the robot body, when external acting force is applied, the bumper component is displaced, and when the external acting force is eliminated, the bumper component is reset;
the detection switch assembly is arranged on the robot body, and when the bumper assembly is displaced, the detection switch assembly is triggered to generate a trigger signal;
the processor is respectively coupled with the detection switch assembly and the robot body, and is used for receiving the trigger signal generated by the detection switch assembly, counting the duration of the trigger signal, determining a preset control strategy corresponding to the duration of the trigger signal, and further controlling the intelligent self-mobile equipment to execute corresponding operation according to the preset control strategy.
2. The intelligent self-mobile device according to claim 1, wherein,
the processor is specifically configured to count a duration of the trigger signal; when the duration of the trigger signal does not reach a first threshold value, controlling the intelligent self-mobile equipment to keep an original motion state; when the duration of the trigger signal is greater than or equal to the first threshold value, controlling the intelligent self-mobile equipment to change the original motion state; when the duration of the trigger signal is larger than or equal to a second threshold value, the intelligent self-mobile equipment is controlled to start a getting rid of poverty mode,
wherein the second threshold is greater than the first threshold, and the escape mode is a mode that facilitates the smart self-mobile device to escape from a current state.
3. The intelligent self-mobile device according to claim 2, wherein,
the processor is further specifically configured to control the intelligent self-mobile device to send out an alarm signal when the duration of the trigger signal is greater than or equal to a third threshold value,
wherein the third threshold is greater than the second threshold.
4. The intelligent self-mobile device according to claim 2, wherein,
the processor controlling the intelligent self-mobile device to initiate a getting rid of poverty mode includes: the processor controls the intelligent self-moving equipment to change the original motion state, and simultaneously controls the intelligent self-moving equipment to execute at least one action of decelerating, lowering the height and changing the grabbing force.
5. The intelligent self-mobile device according to claim 1, wherein,
the processor is also specifically configured to count a total number of times the trigger signal is triggered in a preset time period; and when the total number of times that the trigger signal is triggered in the preset time period is greater than or equal to a frequency threshold value, controlling the intelligent self-mobile device to change the original motion state.
6. The intelligent self-mobile device according to claim 2 or 5, wherein,
the processor controlling the intelligent self-mobile device to change the original motion state comprises: the processor controls the intelligent self-mobile device to back or turn.
7. The intelligent self-mobile device according to claim 1, wherein,
the bumper assembly displacement when subjected to an external force specifically includes:
when an external force is applied, the bumper component is displaced in a first plane and/or a second plane, wherein the first plane is a plane perpendicular to the moving direction of the intelligent self-moving device, and the second plane is a plane parallel to the moving direction of the intelligent self-moving device.
8. The intelligent self-mobile device according to claim 1, wherein,
the detection switch assembly includes: an automatic reset switch is arranged on the upper surface of the shell,
the automatic reset switch is coupled with the processor, when the bumper assembly is displaced by external force, the automatic reset switch is closed under the pressure of the bumper assembly to generate the trigger signal, and when the external force disappears to reset the bumper assembly, the automatic reset switch is opened to terminate the trigger signal.
9. The intelligent self-mobile device according to claim 8, wherein,
the detection switch assembly further comprises: the number of the reset springs is at least two, and the two reset springs are respectively arranged on two sides of the automatic reset switch.
10. The intelligent self-mobile device according to claim 1, wherein,
the bumper component is made of elastic soft rubber.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811215595.7A CN109222765B (en) | 2018-10-18 | 2018-10-18 | Intelligent self-moving equipment |
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| CN201811215595.7A CN109222765B (en) | 2018-10-18 | 2018-10-18 | Intelligent self-moving equipment |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109730594A (en) * | 2019-03-27 | 2019-05-10 | 南京英维尔科技服务有限公司 | A kind of sweeping robot |
| CN110279348B (en) * | 2019-06-18 | 2024-05-24 | 深圳瑞科时尚电子有限公司 | Self-moving equipment |
| CN112641392A (en) * | 2019-10-12 | 2021-04-13 | 苏州宝时得电动工具有限公司 | Cleaning robot |
| CN112741556A (en) * | 2019-10-31 | 2021-05-04 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment control method and device, automatic cleaning equipment and medium |
| CN111562782B (en) * | 2020-04-15 | 2022-08-16 | 长沙中联重科环境产业有限公司 | Epidemic prevention disinfection cleaning robot |
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| CN207055443U (en) * | 2017-03-14 | 2018-03-02 | 深圳市智意科技有限公司 | Intelligent sweeping |
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| US9354634B2 (en) * | 2014-09-10 | 2016-05-31 | Joseph Y. Ko | Automatic homing and charging method for self-moving cleaning apparatus |
| CN206443655U (en) * | 2016-09-13 | 2017-08-29 | 深圳市银星智能科技股份有限公司 | The touching sensing device and robot of a kind of robot |
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| JP2007011857A (en) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | Autonomous mobile robot and control method of autonomous mobile robot |
| CN207055443U (en) * | 2017-03-14 | 2018-03-02 | 深圳市智意科技有限公司 | Intelligent sweeping |
| CN207613717U (en) * | 2017-06-08 | 2018-07-17 | 深圳市智意科技有限公司 | Obstacle sensing mechanisms and intelligent sweeping |
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