TW201545699A - Traveling method of autonomous cleaning device - Google Patents
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Description
本發明係有關於一種行走方法，尤指係具有自主性位移進行清潔工作之自走式清潔裝置行走方法。 The present invention relates to a walking method, and more particularly to a self-propelled cleaning device walking method having an autonomous displacement for cleaning work.
按，一般自走式清潔裝置為了增加其在待清潔表面清潔之效率，會設定各種不同之行走模式，常見的行走模式諸如隨機行走、Z字行走、螺旋行走、沿牆行走…等，可能會單一使用一種行走模式或交互搭配使用來提升自走式清潔裝置在待清潔表面上行走之覆蓋率；專利號碼第I262777號「具延邊緣移動的地面清潔裝置」專利案即揭露一種行走模式，使概呈圓形之自走式清潔裝置本體進行漸開線模式直到碰觸外物後會進入延邊緣移動的模式，在此模式下，感測單元碰觸一外物時，感測單元會產生一訊號至控制單元，控制單元即控制本體朝遠離外物方向旋轉，使感測單元與外物分離，再產生另一訊號使控制單元控制本體前進一預定距離後，控制單元即控制本體朝外物旋轉一角度並前進，直至感測單元再度碰觸外物，控制單元再度控制本體朝遠離外物方向旋轉，使感測單元與外物分離，當本體依循此路徑程式移動時，其即可沿著外物邊緣移動，並加以清潔。 Press, generally self-propelled cleaning device in order to increase the efficiency of cleaning the surface to be cleaned, will set a variety of different walking modes, common walking modes such as random walking, z-shaped walking, spiral walking, walking along the wall, etc., may Single use of a walking mode or interactive use to enhance the coverage of the self-propelled cleaning device on the surface to be cleaned; Patent No. I262777 "Surface cleaning device with extended edge movement" patent case reveals a walking mode, so that The circular self-propelled cleaning device body performs the involute mode until it touches the foreign object, and enters the extended edge moving mode. In this mode, when the sensing unit touches a foreign object, the sensing unit generates A signal is sent to the control unit, and the control unit rotates the control body away from the foreign object, so that the sensing unit is separated from the foreign object, and another signal is generated to cause the control unit to control the body to advance by a predetermined distance, and the control unit controls the body to face outward. The object rotates at an angle and advances until the sensing unit touches the foreign object again, and the control unit again controls the body to rotate away from the foreign object. The sensing unit is separated from the outside thereof, when the body moves to follow this path program, which can be moved along the outer edge thereof, and clean it.
前述第I262777號專利案之本體係概呈圓形，假若係使用於非圓形之本體上，請參閱第二D圖所示，以約略矩形之本 體10為例，本體10在旋轉時位於左右兩端之邊角容易與障礙物O發生碰撞，導致本體10無法順利之轉向，且第I262777號專利案本體係以不斷碰觸外物之方式，沿著外物邊緣移動，在長時間之使用下外物會因碰觸而造成損傷，且本體在與外物碰觸之情況下亦會產生惱人的噪音，如與使用者在同一空間下使用可能會令使用者心煩氣燥。 The system of the above-mentioned Patent No. I262777 is substantially circular, and if it is used on a non-circular body, please refer to the second D figure, which is approximately rectangular. The body 10 is taken as an example. When the body 10 is rotated, the corners of the left and right ends are easily collided with the obstacle O, and the body 10 cannot be smoothly turned, and the system of the No. I262777 patent continuously touches the foreign object. Moving along the edge of the foreign object, the foreign object will be damaged by the touch during a long period of use, and the body will also produce annoying noise when it touches the foreign object, such as using the same space as the user. It may upset the user.
爰是，本發明之目的，在於提供一種可使用於非圓形機體之自走式清潔裝置上且不需要與障礙物碰觸即可沿著障礙物行走之自走式清潔裝置行走方法。 Accordingly, it is an object of the present invention to provide a self-propelled cleaning device walking method that can be used on a self-propelled cleaning device for a non-circular body and that can travel along an obstacle without touching an obstacle.
依據本發明目的之一種自走式清潔裝置行走方法，包括：一障礙物迴避步驟，使自走式清潔裝置在感測到障礙物時，自走式清潔裝置先後退並朝遠離障礙物之方向旋轉再前進；一障礙物尋找步驟，在自走式清潔裝置遠離障礙物一預定時間後，使自走式清潔裝置旋轉朝障礙物方向前進。 A self-propelled cleaning device walking method according to the object of the present invention comprises: an obstacle avoiding step, wherein when the self-propelled cleaning device senses an obstacle, the self-propelled cleaning device retreats away from the obstacle Rotating and advancing; an obstacle finding step of rotating the self-propelled cleaning device toward the obstacle after the self-propelled cleaning device is away from the obstacle for a predetermined time.
本發明實施例之自走式清潔裝置行走方法，在障礙物迴避步驟下，機體先後退以取得一個相對於障礙物可自由旋轉之距離，對於非圓形之機體，更可使機體在旋轉時避免碰撞到障礙物；而尋找障礙物步驟使機體在尚未感測到障礙物時，行走一弧形路徑，使機體容易往障礙物方向接近，以感測到障礙物而沿著障礙物之邊緣進行行走；依序並循環使用螺旋行走模式、沿障礙物行走模式與隨機行走模式三種行走模式，可提升自走式清潔裝置之機體在一定時間內對於待清潔表面整體之清潔覆蓋率；且在螺旋行走模式下可形成多個重疊性低之螺旋漸開線，亦增加了清潔之效率。 In the self-propelled cleaning device walking method of the embodiment of the present invention, under the obstacle avoiding step, the body is retracted to obtain a distance that can be freely rotated relative to the obstacle, and for the non-circular body, the body can be rotated. Avoid collisions with obstacles; and the obstacle-seeking step allows the body to walk an arc-shaped path when the obstacle has not been sensed, so that the body can easily approach the obstacle to sense the obstacle and follow the edge of the obstacle. Walking; sequentially using the spiral walking mode, the walking mode along the obstacle and the random walking mode, the cleaning coverage of the body of the self-propelled cleaning device for the entire surface to be cleaned can be improved in a certain period of time; In the spiral walking mode, a plurality of spiral involutes with low overlap can be formed, which also increases the efficiency of cleaning.
1‧‧‧自走式清潔裝置 1‧‧‧Self-propelled cleaning device
10‧‧‧機體 10‧‧‧ body
11‧‧‧感測單元 11‧‧‧Sensor unit
111‧‧‧感測器 111‧‧‧Sensor
12‧‧‧控制單元 12‧‧‧Control unit
13‧‧‧左驅動輪 13‧‧‧Left drive wheel
14‧‧‧右驅動輪 14‧‧‧Right drive wheel
15‧‧‧側掃刷 15‧‧‧ side sweeping brush
16‧‧‧入塵口 16‧‧‧Into the dust inlet
17‧‧‧集塵盒 17‧‧‧ dust box
18‧‧‧負壓機構 18‧‧‧Negative pressure mechanism
20‧‧‧螺旋行走模式 20‧‧‧Spiral walking mode
30‧‧‧沿障礙物行走模式 30‧‧‧ Walking mode along obstacles
40‧‧‧隨機行走模式 40‧‧‧ Random walking mode
d‧‧‧距離 D‧‧‧distance
O‧‧‧障礙物 O‧‧‧ obstacles
R‧‧‧弧形路徑 R‧‧‧ curved path
第一圖係本發明實施例之自走式清潔裝置機體之示意圖。 The first figure is a schematic view of the body of the self-propelled cleaning device of the embodiment of the present invention.
第二A圖係本發明實施例之機體感測到障礙物之示意圖。 The second A is a schematic diagram of the body sensing the obstacle according to the embodiment of the present invention.
第二B圖係本發明實施例之機體後退遠離障礙物之示意圖。 The second B is a schematic diagram of the body of the embodiment of the present invention receding away from the obstacle.
第二C圖係本發明實施例之機體朝遠離障礙物之方向旋轉後再前進以避開障礙物之示意圖。 The second C is a schematic view of the body of the embodiment of the present invention rotating away from the obstacle and then advancing to avoid the obstacle.
第二D圖係本發明實施例之機體在旋轉時碰撞障礙物之示意圖。 The second D is a schematic view of the body of the embodiment of the present invention colliding with an obstacle while rotating.
第三圖係本發明實施例之三種行走模式切換之流程圖。 The third figure is a flow chart of three walking mode switching in the embodiment of the present invention.
第四圖係本發明實施例之螺旋行走模式之示意圖。 The fourth figure is a schematic diagram of the spiral walking mode of the embodiment of the present invention.
第五圖係本發明實施例之沿障礙物行走模式之控制流程圖。 The fifth figure is a control flow chart of the obstacle walking mode according to the embodiment of the present invention.
第六圖係本發明實施例之沿障礙物行走模式之示意圖。 The sixth figure is a schematic diagram of the obstacle walking mode according to the embodiment of the present invention.
第七圖係本發明實施例之第六圖部分放大之示意圖。 Figure 7 is a partially enlarged schematic view of the sixth embodiment of the embodiment of the present invention.
第八圖係本發明實施例之隨機行走模式之示意圖。 The eighth figure is a schematic diagram of the random walking mode of the embodiment of the present invention.
請參閱第一圖所示，本發明實施例之自走式清潔裝置1，係用以在待清潔表面執行清潔工作，包括：一機體10，可於待清潔表面上移動，在形狀上大致呈具有修圓邊角之矩形；一感測單元11，具有複數個設於機體10周緣之感測器111，該感測器111可發射與接收紅外線或超音波等訊號，以非接觸之方式進行機體10周緣前方之障礙物感測；一控制單元12，可執行各項數據運算，控制機體10執行數種行走模式並參照該感測單元11之感測資訊控制機體10執行各種 功能控制；一左驅動輪13與一右驅動輪14，設於該機體10下方兩側，可透過控制單元12控制該左驅動輪13與該右驅動輪14之轉速，使機體10執行前進、後退、自轉、旋轉…等動作；一側掃刷15，設於機體10下方之一側，將機體10周緣之汙塵撥掃進機體10下方並由入塵口16吸入，在本實施例中該側掃刷15係僅設於機體10右側，但亦可左、右兩側同時設置，在該入塵口16處亦可設置主掃刷提高汙塵之清掃效率；一集塵盒17，與入塵口16相連結，由入塵口16吸入之汙塵將於該集塵盒17內收集；一負壓機構18，與集塵盒17相連結，提供入塵口16與集塵盒17負壓，使汙塵可由入塵口16被吸入並保持於集塵盒17中。 Referring to the first figure, the self-propelled cleaning device 1 of the embodiment of the present invention is configured to perform a cleaning operation on a surface to be cleaned, comprising: a body 10 movable on a surface to be cleaned, substantially in shape The sensing unit 11 has a plurality of sensors 111 disposed on the periphery of the body 10, and the sensor 111 can transmit and receive signals such as infrared rays or ultrasonic waves in a non-contact manner. An obstacle is detected in front of the periphery of the body 10; a control unit 12 can perform various data operations, and the control body 10 executes a plurality of walking modes and controls the body 10 to perform various operations with reference to the sensing information of the sensing unit 11. Functional control; a left driving wheel 13 and a right driving wheel 14 are disposed on two sides of the lower side of the body 10, and the rotation speed of the left driving wheel 13 and the right driving wheel 14 can be controlled by the control unit 12 to cause the body 10 to perform advancement. The operation of the back, the rotation, the rotation, and the like; the one side brush 15 is disposed on one side of the lower side of the body 10, and sweeps the dust around the periphery of the body 10 into the lower side of the body 10 and is sucked by the dust inlet 16 in this embodiment. The side sweeping brush 15 is only disposed on the right side of the body 10, but can also be disposed at the same time on the left and right sides. The main sweeping brush can also be provided at the dust inlet 16 to improve the cleaning efficiency of the dust; a dust box 17, Connected to the dust inlet 16 , the dust sucked by the dust inlet 16 will be collected in the dust box 17; a negative pressure mechanism 18 is connected with the dust box 17 to provide the dust inlet 16 and the dust box. The negative pressure is 17 so that the dust can be sucked into and held in the dust box 17 by the dust inlet 16.
請參閱第一、二A圖，機體10在待清潔表面行走的過程中，如感測單元11感測到前進方向具有障礙物O，即會進行障礙物O迴避步驟，該障礙物O可為牆壁、柱子、桌腳、椅腳…等，此障礙物O迴避步驟請配合參閱第二B、二C圖所示，機體10在感測到障礙物O時，會先使左驅動輪13與右驅動輪14同時反向旋轉，令機體10直接後退一段預定時間以遠離障礙物O一段使機體10可自由旋轉之距離d，在距離障礙物O有一段可自由旋轉距離d後，機體10會朝遠離障礙物O之方向旋轉後再前進以避開障礙物O；本發明實施例之旋轉角度，可能會因位於機體10周緣不同位置之感測器111感測到障礙物O而旋轉不同之角度，在旋轉之方向上，基本上如係左側之感測器111先感測到障礙物O，機體10會朝右側旋轉，如係右側之感測器111先感測到障礙物O， 機體10會朝左側旋轉以避開障礙物O。 Referring to FIG. 1 and FIG. 2A, during the walking of the surface to be cleaned by the body 10, if the sensing unit 11 senses that there is an obstacle O in the forward direction, an obstacle O avoiding step may be performed, and the obstacle O may be Wall, column, table legs, chair legs, etc., this obstacle O avoiding step, please refer to the second B, C diagram, when the body 10 senses the obstacle O, it will first make the left driving wheel 13 The right driving wheel 14 rotates in the opposite direction at the same time, so that the body 10 directly retreats for a predetermined time to move away from the obstacle O for a distance d which allows the body 10 to freely rotate. After a distance of d from the obstacle O, the body 10 will Rotating away from the obstacle O and then advancing to avoid the obstacle O; the rotation angle of the embodiment of the present invention may be different due to the sensor 111 located at different positions on the periphery of the body 10 sensing the obstacle O Angle, in the direction of rotation, basically, the sensor 111 on the left side first senses the obstacle O, and the body 10 rotates to the right side. If the sensor 111 on the right side first senses the obstacle O, The body 10 will rotate to the left to avoid the obstacle O.
請參閱第一、三圖所示，控制單元12可控制機體10執行數種行走模式，包括一螺旋行走模式20、一沿障礙物行走模式30與一隨機行走模式40，三種行走模式皆預定有一段行走之時間，在使用上，機體10先進入螺旋行走模式20約1~5分鐘，待時間結束後切換至沿障礙物行走模式30約1~5分鐘，待時間結束後再切換至隨機行走模式40約3~10分鐘，待時間結束後再切換回螺旋行走模式20如此重複循環直到電力即將耗盡。 Referring to the first and third figures, the control unit 12 can control the body 10 to perform several walking modes, including a spiral walking mode 20, an obstacle walking mode 30, and a random walking mode 40. The three walking modes are all predetermined. During a walking time, in use, the body 10 first enters the spiral walking mode 20 for about 1 to 5 minutes, and after the time is over, switches to the obstacle walking mode 30 for about 1 to 5 minutes, and then switches to random walking after the time is over. Mode 40 is about 3 to 10 minutes. After the time is over, switch back to the spiral walking mode. 20 Repeat the cycle until the power is about to run out.
請參閱第一、三、四圖所示，在機體10進行螺旋行走模式20之預定執行時間內，機體10係以漸開線之方式朝一方向向外旋繞擴大清掃範圍之直徑，直到感測到障礙物O後，機體10先執行一障礙物迴避步驟，令機體10先後退再進行轉向，值得注意的是，此時不論是左側或右側之感測器111感測到障礙物O，機體10皆會設定朝向外旋繞方向之反方向進行旋轉後再直行一段時間，之後再朝原始之旋繞方向展開一個新的螺旋漸開線，以避免下一個旋繞之漸開線與上一個漸開線過度重疊；在本發明實施例中，因為側掃刷15係裝設於機體10之右側，故機體10係以向左旋繞之方式方能清掃到最外側之汙塵，而在感測到障礙物O時，係以反方向向右旋轉後直行之方式遠離障礙物O與上一個漸開線。 Referring to the first, third and fourth figures, during the predetermined execution time of the spiral walking mode 20 of the body 10, the body 10 is rotated in an outward direction in an involute manner to expand the diameter of the cleaning range until it is sensed. After the obstacle O, the body 10 first performs an obstacle avoiding step, so that the body 10 is retracted and then turned. It is worth noting that, at this time, the sensor 111 of the left or right side senses the obstacle O, and the body 10 All will be set to rotate in the opposite direction of the outer winding direction and then go straight for a period of time, then expand a new spiral involute in the original winding direction to avoid the involute of the next winding and the previous involute In the embodiment of the present invention, since the side sweeping brush 15 is mounted on the right side of the body 10, the body 10 can be swung to the left side to be cleaned to the outermost side, and the obstacle is sensed. In the case of O, it is rotated in the opposite direction to the right and then goes straight away from the obstacle O and the previous involute.
請參閱第一、三、五圖所示，在螺旋行走模式20之預定行走時間結束後，機體10切換至沿障礙物行走模式30，在沿障礙物行走模式30下當務之急係先尋找到障礙物O，此時機體10會依漸開線最後旋繞之方向直行一段預定時間約10~60秒，在此 預定時間內如有感測到障礙物O，則執行障礙物迴避步驟，機體10先後退一段距離d並朝遠離障礙物O之方向旋轉再前進，隨後執行障礙物尋找步驟，在機體10遠離障礙物O一段預定時間後，控制左驅動輪13與右驅動輪14之轉速，使機體10旋轉朝一預定方向進行一弧形路徑R一段預定時間約1~10秒，使自走式清潔裝置旋轉朝障礙物O方向前進；如在直行之預定時間內都尚未感測到障礙物O之情況下，機體10亦會執行障礙物尋找步驟，如還是未尋找到障礙物O，則重新再直行一段預定時間，重覆上述流程，直到尋找到障礙物O，機體10由直行到尋找障礙物O再到找到障礙物O並沿著障礙物O之邊緣行走之路徑可參閱第六、七圖；在本發明實施例中，因為側掃刷15係裝設於機體10之右側，故在沿障礙物行走模式30下，機體10在感測到障礙物O時，不論係左側或右側之感測器111感測到障礙物O，皆會在後退後採用向左側旋轉回避障礙物O並朝右側走弧形路徑尋找障礙物O之方式來使機體10沿著障礙物O之邊緣進行行走。 Referring to the first, third and fifth figures, after the predetermined walking time of the spiral walking mode 20 ends, the body 10 switches to the obstacle walking mode 30, and in the obstacle walking mode 30, the urgent task is to find the obstacle first. O, at this time, the body 10 will go straight for a predetermined time of about 10~60 seconds according to the direction of the final winding of the involute line. If the obstacle O is sensed within the predetermined time, the obstacle avoiding step is performed, and the body 10 is rotated back a distance d and rotated in the direction away from the obstacle O, and then the obstacle searching step is performed, and the obstacle is removed from the body 10 After a predetermined period of time, the object O controls the rotation speed of the left driving wheel 13 and the right driving wheel 14, so that the body 10 rotates in a predetermined direction to perform an arcuate path R for a predetermined time of about 1 to 10 seconds, so that the self-propelled cleaning device rotates toward The obstacle O advances; if the obstacle O has not been sensed within the predetermined time of straight travel, the body 10 also performs an obstacle search step, and if the obstacle O is not found, the line is re-routed for a predetermined period. Time, repeat the above process until the obstacle O is found, the path of the body 10 going straight to finding the obstacle O and then finding the obstacle O and walking along the edge of the obstacle O can be referred to the sixth and seventh figures; In the embodiment of the invention, since the side sweeping brush 15 is mounted on the right side of the body 10, the body 10 senses the obstacle O in the obstacle walking mode 30, regardless of whether the sensor 111 is left or right. Sensing Obstacle O, all will be retracted after use to avoid the obstacle O is rotated in the left and right down toward the arcuate path of the obstacle O to find ways to make the body 10 travels along the edges of the obstacle O.
請參閱第三、七圖所示，在沿障礙物行走模式30之預定執行時間結束後，機體10切換至隨機行走模式40，在隨機行走模式40執行之預定執行時間內，機體10在感測到障礙物O時即會執行障礙物迴避步驟直到又感測到障礙物O。 Referring to the third and seventh figures, after the predetermined execution time along the obstacle walking mode 30 ends, the body 10 switches to the random walking mode 40, and during the predetermined execution time of the random walking mode 40, the body 10 is sensing. When the obstacle O is reached, the obstacle avoidance step is performed until the obstacle O is sensed again.
本發明實施例之自走式清潔裝置1行走方法，在障礙物O迴避步驟下，機體10先後退以取得一個相對於障礙物O可自由旋轉之距離d，不僅可使用於圓形之機體10，對於非圓形之機體10，更可使機體10在旋轉時避免邊角碰撞到障礙物O；而尋找障礙物步驟使機體10在尚未感測到障礙物O時，行走一弧形路 徑R，使機體10容易往障礙物O方向靠近，以感測到障礙物O而沿著障礙物O之邊緣進行行走；而依序並循環使用螺旋行走模式20、沿障礙物行走模式30與隨機行走模式40三種行走模式，可提升自走式清潔裝置1之機體10在一定時間內對於待清潔表面整體之清潔覆蓋率；且在螺旋行走模式20下可形成多個重疊性低之螺旋漸開線，亦增加了清潔之效率。 In the walking method of the self-propelled cleaning device 1 of the embodiment of the present invention, under the obstacle O avoiding step, the body 10 is successively retracted to obtain a distance d which is freely rotatable relative to the obstacle O, and can be used not only for the circular body 10 For the non-circular body 10, the body 10 can prevent the corner from colliding with the obstacle O while rotating; and the step of finding an obstacle causes the body 10 to walk an arc-shaped road when the obstacle O has not been sensed. The diameter R makes the body 10 easy to approach the obstacle O direction, so as to sense the obstacle O and walk along the edge of the obstacle O; and sequentially use the spiral walking mode 20, along the obstacle walking mode 30 and The random walking mode 40 three walking modes can improve the cleaning coverage of the whole body of the self-propelled cleaning device 1 for a certain time in a certain period of time; and in the spiral walking mode 20, a plurality of spirals with low overlap can be formed. Opening the line also increases the efficiency of cleaning.
惟以上所述者，僅為本發明之較佳實施例而已，當不能以此限定本發明實施之範圍，即大凡依本發明申請專利範圍及發明說明內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。 The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.
20‧‧‧螺旋行走模式 20‧‧‧Spiral walking mode
30‧‧‧沿障礙物行走模式 30‧‧‧ Walking mode along obstacles
40‧‧‧隨機行走模式 40‧‧‧ Random walking mode
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| Application Number | Priority Date | Filing Date | Title |
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| TW103120398A TW201545699A (en) | 2014-06-12 | 2014-06-12 | Traveling method of autonomous cleaning device |
| JP2015067843A JP2016002453A (en) | 2014-06-12 | 2015-03-30 | Travel method of self-propelled cleaning apparatus |
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| TW103120398A TW201545699A (en) | 2014-06-12 | 2014-06-12 | Traveling method of autonomous cleaning device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106491041A (en) * | 2016-11-15 | 2017-03-15 | 北京历途科技有限公司 | A kind of composite multifunction negative pressure cleaning device |
| CN109683622A (en) * | 2019-02-22 | 2019-04-26 | 深圳市杉川机器人有限公司 | Robot cleaning method, device, robot and computer readable storage medium |
| CN111638719A (en) * | 2020-06-11 | 2020-09-08 | 绍兴肇观电子科技有限公司 | Robot and its moving method, equipment, circuit and medium |
| WO2022121975A1 (en) * | 2020-12-10 | 2022-06-16 | Yunjing Intelligence (Shenzhen) Co., Ltd. | Cleaning method, cleaning robot and computer-readable storage medium |
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| US11464375B2 (en) * | 2018-09-04 | 2022-10-11 | Irobot Corporation | Navigation of autonomous mobile robots |
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| JP3479212B2 (en) * | 1998-01-21 | 2003-12-15 | 本田技研工業株式会社 | Control method and device for self-propelled robot |
| JP3674481B2 (en) * | 2000-09-08 | 2005-07-20 | 松下電器産業株式会社 | Self-propelled vacuum cleaner |
| WO2002101477A2 (en) * | 2001-06-12 | 2002-12-19 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
| JP2006313455A (en) * | 2005-05-09 | 2006-11-16 | Funai Electric Co Ltd | Self-traveling cleaning robot, self-traveling robot, and program for controlling traveling of same |
| JP2010099365A (en) * | 2008-10-27 | 2010-05-06 | Panasonic Corp | Self-propelled cleaner |
| KR101566207B1 (en) * | 2011-06-28 | 2015-11-13 | 삼성전자 주식회사 | Robot cleaner and control method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106491041A (en) * | 2016-11-15 | 2017-03-15 | 北京历途科技有限公司 | A kind of composite multifunction negative pressure cleaning device |
| CN106491041B (en) * | 2016-11-15 | 2022-12-16 | 北京历途科技有限公司 | Composite multifunctional negative pressure cleaning device |
| CN109683622A (en) * | 2019-02-22 | 2019-04-26 | 深圳市杉川机器人有限公司 | Robot cleaning method, device, robot and computer readable storage medium |
| CN111638719A (en) * | 2020-06-11 | 2020-09-08 | 绍兴肇观电子科技有限公司 | Robot and its moving method, equipment, circuit and medium |
| WO2022121975A1 (en) * | 2020-12-10 | 2022-06-16 | Yunjing Intelligence (Shenzhen) Co., Ltd. | Cleaning method, cleaning robot and computer-readable storage medium |
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| JP2016002453A (en) | 2016-01-12 |
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