技术领域technical field
本发明涉及智能设备领域，尤其涉及一种扫地机器人及其障碍检测方法。The invention relates to the field of intelligent equipment, in particular to a sweeping robot and an obstacle detection method thereof.
背景技术Background technique
障碍物规避，环境地图绘制与工作规划是机器人领域目前研究的重要课题，扫地机器人为了更好的完成任务，要生成一个它的工作环境地图，然后根据对此环境地图的理解规划出最合理的工作路径，提高清洁效率。Obstacle avoidance, environmental map drawing and work planning are important topics in the field of robotics. In order to better complete the task, the sweeping robot needs to generate a map of its working environment, and then plan the most reasonable plan based on the understanding of this environmental map. Working path, improve cleaning efficiency.
目前市场流行的扫地机器人是基于碰撞传感器的接触式导航的，扫地机器人在发生碰撞后即转换工作路径，由于无法对障碍物做出智能判断，如障碍物的体积，类型等，因此存在清洁覆盖率低等缺点。并且和易碎物发生碰撞时会造成危险或损失。目前已有的扫地机器人智能避障方法，主要是基于超声波测距避障技术、激光测距等的避障技术。At present, the popular sweeping robot in the market is based on the contact navigation of the collision sensor. The sweeping robot changes the working path after a collision. Since it cannot make intelligent judgments on obstacles, such as the volume and type of obstacles, there is a cleaning coverage. Disadvantages such as low rate. And it will cause danger or loss when it collides with fragile objects. The existing intelligent obstacle avoidance methods for sweeping robots are mainly based on ultrasonic ranging obstacle avoidance technology, laser ranging and other obstacle avoidance technologies.
由于超声波测距、激光测距等均需要采用机械结构，体积较大，因此现有技术中，扫地机器人的障碍物检测部件均固定于机器人顶部作为凸起结构，由于视角有限，导致对于高度较低的障碍物无法识别，例如地面的线缆、门线等，导致扫地机器人在工作过程中容易被卡住。并且，由于检测部件采用机械结构，容易在碰撞过程中损坏，可靠性较低。Since ultrasonic distance measurement and laser distance measurement all require the use of mechanical structures and large volumes, in the prior art, the obstacle detection components of the sweeping robot are all fixed on the top of the robot as a raised structure. Low obstacles cannot be identified, such as cables on the ground, door lines, etc., causing the sweeping robot to get stuck easily during work. Moreover, since the detection component adopts a mechanical structure, it is easy to be damaged during a collision, and the reliability is low.
发明内容Contents of the invention
本发明所要解决的技术问题是，提供一种扫地机器人及其障碍检测方法，提高扫地机器人的障碍物检测范围。The technical problem to be solved by the present invention is to provide a sweeping robot and an obstacle detection method thereof, so as to improve the obstacle detection range of the sweeping robot.
为了解决上述问题，本发明提供了一种扫地机器人，包括：壳体，所述壳体具有侧壁；检测模块，设置于所述壳体内，所述检测模块包括至少一个沿所述侧壁设置的飞行时间传感器，所述飞行时间传感器通过一透明视窗接收外部光信号。In order to solve the above problems, the present invention provides a sweeping robot, including: a housing, the housing has a side wall; a detection module, arranged in the housing, the detection module includes at least one set along the side wall A time-of-flight sensor, the time-of-flight sensor receives external light signals through a transparent window.
可选的，所述检测模块还包括处理器，连接至所述至少一个飞行时间传感器，用于对所述至少一个飞行时间传感器的传感数据进行处理，并对所述至少一个飞行时间传感器进行控制。Optionally, the detection module further includes a processor connected to the at least one time-of-flight sensor, configured to process the sensing data of the at least one time-of-flight sensor, and perform control.
可选的，所述处理器还用于使各个飞行时间传感器之间保持时钟同步。Optionally, the processor is further configured to keep clocks synchronized among the time-of-flight sensors.
可选的，所述检测模块包括两个以上沿所述侧壁设置的飞行时间传感器。Optionally, the detection module includes more than two time-of-flight sensors arranged along the side wall.
可选的，各个飞行时间传感器均设置于同一高度。Optionally, all time-of-flight sensors are arranged at the same height.
可选的，所述飞行时间传感器分布于多个高度上。Optionally, the time-of-flight sensors are distributed at multiple altitudes.
可选的，单个飞行时间传感器的传感视角为100°～150°。Optionally, the sensing viewing angle of a single time-of-flight sensor is 100°-150°.
可选的，所述飞行时间传感器与壳体底部的距离小于5cm。Optionally, the distance between the time-of-flight sensor and the bottom of the housing is less than 5cm.
本发明的具体实施方式还提供一种扫地机器人的障碍检测方法，包括：获取所述至少一个飞行时间传感器的传感数据；根据所述传感数据获取周围环境图像；根据周围环境图像内的物体距离和高度信息，判断是否为障碍物。The specific embodiment of the present invention also provides an obstacle detection method for a sweeping robot, including: acquiring the sensing data of the at least one time-of-flight sensor; acquiring the surrounding environment image according to the sensing data; Distance and height information to determine whether it is an obstacle.
可选的，所述扫地机器人包括两个以上的飞行时间传感器；根据所述传感数据获取障碍物图像的方法进一步包括：根据每个飞行时间传感器的传感数据，得到两个以上的不同位置的初始环境图像；将所述两个以上不同视角的环境图像进行组合，得到一组合环境图像，所述组合环境图像的视角大于任一初始环境图像。Optionally, the sweeping robot includes more than two time-of-flight sensors; the method for obtaining an image of an obstacle according to the sensing data further includes: obtaining more than two different positions according to the sensing data of each time-of-flight sensor the initial environment image; combine the two or more environment images with different viewing angles to obtain a combined environment image, the angle of view of the combined environment image is larger than that of any initial environment image.
可选的，根据所述传感数据获取障碍物图像的方法进一步包括：将获得的各个飞行时间传感器的初始传感数据进行组合和计算，获得周围环境的组合传感数据；再根据所述组合传感数据形成组合环境图像。Optionally, the method for obtaining an image of an obstacle according to the sensing data further includes: combining and calculating the obtained initial sensing data of each time-of-flight sensor to obtain combined sensing data of the surrounding environment; and then according to the combination The sensory data forms a combined environmental image.
可选的，所述扫地机器人的各个飞行时间传感器之间保持时钟同步。Optionally, the time-of-flight sensors of the sweeping robot maintain clock synchronization.
可选的，判断物体是否为障碍物的方法包括：将物体的距离与第一阈值比较，当小于所述第一阈值时，将所述物体的高度与第二阈值比较，当大于所述第二阈值时，判断该物体为障碍物。Optionally, the method for judging whether an object is an obstacle includes: comparing the distance of the object with a first threshold, and comparing the height of the object with a second threshold when it is less than the first threshold, and comparing the height of the object with a second threshold; When the threshold is two, it is judged that the object is an obstacle.
本发明的扫地机器人具有设置于壳体内，沿壳体侧壁设置的至少一个飞行时间传感器，对障碍物进行检测。由于飞行时间传感器为非机械结构，可靠性高；且位置接近扫地机器人的底部，能够获得更接近地面位置处的环境图像。并且，通过两个以上的飞行时间传感器，可以获得更大视角以及检测高度内的环境图像，从而提高扫地机器人对周围环境的检测范围。The sweeping robot of the present invention has at least one time-of-flight sensor arranged in the housing and along the side wall of the housing to detect obstacles. Since the time-of-flight sensor has a non-mechanical structure, it has high reliability; and its position is close to the bottom of the sweeping robot, so it can obtain an environmental image closer to the ground. Moreover, through more than two time-of-flight sensors, a larger viewing angle and environmental images within the detection height can be obtained, thereby improving the detection range of the sweeping robot to the surrounding environment.
附图说明Description of drawings
图1为本发明一具体实施方式的扫地机器人的结构示意图；Fig. 1 is a structural schematic diagram of a sweeping robot according to a specific embodiment of the present invention;
图2为本发明一具体实施方式的扫地机器人的结构示意图；Fig. 2 is a structural schematic diagram of a sweeping robot according to a specific embodiment of the present invention;
图3为本发明一具体实施方式的扫地机器人的结构示意图；Fig. 3 is a structural schematic diagram of a sweeping robot according to a specific embodiment of the present invention;
图4为本发明一具体实施方式的扫地机器人的检测模块的结构示意图；4 is a schematic structural diagram of a detection module of a sweeping robot according to a specific embodiment of the present invention;
图5为本发明一具体实施方式的扫地机器人的障碍检测方法的流程示意图。Fig. 5 is a schematic flowchart of an obstacle detection method of a sweeping robot according to a specific embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明提供的扫地机器人及障碍检测方法的具体实施方式做详细说明。The specific implementations of the sweeping robot and the obstacle detection method provided by the present invention will be described in detail below in conjunction with the accompanying drawings.
请参考图1和图2，为本发明一具体实施方式的扫地机器人的结构示意图。Please refer to FIG. 1 and FIG. 2 , which are structural schematic diagrams of a sweeping robot according to a specific embodiment of the present invention.
所述扫地机器人包括壳体100，所述壳体具有侧壁101和顶盖102；检测模块，设置于所述壳体100的侧壁101内，所述检测模块包括至少一个沿所述侧壁设置的飞行时间传感器201，所述飞行时间传感器201通过一透明视窗接收外部光信号。The sweeping robot includes a housing 100, the housing has a side wall 101 and a top cover 102; a detection module is arranged in the side wall 101 of the housing 100, and the detection module includes at least one A time-of-flight sensor 201 is provided, and the time-of-flight sensor 201 receives external light signals through a transparent window.
所述飞行时间传感器201包括一像素传感阵列，用于接收光信号。因此，所述飞行时间传感器201的传感阵列朝向所述透明视窗设置。所述飞行时间传感器201还可通过透镜或光源扩散板等调整传感视角。The time-of-flight sensor 201 includes a pixel sensing array for receiving light signals. Thus, the sensing array of the time-of-flight sensor 201 is positioned towards the transparent window. The time-of-flight sensor 201 can also adjust the sensing angle of view through a lens or a light source diffusion plate.
该具体实施方式中，所述检测模块包括两个飞行时间传感器201，设置于侧壁的同一高度上。所述飞行时间传感器201的传感视角为α，通常所述传感视角α小于180°，例如为100°～150°。在采用单个飞行时间传感器201的情况下，只能获得飞行时间传感器201前侧视角α范围内的传感数据，视野范围有限。该具体实施方式中，所述检测模块包括两个飞行时间传感器201，设置于扫地机器人的一侧半个圆周范围内，朝向不同的方向，能够通过两个飞行时间传感器201实现180°的传感视角。在一个具体实施方式中，所述飞行时间传感器201的视角为120°。在接近扫地机器人侧壁101的位置处，虽然会存在一个位于飞行时间传感器201视野范围外的盲区203，但是通过扫地机器人位置的改变和旋转等操作，所述飞行时间传感器201的检测范围也能够覆盖所述盲区203。In this specific embodiment, the detection module includes two time-of-flight sensors 201, which are arranged at the same height of the side wall. The sensing viewing angle of the time-of-flight sensor 201 is α, and generally, the sensing viewing angle α is less than 180°, for example, 100°˜150°. In the case of using a single time-of-flight sensor 201 , only the sensing data within the viewing angle α range of the front side of the time-of-flight sensor 201 can be obtained, and the field of view is limited. In this specific embodiment, the detection module includes two time-of-flight sensors 201, which are arranged within half a circle on one side of the sweeping robot, facing different directions, and can realize 180° sensing through the two time-of-flight sensors 201. perspective. In a specific embodiment, the viewing angle of the time-of-flight sensor 201 is 120°. At the position close to the side wall 101 of the sweeping robot, although there will be a blind area 203 outside the field of view of the time-of-flight sensor 201, the detection range of the time-of-flight sensor 201 can also be adjusted by changing and rotating the position of the sweeping robot. The blind area 203 is covered.
在其他具体实施方式中，所述检测模块还包括三个以上的飞行时间传感器201，沿所述侧壁设置，进一步扩大检测视角。In other specific implementation manners, the detection module further includes more than three time-of-flight sensors 201 arranged along the side wall to further expand the detection viewing angle.
请参考图3，为本发明另一具体实施方式的扫地机器人的结构示意图。Please refer to FIG. 3 , which is a schematic structural diagram of a sweeping robot according to another embodiment of the present invention.
该具体方式中，所述扫地机器人的检测模块包括四个飞行时间传感器201，沿所述侧壁101设置。四个飞行时间传感器201均匀分布，使得整个传感视角围绕扫地机器人实现360°视角的检测。In this specific manner, the detection module of the cleaning robot includes four time-of-flight sensors 201 arranged along the side wall 101 . The four time-of-flight sensors 201 are evenly distributed, so that the entire sensing angle of view surrounds the sweeping robot to achieve detection of a 360° angle of view.
由于所述飞行传感器201设置于所述扫地机器人的侧壁内侧，距离扫地机器人的底部距离较小，因此与将检测部件设置于扫地机器人顶部相比，能够获得更接近地面位置处的环境图像。在一个具体实施方式中，所述飞行传感器201距离扫地机器人底部的距离小于5cm。并且，由于所述飞行传感器201为芯片结构，未采用机械结构，在扫地机器人的碰撞过程中，也很难发生损坏，可靠性高。Since the flying sensor 201 is arranged on the inside of the side wall of the cleaning robot, and the distance from the bottom of the cleaning robot is relatively small, it can obtain an environmental image closer to the ground position than if the detection component is arranged on the top of the cleaning robot. In a specific embodiment, the distance between the flying sensor 201 and the bottom of the cleaning robot is less than 5 cm. Moreover, since the flight sensor 201 has a chip structure and does not use a mechanical structure, it is difficult to be damaged during the collision process of the cleaning robot, and the reliability is high.
在该具体实施方式中，所述两个飞行传感器201均设置于同一高度上，因此，两个飞行传感器201可检测的高度范围是一致的。在本发明的其他具体实施方式中，所述两个飞行传感器201还可以分布于不同的高度上，两个飞行传感器201的检测高度不同，使得最终获得的环境图像具有更大的高度范围。In this specific embodiment, the two flight sensors 201 are arranged at the same height, therefore, the detectable height ranges of the two flight sensors 201 are consistent. In other specific implementations of the present invention, the two flight sensors 201 may also be distributed at different heights, and the detection heights of the two flight sensors 201 are different, so that the finally obtained environmental image has a larger height range.
请参考图4，为本发明一具体实施方式的检测模块200的结构示意图。Please refer to FIG. 4 , which is a schematic structural diagram of a detection module 200 according to a specific embodiment of the present invention.
所述检测模块200包括处理器202和飞行时间传感器201。The detection module 200 includes a processor 202 and a time-of-flight sensor 201 .
该具体实施方式中，所述处理器202同时连接两个飞行时间传感器201，用于同时获取两个飞行时间传感器201的传感数据。In this specific implementation manner, the processor 202 is connected to two time-of-flight sensors 201 at the same time, and is used for simultaneously acquiring sensing data of the two time-of-flight sensors 201 .
为了使得所述另两个飞行时间传感器201获取的传感数据能够同步，所述处理器202还用于使所述两个飞行时间传感器201之间保持时钟同步，避免两个飞行时间传感器201之间获取的传感数据之间有时间差，无法获得准确的环境图像。In order to enable the sensing data acquired by the other two time-of-flight sensors 201 to be synchronized, the processor 202 is also used to keep the clocks synchronized between the two time-of-flight sensors 201, so as to prevent the two time-of-flight sensors 201 from There is a time difference between the sensor data acquired between them, and it is impossible to obtain accurate environmental images.
在具体实施方式中，所述检测模块200可以包括三个以上的飞行时间传感器201，所述处理器202与所有的飞行时间传感器201均连接，以同时控制所有的飞行时间传感器201，获取各个飞行时间传感器201的传感数据。In a specific embodiment, the detection module 200 may include more than three time-of-flight sensors 201, and the processor 202 is connected to all time-of-flight sensors 201 to simultaneously control all time-of-flight sensors 201 to obtain the Sensing data of the time sensor 201.
每个飞行时间传感器201的传感数据经过所述处理器202的计算和处理，均可以形成一个对应的初始环境图像；不同飞行时间传感器201形成的初始环境图像具有不同的视角；所述处理器202将不同视角的初始环境图像进行拼接、合并处理，可以形成最终的组合环境图像。在另一具体实施方式中，所述处理器202还可以先将获得的各个飞行时间传感器201的初始传感数据进行组合和计算，获得环境的组合传感数据，再进一步根据所述组合传感数据形成组合环境图像。The sensing data of each time-of-flight sensor 201 can form a corresponding initial environment image after being calculated and processed by the processor 202; the initial environment images formed by different time-of-flight sensors 201 have different perspectives; the processor 202 Splicing and merging the initial environment images from different perspectives to form a final combined environment image. In another specific implementation manner, the processor 202 may first combine and calculate the obtained initial sensing data of each time-of-flight sensor 201 to obtain the combined sensing data of the environment, and then further base on the combined sensing data. The data form a combined environment image.
所述处理器202还用于根据组合传感数据判断环境中的障碍物。由于各个飞行时间传感器201的时钟均同步，每个各个飞行时间传感器201获得的均为同一时刻的环境图像，不会存在时间差，从而可以确保最终形成的组合环境图像的准确性。所述处理器202根据所述组合环境图像判断障碍物的准确性得到提高。The processor 202 is also configured to judge obstacles in the environment according to the combined sensing data. Since the clocks of the time-of-flight sensors 201 are synchronized, each time-of-flight sensor 201 obtains the environment image at the same moment, and there is no time difference, thereby ensuring the accuracy of the finally formed combined environment image. The accuracy of the processor 202 judging obstacles according to the combined environment image is improved.
上述具体实施方式的扫地机器人具有设置于壳体内，沿壳体侧壁设置的至少一个飞行时间传感器，对障碍物进行检测。由于飞行时间传感器为非机械结构，可靠性高；且位置接近扫地机器人的底部，能够获得更接近地面位置处的环境图像。并且，通过两个以上的飞行时间传感器，可以获得更大视角以及检测高度内的环境图像，从而提高扫地机器人对周围环境的检测范围。The sweeping robot in the specific embodiment above has at least one time-of-flight sensor arranged in the housing and along the side wall of the housing to detect obstacles. Since the time-of-flight sensor has a non-mechanical structure, it has high reliability; and its position is close to the bottom of the sweeping robot, so it can obtain an environmental image closer to the ground. Moreover, through more than two time-of-flight sensors, a larger viewing angle and environmental images within the detection height can be obtained, thereby improving the detection range of the sweeping robot to the surrounding environment.
本发明的具体实施方式还提供一种扫地机器人的障碍检测方法。A specific embodiment of the present invention also provides an obstacle detection method for a sweeping robot.
请参考图5，为所述扫地机器人的障碍检测方法的流程示意图。Please refer to FIG. 5 , which is a schematic flowchart of the obstacle detection method of the sweeping robot.
所述障碍检测方法包括步骤S51～S3。The obstacle detection method includes steps S51-S3.
步骤S51：获取所述至少一个飞行时间传感器的传感数据。Step S51: acquiring sensing data of the at least one time-of-flight sensor.
所述扫地机器人如前述具体实施方式中所述，在此不再赘述。通过设置于扫地机器人的飞行时间传感器获取周围的传感数据。单个采用单个飞行时间传感器的情况下，只能获得飞行时间传感器前侧视角α范围内的传感数据，视野范围有限。通过设置于不同位置处的两个以上的飞行时间传感器，可以获取更大传感视角范围内的传感数据。The sweeping robot is as described in the foregoing specific implementation manners, and will not be repeated here. The surrounding sensor data is obtained through the time-of-flight sensor installed on the sweeping robot. In the case of a single time-of-flight sensor, only the sensing data within the viewing angle α range of the front side of the time-of-flight sensor can be obtained, and the field of view is limited. By using more than two time-of-flight sensors arranged at different positions, sensing data within a larger sensing viewing angle range can be acquired.
并且，通过在不同高度设置的飞行时间传感器，还可以获得更大高度范围内的传感数据。Moreover, through the time-of-flight sensors arranged at different altitudes, sensing data in a larger altitude range can also be obtained.
由于飞行时间传感器可以位于距离飞行时间传感器底部较近的位置，因此可以获得更接近地面位置处的传感数据，跟利于对高度较低的障碍物的检测。Since the time-of-flight sensor can be located closer to the bottom of the time-of-flight sensor, sensing data closer to the ground can be obtained, which facilitates the detection of obstacles with a lower height.
步骤S52：根据所述传感数据获取周围环境图像。Step S52: Obtain an image of the surrounding environment according to the sensing data.
在一个具体实施方式中，获取周围环境图像的方法包括：根据每个飞行时间传感器的传感数据，得到两个以上的不同位置的初始环境图像；将所述两个以上不同视角的环境图像进行拼接组合处理，得到最终的组合环境图像。由于不同飞行时间传感器获得是不同视角内的环境图像，因此最终获得的组合环境图像的视角大于任一初始环境图像。In a specific embodiment, the method for acquiring the surrounding environment image includes: obtaining the initial environment images of more than two different positions according to the sensing data of each time-of-flight sensor; Splicing and combination processing to obtain the final combined environment image. Since different time-of-flight sensors obtain environmental images in different viewing angles, the viewing angle of the finally obtained combined environmental image is larger than that of any initial environmental image.
在另一具体实施方式中，获取周围环境图像的方法包括：先将获得的各个飞行时间传感器的初始传感数据进行组合和计算，获得周围环境的组合传感数据；再进一步根据所述组合传感数据形成组合环境图像。In another specific implementation, the method for acquiring images of the surrounding environment includes: first combining and calculating the acquired initial sensing data of each time-of-flight sensor to obtain combined sensing data of the surrounding environment; Sensitive data form a composite environment image.
所述扫地机器人的各个飞行时间传感器之间保持时钟同步，每个飞行时间传感器201获得的均为同一时刻的传感数据，不会存在时间差，从而可以确保最终形成的组合环境图像的准确性。The time-of-flight sensors of the sweeping robot maintain clock synchronization, and each time-of-flight sensor 201 obtains sensing data at the same time without time difference, thereby ensuring the accuracy of the final combined environmental image.
步骤S53：根据周围环境图像内的物体距离和高度信息，判断是否为障碍物。Step S53: According to the object distance and height information in the surrounding environment image, determine whether it is an obstacle.
通过所述飞行时间传感器能够获取周围环境图像内各个物体的距离信息，判断物体是否为障碍物的方法包括：将物体的距离与第一阈值比较，当小于所述第一阈值时，将所述物体的高度与第二阈值比较，当大于所述第二阈值时，判断该物体为障碍物。The distance information of each object in the surrounding environment image can be acquired by the time-of-flight sensor, and the method for judging whether the object is an obstacle includes: comparing the distance of the object with a first threshold, and when the distance is less than the first threshold, the The height of the object is compared with the second threshold, and when it is greater than the second threshold, it is judged that the object is an obstacle.
只有物体的距离足够近，而且高度足够高，才能被判断为障碍物，扫地机器人需要避开。而若物体的距离足够近，但是高度不够，无法对扫地机器人造成阻挡。Only when the object is close enough and the height is high enough can it be judged as an obstacle, and the sweeping robot needs to avoid it. And if the distance of the object is close enough, but the height is not enough, it cannot block the sweeping robot.
扫地机器人在工作过程中，根据对周围环境图像内的物体判断，调整移动路径避开障碍物。During the working process, the sweeping robot adjusts its moving path to avoid obstacles based on the judgment of objects in the surrounding environment image.
上述障碍物检测方法通过获得多个飞行时间传感器的传感数据，可以对更大范围内的环境进行障碍物检测，特别是对于高度较低处的障碍物，从而提高障碍物检测的准确性。By obtaining the sensing data of multiple time-of-flight sensors, the above obstacle detection method can detect obstacles in a wider range of the environment, especially for obstacles at lower heights, thereby improving the accuracy of obstacle detection.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications should also be considered Be the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810958347.5ACN108814452A (en) | 2018-08-22 | 2018-08-22 | Sweeping robot and its disorder detection method |
| PCT/CN2019/095962WO2020038155A1 (en) | 2018-08-22 | 2019-07-15 | Autonomous movement device, control method and storage medium |
| EP19852597.4AEP3842885A4 (en) | 2018-08-22 | 2019-07-15 | Autonomous movement device, control method and storage medium |
| US16/542,218US20200064481A1 (en) | 2018-08-22 | 2019-08-15 | Autonomous mobile device, control method and storage medium |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810958347.5ACN108814452A (en) | 2018-08-22 | 2018-08-22 | Sweeping robot and its disorder detection method |
| Publication Number | Publication Date |
|---|---|
| CN108814452Atrue CN108814452A (en) | 2018-11-16 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810958347.5APendingCN108814452A (en) | 2018-08-22 | 2018-08-22 | Sweeping robot and its disorder detection method |
| Country | Link |
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| CN (1) | CN108814452A (en) |
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