Self-walking device and control method thereof
A technology of self-propelled device and control method, which is applied to automatic control of traveling motion, two-dimensional position/channel control, vehicle position/route/altitude control, etc. and other problems to achieve the effect of improving cleaning efficiency
Pending Publication Date: 2022-04-15
HOBOT TECH INC
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- Application Information
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Problems solved by technology
However, when the room is large, it takes a long time to go around the room
Moreover, after the initial cleaning, it is necessary to scan multiple uncleaned areas on the map. Sometimes these uncleaned areas are far apart, and it takes more time to clean
Therefore, these known technologies do not fully consider the aforementioned situation, and there is room for further improvement
Method used
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[0070] The present invention will be described in detail with reference to the accompanying drawings, in which like reference numerals will be used to identify like or similar elements from various viewpoints. It should be noted that the drawings are to be viewed in the orientation of the reference numerals.
[0071] According to an embodiment of the present invention, a self-propelled device and a control method thereof are proposed. The self-propelled device may be a cleaning device or a cleaning robot. Figure 2A A top view of a self-propelled device according to an embodiment of the present invention is shown. Such as Figure 2A As shown, the self-propelled device 200 includes a suction port 331 , at least one side brush 222 , a traveling device 223 and a cleaning device 224 and 225 . The side brush 222 extends downwards to sweep the dust on the ground into the suction port 331 . The cleaning devices 224 and 225 may include a cleaning cloth disposed on the bottom side a...
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A self-walking device and a control method thereof, the self-walking device comprising: a walking device for moving the self-walking device on a surface; the sensing module is used for identifying the position of the control module in the surface by using the data measured by the distance sensor; the control module forms a first virtual area in the map information of the surface, the first virtual area comprises a first side virtual boundary and controls the self-walking device to walk in an initial path in the first virtual area, and the control module forms a virtual area in a surface and controls the self-walking device to walk in the initial path in the first virtual area. And controlling the self-walking device to walk a path in the virtual area and measure boundary data, and moving the position of the virtual area according to the boundary data to form a corrected virtual area so as to improve the walking efficiency.
Description
technical field [0001] The present invention relates to a self-propelled device and its control method, in particular to a self-propelled device and its control method for moving the position of a virtual area according to a boundary data. Background technique [0002] In Japanese Patent Publication No. H08-215116A, a self-propelled cleaning machine is described, which detects the wall in front of the main body, determines the position of the main body by making the main body and the wall at right angles, and sets the zero point of the orientation sensor. However, in this method, the direction can be detected when the wall is approximately flat, but the angle of the wall may not be correctly detected when the wall has unevenness. Also, when obstacles such as chairs and tables are included in the cleaning area, it is necessary to change the moving path to avoid the obstacles. [0003] figure 1 A schematic diagram showing a known path control method for a self-propelled swee...
Claims
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IPC IPC(8): G05D1/02
CPCG05D1/027G05D1/0274A47L11/4011A47L11/4061A47L11/4066A47L2201/04A47L9/0488G05D1/0219G05D1/0238
Inventor 赵志谋
Owner HOBOT TECH INC