CN102591334A - Facing control system and facing control method for glass wiping robot - Google Patents
Facing control system and facing control method for glass wiping robot Download PDFInfo
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- CN102591334A CN102591334A CN2011100200042A CN201110020004A CN102591334A CN 102591334 A CN102591334 A CN 102591334A CN 2011100200042 A CN2011100200042 A CN 2011100200042A CN 201110020004 A CN201110020004 A CN 201110020004A CN 102591334 A CN102591334 A CN 102591334A
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Abstract
The invention discloses a facing control system and a facing control method for a glass wiping robot. The glass wiping robot comprises a first walking unit and a driving unit; the facing control system comprises a sensing unit and a control unit; the sensing unit comprises a front sensor subunit and a rear sensor subunit which are positioned on the same side of the lateral surface of the glass wiping robot; the control unit is respectively connected with the sensor subunits and the driving unit; and the control unit is used for controlling the driving unit to drive the first walking unit to move according to signals transmitted by the front and rear sensor subunits which are positioned on the same side of the glass wiping robot, so that the lateral surface of the glass wiping robot is attached to the edge of glass. According to the facing control system and the facing control method for the glass wiping robot, which are provided by the invention, the glass wiping robot is enabled to achieve the state of facing and the preparation for next cleaning work is realized.
Description
Technical field
The present invention relates to a kind of intelligent robot technology field, specifically, relate to a kind of machine people's that cleans the windows welt control system and control method thereof.
Background technology
In daily life, people generally clean with rag when cleaning glass.To the glass outside structural glass and the window time, clean with the rod-type cleaning glass usually.Yet, when wiping cleaning glass with the rod-type cleaning glass, the arm easy fatigue, and at the glass of wiping examination window outside, especially for skyscraper, very dangerous.It is thus clear that cleaning exterior window is a great problem in family and even city, its not only dangerous but also be difficult for wiping complete, wipe clean.
To as above problem, a kind of window-cleaning device has appearred at present.It is ZL200820080547.7 that the concrete technical scheme of this window-cleaning device is asked for an interview the patent No., and name is called " window-cleaning device ".As shown in Figure 1, this window-cleaning device comprises handle 1, plastic plate 2 and rag 4.Handle 1 is fixed on the one side of plastic plate 2, and rag 4 is fixed on the another side of plastic plate 2, between plastic plate 2 and rag 4, is fixed with magnet plate 3.When needs wiping glass; Two window-cleaning devices are clamped the glass of treating wiping, and the user wipes the examination inner layer glass in indoor holds handle, because magnetic action; The window-cleaning device of the inside can drive the window-cleaning device motion of outside when moving, thereby with the glass of outside also wiped clean.
As above technical scheme; Though contingent unsafe factor when efficiently solving the wiping exterior window; But this window-cleaning device need be through handling the window-cleaning device that is positioned at window the inside artificially, thereby guiding is positioned at the window-cleaning device work of window outside, in the face of the glass on large-area or the window time; People still need climb low, and are very painstaking.
Summary of the invention
The technical matters that the present invention will solve is, a kind of machine people's that cleans the windows welt control system and control method thereof is provided, and can make glass cleaning machine device people can reach the state of welt, for next step cleaning is prepared.
For solving the problems of the technologies described above, the invention provides a kind of machine people's that cleans the windows welt control system, the said machine people that cleans the windows comprises first walking unit and the driver element; Said welt control system comprises sensing unit and control module; Said sensing unit comprises former and later two sensor subunits that are positioned at the said the same side, machine people side that cleans the windows; Said control module is connected with said driver element with said sensor subunits respectively; The signal that said control module is sent according to said former and later two sensor subunits of machine people the same side that clean the windows; Control the said first walking cell moving of said drive unit drives, the said machine people's that cleans the windows side and glass edge are pressed close to.
The present invention also provides a kind of machine people's that cleans the windows welt control method, comprises the steps:
Through the machine people's that cleans the windows provided by the invention welt control system and control method thereof, can make glass cleaning machine device people can reach the state of welt, for next step cleaning is prepared.
Specify technical scheme of the present invention below in conjunction with accompanying drawing and specific embodiment.
Description of drawings
Fig. 1 is the structural representation of a kind of window-cleaning device of prior art;
Fig. 2 is the principle schematic of the machine people's that cleans the windows according to the invention welt control system;
Fig. 3 is the process flow diagram of the machine people's that cleans the windows according to the invention welt control method first embodiment;
Fig. 4 accomplishes the process synoptic diagram of welt state for the machine people that cleans the windows according to the invention;
Fig. 5 is the process flow diagram of the machine people's that cleans the windows according to the invention welt control method second embodiment.
Fig. 6 is the structural representation of the machine people's that cleans the windows an according to the invention specific embodiment;
Fig. 7 is the machine people specific embodiment side schematic view that cleans the windows according to the invention shown in Figure 6;
Fig. 8 is the schematic bottom view of the driving machine of the machine people specific embodiment that cleans the windows according to the invention shown in Figure 6.
Embodiment
First embodiment
Fig. 2 is the principle schematic of the machine people's that cleans the windows according to the invention welt control system.The machine people 1 that cleans the windows of the present invention comprises the driver element 11 and the first walking unit 12, and welt control system 2 comprises sensing unit 21 and control module 22.This control module 22 is connected with driver element 11 with sensing unit 21 respectively, and control drive unit 11.In the present invention, said sensing unit 21 comprises former and later two sensor subunits that are positioned at the said the same side, machine people side that cleans the windows.In machine people's the welt process that cleans the windows; The transducing signal that control module 22 sends according to said former and later two sensor subunits that clean the windows the same side, machine people side; Control drive unit 11 drives the first walking unit 12 and moves, so that the said machine people's that cleans the windows side and glass edge are pressed close to.The present invention can make robot along glass edge work, thereby can carry out wiping to glass edge through the control machine people welt that cleans the windows, and realizes that light wiping piles up the position of the glass periphery of dust easily.
Fig. 3 is the process flow diagram of the machine people's that cleans the windows according to the invention welt control method first embodiment, and Fig. 4 accomplishes the process synoptic diagram of welt state for the machine people that cleans the windows according to the invention.With reference to Fig. 3 and Fig. 4 the machine people's that cleans the windows of first embodiment welt process is described below.
The sensing unit 21 of first embodiment is made up of touch sensor 210, can select travel switch, pressure transducer and conductive rubber etc. for use.From using simple consideration, preferably use travel switch.Clean the windows machine people 1 the main body the place ahead and the left and right side at rear respectively is provided with a sensor; In addition; Respectively there is a sensor the clean the windows front-end and back-end in machine people 1 left side, and respectively there is a sensor front-end and back-end on right side, but the obstacle signal of sensing left and right side respectively.When touch sensor 210 collisions on the machine people's that cleans the windows left side or right side touched bezel, touch sensor 210 sent signal to control module 22.According to this set, make when cleaning the windows machine people 1 wiping glass or when needing welt, need not tune and turn to, thereby reach more time saving and energy saving purpose.
Shown in the state A of Fig. 4, the machine people's 1 that cleans the windows left side is nearer from bezel, and the front-end and back-end of two sides respectively are provided with two touch sensors 210 about it.Start the machine people 1 that cleans the windows this moment, as shown in Figure 3, and in step 110, whether the touch sensor 210 that detects machine people 1 side that cleans the windows through the control module in the machine people's 1 that cleans the windows the welt control system 22 sends collision alarm.If these two sensors 210 all do not send collision alarm, control module 22 will send control signal to driver element 11, and control signal makes driver element 11 drive the first walking unit 12 and turns to, and the machine people 1 thereby rotation cleans the windows is shown in the state B of Fig. 4.The then process of repeating step 110 detects any of these two touch sensors 210 owing to collide when touching bezel and sending collision alarm up to control module 22, enters into step 120.
In the step 120, control module 22 judges that whether the collision alarm received this moment is machine people 1 the collision alarm near two sensors 210 in front-end and back-end of the same side of bezel of cleaning the windows.If being two sensors 210 in front-end and back-end of the same side, sends by the collision alarm of receiving; Be that control module 22 is when detecting the collision limit signal of these two sensors 210 simultaneously; Control module 22 can be judged the machine people 1 that cleans the windows and be in the welt state; Therefore do not send control signal, the machine people 1 that cleans the windows keeps former attitude motionless, and the welt process finishes.When 22 of control modules detect welt signal that sends in these two sensors 210, enter into step 130.
In the step 130, control module 22 judges it is the collision alarm that front end sensors or back end sensor send.For example, judge earlier whether receive is the collision alarm that front end sensors is sent, if; Then control module 22 sends control signal to driver element 11, and control signal makes driver element 11 drive the first walking unit 12 and moves, and rotates the machine people's 1 that cleans the windows rear end; Shown in the state C of Fig. 4; Turn back to step 120 again, repeat each step, when control module 22 detects the machine people's 1 that cleans the windows the collision alarm of two sensors 210 in front-end and back-end of the same side simultaneously from step 120 beginning; The welt process finishes, shown in the state D of Fig. 4.If not, then enter into step 140.
In the step 140, control module 22 judges that the collision alarm of the receiving machine people 1 back end sensor that whether cleans the windows sends.When be two sensors in rear end send collision alarm the time; Control module 22 sends control signal to driver element 11; Control signal makes driver element 11 drive the first walking unit 12 and moves, and the front end that rotates the machine people 1 that cleans the windows turns back to step 120, repeats from each step of step 120 beginning; When control module 22 detected the machine people's 1 that cleans the windows the collision alarm of two sensors 210 in front-end and back-end of the same side simultaneously, the welt process finished.
In the present embodiment; Because the sensor that uses is touch sensor; Its signal that sends is a switching value, as long as the signal of receiving is a switching value, then the explanation machine people 1 that cleans the windows is bumped against with bezel; When having received the switching value signal that former and later two touch sensors of the same side are sent, the requirement that meets welt is described.
Second embodiment
The machine people's that cleans the windows of clean the windows the machine people and first embodiment of second embodiment different structure is that the sensor of sensing unit 21 is a non-contacting sensor, and this non-contacting sensor comprises infrared sensor or sonac etc.Because the detection of non-contacting sensor distance has certain scope; Barrier in its sensing range can both be detected; If it is excessive to detect distance; When the distance of clean the windows machine people and bezel is also bigger, just can detect signal, if think machine people and the bezel welt of cleaning the windows this moment, obvious error is excessive.To this problem two solutions are arranged, first kind: select for use and detect the little non-contacting sensor of distance, in it detects distance, can be so that the distance between machine people and the bezel of cleaning the windows satisfies the requirement of welt.Second kind: control module is after receiving detection signal; It is calculated; Only at the signal value of detection signal enough big (the distance between machine people and the bezel of cleaning the windows of this signal value representative satisfies the requirement of welt); Think that just this detection signal is effective, otherwise think that this signal is invalid.The described flow process of the said embodiment of following Fig. 5 is second kind.At present embodiment, basic process is identical with embodiment one, and difference is, behind the collision alarm that receives front end and rear end simultaneously, also will calculate, compare, and this flow process is as shown in Figure 5.
As shown in Figure 5, start the machine people 1 that cleans the windows.At first; In the step 111; The intensity of the signal that sends to two non-contacting sensors of the machine people 1 that cleans the windows near the front-end and back-end of the same side of bezel; Control module 22 by the welt control system compares these two signal intensities and a pre-stored values, judges whether in these two sensors any meets the requirement of welt.If these two sensors all do not meet the requirement of welt, promptly too far away from glass edge, control module 22 will send control signal to driver element 11, and control signal makes driver element 11 drive the first walking unit 12 and moves, the machine people 1 thereby rotation cleans the windows.The process of step 111 repeats, and the signal value of these two sensors that calculate up to control module 22 has all reached pre-stored values, thereby the front-end and back-end of judging this sensor have all reached the requirement of welt, enter into step 121.
In the step 121, relatively clean the windows machine people 1 signal value of control module 22 near two sensors in front-end and back-end of the same side of bezel.Control module 22 is according to the signal value of these two sensors that calculate; The size that compares two signal values; When the difference of two signal values was in preset range, control module 22 can be judged driving machine 2 and be in the welt state, did not therefore send control signal; The machine people 1 that cleans the windows keeps former attitude motionless, and the welt process finishes.When the difference of control module 22 two signal values relatively is not in preset range, enter into step 131.
In the step 131; When after end sensor signal value hour, control module 22 sends control signal to driver element 11, control signal makes driver element 11 drive the first walking unit 12 and moves; Rotate the machine people's 1 that cleans the windows rear end, increase the signal value of back end sensor.Turn back to step 121 then.When control module 22 calculates and the difference of the signal value of two sensors in front-end and back-end relatively in preset range the time, the welt process finishes.And when the difference of signal value not in preset range, and the signal value of front end sensors is hour, then enters into step 141.
In the step 141; When the signal value of front end sensors hour, control module 22 sends control signal to driver element 11, control signal makes driver element 11 drive the first walking unit 12 and moves; Rotate the machine people's 1 that cleans the windows front end, increase the signal value of front end sensors.Turn back to step 121 then.Repeat each step from step 121 beginning, calculate and the difference of the signal value of two sensors in front-end and back-end relatively in preset range the time up to control module 22, the welt process finishes.
In the present embodiment, what compare is the difference of the signal value of two sensors in front-end and back-end, can certainly be the quotient of the signal value of two sensors in front-end and back-end.
In above two embodiment, be positioned at former and later two sensor subunits of the said the same side, machine people side that cleans the windows, like the non-contacting sensor among touch sensor among the embodiment one and the embodiment two; Particular location in the machine people side that cleans the windows need not to be limited to two ends; Be front-end and back-end, as long as be in front-back direction in the side, and; Former and later two sensors can be positioned on the plane, also can be not in one plane.Described plane is meant and the parallel plane, machine people base that cleans the windows.
Clean the windows machine people's a specific embodiment of the present invention
Fig. 6～Fig. 8 is the synoptic diagram of the machine people's that cleans the windows an according to the invention specific embodiment.As shown in Figure 6, the machine people 1 that cleans the windows of the present invention is made up of driving machine 3 and follower 4, and both are separate piece.Use of the present invention cleaning the windows during machine people 1, driving machine 3 and follower 4 are placed the both sides of glass 5 respectively.
Be provided with driver element, the first walking unit, magnet 6 and electric weight feeding unit in the housing 30 of driving machine 3.Wherein, driver element and driving machine energy unit are not done diagram in the accompanying drawings.
The first walking unit comprises the crawler belt travel wheel.The crawler belt travel wheel is arranged on the both sides of the direct of travel of driving machine 3, and each crawler belt travel wheel comprises a crawler belt 341 and two Athey wheels 342, and crawler belt 341 comprises a plurality of track unit joints.Rotate by Athey wheel 342 rotation driven caterpillar tracks 341, thereby driving machine 3 is advanced.The driver element of driving machine 3 comprises drive motor, and each crawler belt travel wheel is driven by a drive motor, and drive motor is connected with Athey wheel 342.Through the single crawler belt travel wheel of single drive motor drives, thereby realize being synchronized with the movement and differential motion; Being synchronized with the movement advances driving machine 3 or retreats, and differential motion makes driving machine 3 rotations.
Be provided with the second walking unit, magnet 61, electric weight feeding unit, wiping glass unit and liquid-jet device in the formed housing 40 of the chassis of follower 4 and face-piece.Wherein, electric weight feeding unit, wiping glass unit and liquid-jet device are not done diagram in the accompanying drawings.
The second walking unit of follower 4 comprises four supporting rollers 440, respectively is provided with two supporting rollers 440 in the both sides of the direct of travel of follower 4.The first walking cell moving is followed in the second walking unit.
Be provided with one or two strong magnets 6 between two crawler belt travel wheel of driving machine 3, be provided with the strong magnets 6 opposite polarity strong magnets 61 of one or two and driving machine between four supporting rollers 440 of follower 4.When driving machine 3 and follower 4 are placed into 5 surface last times of glass simultaneously; Because two strong magnets are adsorbed each other; Provide enough big normal pressure to arrive glass surface; Thereby correspondence provides enough big stiction, makes driving machine 3 and follower 4 can overcome the gravity of self and be adsorbed on glass 5 surfaces.And under the magnetic action between strong magnets, driving machine 3 can drive follower 4 and move with same trajectories.
In addition, do not do in the accompanying drawing and illustratedly also have driving machine sensing unit that also is provided with on the driving machine 3 and driving machine control module, follower sensing unit that also is provided with on the follower 4 and follower control module.
The driving machine that the driving machine sensing unit of driving machine 3 is floating type setting by the main body with respect to driving machine 3 hits plate and driving machine sensor etc. and forms.Both sides respectively have a driving machine to hit plate before and after the main body of driving machine 3, hit the working direction of plate with respect to driving machine 3 before the driving machine, place the front end of driving machine 3.Hit the working direction of plate with respect to driving machine 3 behind the driving machine, place the rear end of driving machine 3, each driving machine hits plate and is provided with four driving machine sensors, and wherein, the place ahead left and right side that hits plate at each driving machine respectively is provided with a driving machine sensor.The and arranged on left and right sides that each driving machine hits plate respectively is provided with a driving machine sensor, but the sensing driving machine hits the signal of plate left and right side respectively.Therefore, respectively there is a driving machine sensor front-end and back-end in the left side of driving machine 3, and respectively there is a driving machine sensor front-end and back-end on the right side of driving machine 3.The sensor of driving machine 3 side front ends constitutes a sensor subunits of welt control system according to the invention, and the sensor of rear end, driving machine 3 side constitutes another sensor subunits of welt control system according to the invention.
The follower sensing unit of follower 4 has and the identical structure of above-mentioned driving machine sensing unit.Therefore omit repeat specification.
In the present invention, the function of the sensing unit 21 of welt control system 2 is for example carried out by the driving machine sensing unit, and the function of the control module 22 of welt control system 2 is for example carried out by the driving machine control module.According to the signal that the driving machine sensing unit sends, driving machine control module control drive unit drives the first walking cell moving.Through the control method of above-mentioned each embodiment, the machine people's that realizes cleaning the windows welt process.
Claims (10)
1. the machine people that cleans the windows welt control system, the said machine people that cleans the windows comprises first walking unit and the driver element; Said welt control system comprises sensing unit and control module; It is characterized in that; Said sensing unit comprises former and later two sensor subunits that are positioned at the said the same side, machine people side that cleans the windows; Said control module is connected with said driver element with said sensor subunits respectively; The signal that said control module is sent according to said former and later two sensor subunits of machine people the same side that clean the windows is controlled the said first walking cell moving of said drive unit drives, and the said machine people's that cleans the windows side and glass edge are pressed close to.
2. the machine people's that cleans the windows according to claim 1 welt control system is characterized in that, said former and later two sensor subunits all are positioned on the same plane parallel with the machine people base that cleans the windows;
Perhaps, said former and later two sensor subunits lay respectively at the front-end and back-end of the same side, machine people side that cleans the windows;
Perhaps, in the said front-end and back-end that clean the windows the same side, machine people side a sensor is arranged respectively.
3. the machine people's that cleans the windows according to claim 1 welt control system is characterized in that, said side is that the left side of window wiping robot working direction is or/and the right side.
4. according to the arbitrary described machine people's that cleans the windows of claim 1-3 welt control system, it is characterized in that said sensor subunits comprises touch sensor or non-contacting sensor.
5. the machine people's that cleans the windows according to claim 4 welt control system is characterized in that, said touch sensor is travel switch or crash sensor;
Said non-contacting sensor is infrared sensor or sonac.
6. the machine people's that cleans the windows according to claim 1 welt control system; It is characterized in that; The said machine people that cleans the windows comprises driving machine and follower, and said driving machine and follower are respectively equipped with opposite polarity magnet, and the said driver element and the first walking unit are positioned on the said driving machine; Said follower comprises the second walking unit, and the said first walking cell moving is followed in the said second walking unit.
7. the machine people's that cleans the windows according to claim 6 welt control system is characterized in that, the said first walking unit comprises crawler belt and Athey wheel, and wherein, said crawler belt comprises a plurality of track unit joints; The said second walking unit comprises supporting roller.
8. the welt control method based on the described machine people's that cleans the windows of claim 1 welt control system is characterized in that, comprises the steps:
Step 1 is detected former and later two sensor subunits that lay respectively at the said the same side, machine people side that cleans the windows by control module;
Step 2; Judge whether to receive and be positioned at the signal that said former and later two sensor subunits that clean the windows the same side, machine people side are sent; If receive the signal that front sensor subelement and back sensor subunits are sent respectively, and meet predetermined requirement, then keep former attitude; If only receive the signal that the front or rear sensor subunits in the said machine people the same side that cleans the windows is sent or do not receive that all then driving walking unit turns to, and returns step 1 again.
9. welt control method according to claim 8 is characterized in that, in step 2; If receive the signal that front sensor subelement and back sensor subunits are sent respectively; Calculate also the signal value that former and later two sensor subunits are relatively sent, judge that result relatively is whether in a preset range, if in preset range; Then meet predetermined requirement, keep former attitude; If not in preset range, drive the first walking unit and turn to, the signal that the little sensor subunits of signal value receives is increased, the signal value of sending up to former and later two sensor subunits is in preset range.
10. welt control method according to claim 8 is characterized in that, in step 2, if receive front sensor subelement and the back signal sent of sensor subunits respectively, and said signal is switching value, then meets predetermined requirement, keeps former attitude.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110020004.2A CN102591334B (en) | 2011-01-05 | 2011-01-05 | Facing control system and facing control method for glass wiping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110020004.2A CN102591334B (en) | 2011-01-05 | 2011-01-05 | Facing control system and facing control method for glass wiping robot |
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| CN102591334A true CN102591334A (en) | 2012-07-18 |
| CN102591334B CN102591334B (en) | 2015-07-08 |
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| CN201110020004.2A Active CN102591334B (en) | 2011-01-05 | 2011-01-05 | Facing control system and facing control method for glass wiping robot |
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| CN103844992A (en) * | 2012-12-07 | 2014-06-11 | 科沃斯机器人科技(苏州)有限公司 | Glass wiping robot and operation mode control method thereof |
| CN105242666A (en) * | 2015-09-02 | 2016-01-13 | 小米科技有限责任公司 | Equipment movement control method and device |
| CN107817796A (en) * | 2017-10-25 | 2018-03-20 | 上海思岚科技有限公司 | The method and apparatus of mobile robot patch barrier motion |
| CN110499727A (en) * | 2019-08-14 | 2019-11-26 | 北京智行者科技有限公司 | A kind of welt cleaning method and sweeper based on multisensor |
| CN113152215A (en) * | 2021-06-01 | 2021-07-23 | 山推工程机械股份有限公司 | Edge pasting system of road roller |
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| CN103844992A (en) * | 2012-12-07 | 2014-06-11 | 科沃斯机器人科技(苏州)有限公司 | Glass wiping robot and operation mode control method thereof |
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| CN110499727A (en) * | 2019-08-14 | 2019-11-26 | 北京智行者科技有限公司 | A kind of welt cleaning method and sweeper based on multisensor |
| CN113152215A (en) * | 2021-06-01 | 2021-07-23 | 山推工程机械股份有限公司 | Edge pasting system of road roller |
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| CN102591334B (en) | 2015-07-08 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. |
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| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: TAIYIKAI ELECTRIC APPLIANCE (SUZHOU) CO., LTD. TO: ECOVACS ROBOTICS (SUZHOU) CO., LTD. Free format text: CORRECT: APPLICANT; FROM: ECOVACS ROBOTICS (SUZHOU) CO., LTD. TO: ECOVACS ROBOT CO., LTD. |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. |