CN105816106B - Intelligent sweeping robot - Google Patents

Intelligent sweeping robot Download PDF

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Publication number
CN105816106B
CN105816106B CN201610378625.0A CN201610378625A CN105816106B CN 105816106 B CN105816106 B CN 105816106B CN 201610378625 A CN201610378625 A CN 201610378625A CN 105816106 B CN105816106 B CN 105816106B
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CN
China
Prior art keywords
module
lid
cover
laser scanning
sweeping robot
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Active
Application number
CN201610378625.0A
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Chinese (zh)
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CN105816106A (en
Inventor
叶海勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taizhou Baye Intelligent Technology Co Ltd
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Taizhou Baye Intelligent Technology Co Ltd
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Priority to CN201610378625.0A priority Critical patent/CN105816106B/en
Publication of CN105816106A publication Critical patent/CN105816106A/en
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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

Abstract

The present invention relates to the technical fields of sweeping robot, more particularly, to a kind of intelligent sweeping robot, the front side of shell in its installation cavity is equipped with fixed frame, it is fixedly arranged on the fixing bracket with laser scanning probe connected to the controller, controller includes control module, detection module, trajectory planning module, laser scanning probe is connect with detection module, detection module is popped one's head in by laser scanning constantly to be scanned ambient enviroment and carries out simulation drawing to ambient enviroment, the information that simulation is drawn is sent to trajectory planning module by detection module, the information planning track that trajectory planning module is drawn according to simulation, the track planned is sent to control module by trajectory planning module, control module control driving device is run according to planned trajectory.Advantage is: can intelligent measurement scan indoor environment, the laying for goods position in current environment can be marked, and make corresponding running track, enable cleaning works trouble-free operation.

Description

Intelligent sweeping robot
Technical field
The present invention relates to the technical fields of sweeping robot, more particularly, to a kind of intelligent sweeping robot.
Background technique
Sweeping robot also known as sweeps machine, intelligent dust suction, robot cleaner etc. automatically, is the one of controlling intelligent household appliances Kind, certain artificial intelligence can be relied on, complete floor cleaning work in the room automatically.General use brush is swept and vacuum mode, Ground sundries is first received into the rubbish storage box into itself, to complete the function of land clearing.Sweeper traditional at present Device people, including shell and the lid being installed on shell, shell and lid form installation cavity, and the shell in installation cavity is equipped with By the clearing apparatus and driving device of controller control, clearing apparatus is set to the rear side of shell, and driving device then independently drives There are two wheel band mobile robots to run, the two wheels are provided at the two sides of the bottom surface of shell, can be arranged in the front side of shell The rotor for having brush can be also arranged in one deflecting roller, the side of deflecting roller, and Electric brush is swept the floor when rotor rotates.But Although current this sweeping robot can sweep the floor, some places can not be cleaned in the process of work, Or can be described as some places can by robot omit and lead to not clean.
Summary of the invention
In view of the deficiency of the prior art, the object of the present invention is to provide one kind can be in intelligent measurement scanning room Environment, the laying for goods position in current environment can be marked, and make corresponding running track, make sweeper Make the intelligent sweeping robot for capableing of trouble-free operation.
In order to achieve the above object, the present invention provides following technical schemes:
A kind of intelligent sweeping robot, including shell and the lid being installed on shell, shell and lid are formed and are installed Chamber, the shell in installation cavity are equipped with the clearing apparatus controlled by controller and driving device, the front side of the shell in installation cavity Equipped with fixed frame, it is fixedly arranged on the fixing bracket with laser scanning probe connected to the controller, controller includes control module, detection Module, trajectory planning module, laser scanning probe are connect with detection module, and detection module is constantly swept by laser scanning probe It retouches ambient enviroment and simulation drawing is carried out to ambient enviroment, the information that simulation is drawn is sent to trajectory planning mould by detection module The track planned is sent to control by block, the information planning track that trajectory planning module is drawn according to simulation, trajectory planning module Molding block, control module control driving device are run according to planned trajectory.
The present invention is further arranged to: the detection module is connect with control module, and control module controls driving device fortune Row drives laser scanning probe displacement, and laser scanning probe scans ambient enviroment when being displaced with driving device.
The present invention is further arranged to: the track of the trajectory planning module planning is bow zag trajectory.
The present invention is further arranged to: the controller includes automatic charging module and will test module, trajectory planning The logger module that module and controller control driving device and the operating status of clearing apparatus are recorded, automatic charging Module is connect with detection module, and automatic charging module looks for automatic charger position, automatic charger by detection module scanning On set there are two charging contact, be respectively equipped with the contact contact to match with two charging contacts, driving device driving machine on shell Make to contact contact at device people to automatic charger with after corresponding charging contact contact connectio, automatic charging module sends out information It send to control module, control module controls driving device and clearing apparatus is out of service.
The present invention is further arranged to: the controller includes communication module, and communication module can be with cell phone application client It connects and the current operating status of robot is sent to cell phone application client, cell phone application client can control the fortune of robot Row state.
The present invention is further arranged to: the front side of the lid is equipped with the side cover being displaced relative to lid, the middle part of side cover Equipped with window corresponding with laser scanning probe.
The present invention is further arranged to: the front side of the lid is equipped with the structure for the side cover being displaced relative to lid are as follows: lid Two sides corresponding with side cover are fixedly installed with the fixed plate positioned at window two sides respectively on the inner top surface of body, divide in two fixed plates Touch switch is not installed, two sides corresponding with two fixed plates are respectively fixed with touch plate on side cover, and two, which touch plate, distinguishes position In corresponding fixed plate downside and can be displaced relative to fixed plate, two touch plates on or side cover on it is opposite with touch switch The position answered is equipped with the touch protrusion of the on-off of control touch switch when can be displaced with side cover.
The present invention is further arranged to: the side of the touch switch of each fixed plate is equipped with support shaft, in support shaft It is arranged with torsional spring, one end of torsional spring is set on side cover, the other end is set in fixed plate.
The present invention is further arranged to: being respectively equipped with the fixing axle being fixedly connected between lid in two fixed plate One, be respectively equipped on two touch plates with the matched strip-shaped hole one of corresponding fixing axle one, all fixing axles one are corresponding The direction of displacement of strip-shaped hole one is all the same.
The present invention is further arranged to: at least one of which touches plate and is equipped with strip-shaped hole two, lid be equipped with The corresponding fixing axle two of strip-shaped hole two touches position corresponding with fixing axle two on plate and is equipped with fixing seat, fixing seat and solid Spring, extension spring when side cover is displaced to lid direction are equipped between dead axle two.
By using above-mentioned technical proposal, present invention technical effect achieved are as follows: pass through setting control module, detection mould Block, trajectory planning module, laser scanning probe utilize laser using the cooperation between each module and laser scanning probe before this Ambient enviroment is scanned and is sent to detection module by scanning head, is sent to track rule by the information that detection module will test Module is drawn, the track planned is sent to by trajectory planning module according to the information planning track scanned, trajectory planning module Control module, control module control driving device are run according to planned trajectory, sweep intelligent robot detection Indoor environment is retouched, the laying for goods position in current environment can be marked, and make corresponding running track, be made Cleaning works being capable of trouble-free operation.
Detailed description of the invention
The invention will now be described in further detail with reference to the accompanying drawings.
Fig. 1 is the fit structure schematic diagram of lid and side cover of the invention.
Fig. 2 is the structural schematic diagram of side cover and touch plate of the invention.
Fig. 3 is that the structural representation that setting laser scanning is popped one's head on fixed frame and fixed frame is arranged on shell of the invention Figure.
Specific embodiment
Referring to Fig.1,2,3, it is a kind of intelligent sweeping robot disclosed by the invention, including shell 25 and be installed on shell Lid 10 on 25, shell 25 and lid 10 form installation cavity, and the shell 25 in installation cavity is clear equipped with being controlled by controller Sweeping device and driving device, the specific structure of this intelligent robot can refer to one kind disclosed in Chinese patent literature, and " intelligence is inhaled Dirt device ", Publication No. CN102715867A.The front side of shell 25 in installation cavity is equipped with fixed frame 26, fixes on fixed frame 26 Equipped with laser scanning connected to the controller probe 27, under normal circumstances in order to reduce laser scanning probe 27 loss, save Electricity and the service life for improving laser scanning probe 27, then light-inductive device 28 can be arranged on fixed frame 26, pass through Photosensitive sensor come control laser scanning probe 27 laser intensity, if the light that light-inductive device 28 detects is weak, laser The laser intensity of scanning head 27 enhances, and vice versa.Controller includes control module, detection module, trajectory planning module, is swashed Optical scanning probe is connect with detection module, and detection module is popped one's head in by laser scanning constantly scans ambient enviroment and to ring around Border carries out simulation drawing, and the information that simulation is drawn is sent to trajectory planning module by detection module, and trajectory planning module is according to mould The track planned is sent to control module by the quasi- information planning track drawn, trajectory planning module, and control module control is driven Dynamic device is run according to planned trajectory.The track of trajectory planning module planning is bow zag trajectory, bends zag trajectory actual The time is more comparatively saved in operation, efficiency is also relatively high.Detection module therein is connect with control module, controls mould Block drives laser scanning probe displacement by control driving device operation, scanning week when laser scanning probe is displaced with driving device Collarette border.I.e. during being switched on operation, robot can have been driven operation to advance by driving device, in advancement, Laser scanning probe can constantly be scanned environment, and the track route for of coursing robot during scanning circumstance can root Factually the case where border, determines, and robot is carried out in walking to environmental scanning, and the information scanned is sent to trajectory planning mould Block, trajectory planning module pass through the information received and carry out carrying out drawing out corresponding frame diagram to environment locating for robot, and Position is marked in the motionless articles such as tables and chairs sofa in local environment simultaneously, while being marked in corresponding frame diagram Note, after the completion of preliminary scanning, the information that simulation is drawn is sent to trajectory planning module, trajectory planning module by detection module The space that the information drawn according to simulation is able to carry out cleaning in simulation is drawn is judged and is made corresponding planned trajectory, Then the track planned is sent to control module by trajectory planning module, and control module controls driving device according to planned trajectory Operation.In this process, detection module is still constantly being scanned ambient enviroment, can scan in this way to avoid initial stage There is incorrect label in drawing in simulation, and can make and timely improve, and be sent to trajectory planning module and make new road Diameter scheme.
In order to enable robot after the completion of cleaning task, does not need to charge by hand, while also needing will be swept Each operating status in journey is recorded, then automatic charging module can be arranged in controller and will test module, track The logger module that planning module and controller control driving device and the operating status of clearing apparatus are recorded, automatically Charging module is connect with detection module, and automatic charging module looks for automatic charger position by detection module scanning, is filled automatically It is set on electric appliance there are two charging contact, the contact contact to match with two charging contacts is respectively equipped on shell, driving device is driven Make to contact contact at mobile robot to automatic charger with after corresponding charging contact contact connectio, automatic charging module will be believed Breath is sent to control module, and control module controls driving device and clearing apparatus is out of service.During automatic charging, machine Device people needs to be used cooperatively using what detection module and laser scanning were popped one's head in, is looked for by laser scanning probe and detection module The position of automatic charger needs to pass through detection then during contacting contact contact with corresponding charging contact The cooperation of module and laser scanning probe is directed at automatic charger.In general, alignment automatic charger, meeting exist for convenience The charging that one laser scanning is popped one's head in is set on automatic charger and identifies position, such as a pit is set on automatic charger Deng the position with its mark action.
In order to facilitate robot during whole service, without manually following the running of inspection machine people, it is only necessary to Communication module is set in controller, communication module can connect with cell phone application client and send out the current operating status of robot It send to cell phone application client, cell phone application client can control the operating status of robot.Cell phone application client can be with machine People is synchronous, the log of robot log logging modle is synchronized to cell phone application client, mobile phone can also be passed through by of coursing APP client changes position and the working condition of current robot operation.
During robot operation, it will usually robot occur and collide personage's in tables and chairs or local environment Foot etc. needs robot to have the device that can avoid in time after having collided during this time, then can be in lid 10 Front side is equipped with the side cover 11 being displaced relative to lid 10, and the middle part of side cover 11 is equipped with window corresponding with laser scanning probe 12.The front side of lid 10 is equipped with the structure of side cover 11 being displaced relative to lid 10 are as follows: on the inner top surface of lid 10 with side cover 11 Corresponding two sides are fixedly installed with the fixed plate 13 positioned at 12 two sides of window respectively, are separately installed with touch in two fixed plates 13 Switch 14, two sides corresponding with two fixed plates 13, which are respectively fixed with, on side cover 11 touches plate 15, and two touch plates 15 are located at The downside of corresponding fixed plate 13 can be simultaneously displaced relative to fixed plate 13, be opened on two touch plates 15 or on side cover 11 with touch Close the touch protrusion 16 that 14 corresponding positions are equipped with the on-off of control touch switch 14 when can be displaced with side cover 11.Touch protrusion Switch contact with touch switch is, when side cover is displaced to lid direction, to make to touch protrusion for the state being permanently connected to Pressing switch contact is connected, so that touch switch sends current information to controller, controller can control driving device pause, Then controller driving device driving robot is retreated or is turned to.Wherein, the side of the touch switch 14 of each fixed plate 13 Equipped with support shaft 17, torsional spring 18 is arranged in support shaft 17, one end of torsional spring 18 is set on side cover 11, the other end is set to fixed plate On 13, side cover can be enable to reset rapidly in this way, consolidating of being fixedly connected between lid 10 is respectively equipped in two fixed plates 13 Dead axle 1, two touch plates 15 on be respectively equipped with and the matched strip-shaped hole 1 of corresponding fixing axle 1, all fixing axles 1 corresponding strip-shaped hole 1 direction of displacement it is all the same.At least one of which touches plate 15 and is equipped with strip-shaped hole two 21, lid 10 is equipped with fixing axle 2 22 corresponding with strip-shaped hole 2 21, touches corresponding with fixing axle 2 22 on plate 15 Position is equipped with fixing seat 23, spring 24 is equipped between fixing seat 23 and fixing axle 2 22, when side cover 11 is displaced to 10 direction of lid Extension spring 24, such design scheme can help the side cover operation stable relative to lid, can also guarantee that side cover is opposite It can smoothly be resetted in lid.
Above-described embodiment is only presently preferred embodiments of the present invention, is not limited the scope of the invention according to this, therefore: it is all according to The equivalence changes that structure of the invention, shape, principle are done, should all be covered by within protection scope of the present invention.

Claims (8)

1. a kind of intelligent sweeping robot, including shell and the lid being installed on shell, shell and lid form installation cavity, Shell in installation cavity is equipped with the clearing apparatus and driving device controlled by controller, it is characterised in that: the shell in installation cavity The front side of body is equipped with fixed frame, is fixedly arranged on the fixing bracket with laser scanning probe connected to the controller, and controller includes control Module, detection module, trajectory planning module, laser scanning probe are connect with detection module, and detection module is visited by laser scanning The continuous scanning ambient enviroment of head simultaneously carries out simulation drawing to ambient enviroment, and the information that simulation is drawn is sent to rail by detection module Mark planning module, the information planning track that trajectory planning module is drawn according to simulation, the track that trajectory planning module will have been planned It is sent to control module, control module control driving device is run according to planned trajectory;The front side of the lid be equipped with relative to The middle part of the side cover of lid displacement, side cover is equipped with window corresponding with laser scanning probe;The front side of the lid is equipped with phase For the structure of the side cover of lid displacement are as follows: two sides corresponding with side cover are fixedly installed with respectively on the inner top surface of lid is located at The fixed plate of window two sides, is separately installed with touch switch in two fixed plates, on side cover with two fixed plate phases Corresponding two sides are respectively fixed with touch plate, and two touch plates are located at the downside of corresponding fixed plate and can be opposite It is displaced in fixed plate, position corresponding with touch switch is equipped with and can be displaced with side cover on two touch plates or on side cover When control touch switch on-off touch protrusion.
2. intelligent sweeping robot according to claim 1, it is characterised in that: the detection module and control module connect It connects, control module controls driving device operation and drives laser scanning probe displacement, when laser scanning probe is displaced with driving device Scan ambient enviroment.
3. intelligent sweeping robot according to claim 1, it is characterised in that: the track of the trajectory planning module planning To bend zag trajectory.
4. intelligent sweeping robot according to claim 1, it is characterised in that: the controller includes automatic charging mould Block and it will test module, trajectory planning module and controller control driving device and the operating status of clearing apparatus is recorded Logger module, automatic charging module connect with detection module, automatic charging module by detection module scanning looks for from Dynamic charger position sets on automatic charger there are two charging contact, is respectively equipped on shell and matches with two charging contacts Contact is contacted, connects contact contact with corresponding charging contact at driving device driving robot to automatic charger Afterwards, automatic charging module sends information to control module, and control module controls driving device and clearing apparatus is out of service.
5. intelligent sweeping robot according to claim 1, it is characterised in that: the controller includes communication module, Communication module can connect with cell phone application client and the current operating status of robot is sent to cell phone application client, mobile phone APP client can control the operating status of robot.
6. intelligent sweeping robot according to claim 1, it is characterised in that: the touch switch of each fixed plate Side is equipped with support shaft, torsional spring is arranged in support shaft, one end of torsional spring is set on side cover, the other end is set in fixed plate.
7. intelligent sweeping robot according to claim 1, it is characterised in that: be respectively equipped in two fixed plates with The fixing axle 1 being fixedly connected between lid is respectively equipped with and the matched item of corresponding fixing axle one on two touch plates Shape hole one, all fixing axles one are all the same in the direction of displacement of corresponding strip-shaped hole one.
8. intelligent sweeping robot according to claim 1, it is characterised in that: set on touch plate described at least one of which There is strip-shaped hole two, lid is equipped with fixing axle two corresponding with strip-shaped hole two, touches position corresponding with fixing axle two on plate Fixing seat has been installed, spring, extension spring when side cover is displaced to lid direction are equipped between fixing seat and fixing axle two.
CN201610378625.0A 2016-05-31 2016-05-31 Intelligent sweeping robot Active CN105816106B (en)

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CN105816106B true CN105816106B (en) 2019-10-18

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106269634A (en) * 2016-08-12 2017-01-04 罗浩 Full intelligence automated cleaning bus stop board machine
CN107898391A (en) * 2017-11-08 2018-04-13 张子腾 High efficiency smart cleans all-in-one machine
CN110992809A (en) * 2019-12-19 2020-04-10 佛山科学技术学院 Intelligent education robot
CN111973067A (en) * 2020-07-30 2020-11-24 丽水学院 Robot of sweeping floor of intelligence anticollision and infrared capture charging source of low-power

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CN102566574B (en) * 2012-01-20 2014-12-31 北人机器人系统(苏州)有限公司 Robot trajectory generation method and device based on laser sensing
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CN104644061B (en) * 2013-11-20 2017-09-19 科沃斯商用机器人有限公司 Self-movement robot and its antidote with apparatus for correcting
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