CN109222765A - A kind of intelligence is from mobile device - Google Patents
A kind of intelligence is from mobile device Download PDFInfo
- Publication number
- CN109222765A CN109222765A CN201811215595.7A CN201811215595A CN109222765A CN 109222765 A CN109222765 A CN 109222765A CN 201811215595 A CN201811215595 A CN 201811215595A CN 109222765 A CN109222765 A CN 109222765A
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- CN
- China
- Prior art keywords
- mobile device
- intelligence
- trigger signal
- bumper module
- processor
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of intelligence from mobile device, comprising: robot body；The bumper module for being set to robot body periphery, being flexibly connected with robot body, when by applied external force, bumper module is subjected to displacement, and when applied external force disappears, bumper module resets；The detection switch component being set on robot body, when bumper module is subjected to displacement, detection switch component can be triggered and generate trigger signal；The processor coupled respectively with detection switch component, robot body, for receiving the trigger signal of detection switch component generation, and count the duration of trigger signal, determine predetermined control strategy corresponding with the duration of trigger signal, and then corresponding operation is executed from mobile device according to predetermined control strategy control intelligence, above-mentioned intelligence neatly can execute corresponding operation according to the application situation of applied external force from mobile device, it realizes and executes different operations for different environment, it is more intelligent.
Description
Technical field
The present invention relates to technical field of intelligent equipment, more particularly to a kind of intelligence from mobile device.
Background technique
It is intelligent from mobile device quilt with the continuous improvement that the high speed development and people of information age requires quality of life
It is widely applied, while it is also the popular research direction in one, current service robot field.Intelligence relies on one from mobile device
Fixed artificial intelligence can be automatically performed to cleaning works such as ground, windows, for example, to be mainly engaged in ground clear for sweeping robot
Clean work, window wiping robot are mainly engaged in cleaning glass work.
The present inventor has found in long-term research, in the prior art, when intelligence is detected from mobile device
When barrier, original movement routine can be changed immediately, lack the discriminatory analysis to ambient enviroment, be easy to cause the something lost of cleaning
Leakage, while its bumper (for protecting intelligence from mobile device) can only be movable from mobile device moving direction along intelligence,
That is existing intelligence, which is only able to detect existing barrier, detection in the direction of movement from mobile device, compares limitation, hold
Intelligence is easily caused to be blocked from mobile device by furniture such as bed bottom, bottom of cabinet.
Summary of the invention
In view of this, the present invention provides a kind of intelligence from mobile device, it can be neatly according to the application of applied external force
Situation executes corresponding operation, realizes and executes different operations for different environment.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: provide a kind of intelligence from mobile device,
Include:
Robot body；
Bumper module is set to the robot body periphery, is flexibly connected with the robot body, when by outer
When portion's active force, the bumper module is subjected to displacement, and when the applied external force disappears, the bumper module resets；
Detection switch component is set on the robot body, when the bumper module is subjected to displacement, the inspection
Switch block is surveyed to be triggered and generate trigger signal；
Processor, the processor is coupled with the detection switch component, the robot body respectively, for receiving
The trigger signal of detection switch component generation is stated, and counts the duration of the trigger signal, the determining and triggering
The duration of signal corresponding predetermined control strategy, and then control the intelligence according to the predetermined control strategy and set from movement
It is standby to execute corresponding operation.
The utility model has the advantages that be intelligently flexibly connected from the bumper module of mobile device with robot body in the present invention, when by
When to applied external force, it can be subjected to displacement, so that detection switch component is triggered and generates trigger signal, while pass through system
The duration of trigger signal is counted, determines predetermined control strategy corresponding with the duration of trigger signal, and then according to default
Control strategy control intelligence executes corresponding operation from mobile device, being capable of neatly basis by the intelligence from mobile device
The application situation of applied external force executes corresponding operation, realizes indirectly and executes different operations for different environment, more
Intelligent, hommization.
Detailed description of the invention
Fig. 1 is configuration schematic diagram of the intelligence of the invention from one embodiment of mobile device；
Fig. 2 is the structural schematic diagram that detection switch component 30 shown in FIG. 1 is fixed on robot body 10.
Specific embodiment
Refering to fig. 1, Fig. 1 is configuration schematic diagram of the intelligence of the invention from one embodiment of mobile device, and the intelligence is certainly
Mobile device includes: robot body 10, bumper module 20, detection switch component 30 and processor 40.
Firstly, intelligence in the present invention from mobile device be the automatic installations for executing work, both can be with acceptor
Class commander, can also run the program of preprogramming, and task is to assist or replace used in human work, such as daily life
To sweeping robot, window wiping robot etc. be engaged in the robot of cleaning.
Bumper module 20 is set to 10 periphery of robot body, is usually above robot body 10, when intelligence is certainly mobile
When equipment encounters barrier during traveling, bumper module 20 can first and bar contact, to protect in traveling
Robot body 10 and by collision object, in the present invention, bumper module 20 is flexibly connected with robot body 10, when by
It when to applied external force, can be subjected to displacement, when applied external force disappears, can reset.
Detection switch component 30 is set on robot body 10, when bumper module 20 is subjected to displacement, detection switch
Component 30 is triggered and generates trigger signal.
Specifically, when bumper module 20 under applied external force and when occurring mobile, detection switch component 30 is triggered
And generate trigger signal, that is to say, that when bumper module 20 is by applied external force, detection switch component 30 will be generated
Trigger signal, therefore the trigger signal the case where being able to reflect the applied external force that bumper module 20 is subject to generated, and it is external
Active force is the power that barrier is applied in bumper module 20, therefore by analysis trigger signal, can separate and be applied to guarantor
Applied external force on dangerous thick stick component 20, thus around locating when discriminatory analysis intelligently encounters barrier from mobile device indirectly
Environment.
Processor 40 is coupled with detection switch component 30, robot body 10 respectively, and processor 40 is opened for receiving detection
The trigger signal that component 30 generates is closed, and counts the duration of trigger signal, determination is corresponding with the duration of trigger signal
Predetermined control strategy, and then execute corresponding operation from mobile device according to predetermined control strategy control intelligence.Wherein, it handles
Device 40 is a kind of IC chip, has signal handling capacity, can be microprocessor (MCU), central processing unit
(CPU), digital signal processor (DSP), specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other can
Programmed logic device, discrete gate or transistor logic, discrete hardware components, herein with no restrictions.
When bumper module 20 is by applied external force, detection switch component 30 will generate trigger signal, therefore touch
The duration of signalling i.e. applied external force are applied to the duration in bumper module 20, that is to say, that with touching
The duration of signalling, corresponding predetermined control strategy corresponded to the applied external force being applied in bumper module 20, also between
It connects and corresponds to ambient enviroment locating when intelligence encounters barrier from mobile device.By counting the duration of trigger signal,
Determine predetermined control strategy corresponding with the duration of trigger signal, and then certainly mobile according to predetermined control strategy control intelligence
Equipment executes corresponding operation, and locating ambient enviroment specifically goes to control when can encounter barrier from mobile device in conjunction with intelligence
Intelligence executes corresponding operation from mobile device, and intelligently encounter barrier from mobile device changes original to the prior art that compares immediately
Come movement routine, the present invention in intelligence it is more intelligent from mobile device, humanized.
Wherein, when by applied external force, bumper module 20, which is subjected to displacement, to be specifically included: when by applied external force
When, bumper module 20 is subjected to displacement in the first plane and/or the second plane, wherein the first plane be perpendicular to intelligence from
The plane of mobile device moving direction, the second plane are to be parallel to plane of the intelligence from mobile device moving direction.
That is, can occur in the second plane when bumper module 20 is when by applied external force on moving direction
Displacement, when bumper module 20 on the direction vertical with moving direction by applied external force when, can be in the first plane
It is subjected to displacement, for example, when sweeping robot encounters the barriers such as table angle during traveling, bumper module 20 can be flat second
It is subjected to displacement, i.e., is moved in intelligence from mobile device moving direction in face, when sweeping robot is met during traveling
To barriers such as bed bottom, bottom of cabinet, bumper module 20 can be subjected to displacement in the first plane, i.e., in the side perpendicular to moving direction
It moves upwards, specifically, bumper module 20 moves down in perpendicular at this time, or around robot body 10
It rotates down.
It can be subjected to displacement in the first plane by the way that bumper module 20 is arranged, also position can occur in the second plane
It moves, guarantees to detect the barrier on moving direction, also be able to detect that and the obstacle in moving direction vertical direction
Object can effectively prevent it to pierce below the furniture of the different heights such as a bottom, bottom of cabinet for sweeping robot.
In an application scenarios, processor 40 is specifically used for the duration of statistics trigger signal, that is, single is applied to guarantor
The duration of applied external force on dangerous thick stick component 20.
It wherein, at this time may be that intelligence exists from mobile device when the duration of trigger signal being not up to first threshold
After touching barrier, barrier is moved away immediately, or although intelligence has encountered barrier from mobile device, but wash open
Barrier shows that the environment of surrounding is more smooth for intelligence is from mobile device movement, then controls intelligence at this time and set from movement
It is standby to keep original motion state, it specifically can be to keep original movement routine, avoid clean omission, for example,
Sweeping robot encounters the barriers such as the clothes that suspended on during sweeping the floor, although at this time in the work of the barriers such as clothes
Trigger signal is produced under, but sweeping robot has broken through clothes quickly, the duration of trigger signal is not up at this time
One threshold value, control sweeping robot move on, that is, keep original motion state；When trigger signal duration be greater than etc.
When first threshold, shows that intelligence has been likely to be encountered the barrier for being difficult to cross from mobile device at this time, then control intelligence from shifting
Dynamic equipment changes original motion state to avoid barrier, is specifically as follows control and changes original mobile road from mobile device
Diameter, for example, sweeping robot during sweeping the floor, encounters the furniture that a bottom, bottom of cabinet etc. have different height, and because of this
A little furniture and the duration of trigger signal generated is more than or equal to first threshold, then control sweeping robot and change original fortune
Dynamic state；When the duration of trigger signal being more than or equal to second threshold (second threshold is greater than first threshold), show intelligence
Fail avoiding barrier from mobile device, and blocked by barrier, then controls intelligence from mobile device and start mode of getting rid of poverty, take off
Tired mode is the mode for facilitating intelligence and being detached from current state from mobile device, for example, sweeping robot is during sweeping the floor,
The furniture with different height such as bed bottom, bottom of cabinet is stuck in the following, because being now in the state blocked, trigger signal continues
Time is more than or equal to second threshold, then controls sweeping robot and start mode of getting rid of poverty.
Optionally, in the application scenarios, processor 40 is more than or equal to also particularly useful for the duration when trigger signal
When third threshold value, control intelligence issues alarm signal from mobile device, wherein third threshold value is greater than second threshold.
Although the mode of getting rid of poverty, which facilitates intelligence, is detached from current state from mobile device, get rid of poverty mode there is also starting
Afterwards, the case where intelligence is still in stranded state from mobile device, wherein the duration of trigger signal is more than or equal to third threshold
Value shows that intelligence is still within the state being stuck after mode is got rid of poverty in starting from mobile device, and processor 40 controls intelligence at this time
Alarm signal is issued from mobile device, reminds user that intelligence is helped above water, to avoid by the way of artificial from mobile device
Intelligence is constantly in stranded state from mobile device and wastes electricity and damage machine.
In the application scenarios, first threshold, second threshold, third threshold value can as the case may be depending on, such as by
One threshold value, second threshold, third threshold value are set to 2S, 5S and 10S, as long as to sum up, guaranteeing that second threshold is greater than the
One threshold value, third threshold value are greater than second threshold, are not particularly limited at this to its numerical value.
Wherein, it includes: that processor 40 controls intelligence from shifting that processor 40, which controls intelligence from the mobile device starting mode of getting rid of poverty,
Dynamic equipment changes original motion state, and specifically control intelligence changes original movement routine from mobile device, controls simultaneously
Intelligence executes deceleration from mobile device, reduces the movement of at least one of height, change road holding.
Specifically, processor 40 is while control intelligence changes original motion state from mobile device, control intelligence
Deceleration is executed from mobile device, height is reduced, change a movement in road holding or is performed simultaneously several movements.Wherein control
Intelligence changes original motion state from mobile device and refers to changing original movement routine.
For example, when bumper module 20 is subjected to displacement in the first plane by applied external force and makes detection switch component
30, which are triggered, generates trigger signal, and when the duration of the trigger signal is greater than second threshold, shows that intelligence is from mobile at this time
Equipment may be stuck in the furniture such as bed bottom, bottom of cabinet in the following, then changing original movement routine from mobile device in control intelligence
Meanwhile controlling intelligence and slowing down from mobile device, reduce height, change road holding, so that intelligence can be promptly from mobile device
Above water.
In another application scene, processor 40 is triggered within a preset period of time also particularly useful for statistics trigger signal
Total degree；When the total degree that trigger signal is triggered within a preset period of time is more than or equal to frequency threshold value, control intelligence is moved certainly
Dynamic equipment changes original motion state.
Specifically, in the application scenarios, trigger signal is in desultory state, shows intelligence from mobile device in work
It is likely encountered barrier during work and breaks through barrier, but it encounters barrier more than once, then counts triggering letter
Number total degree being triggered within a preset period of time, when the total degree that trigger signal is triggered within a preset period of time is more than or equal to
When frequency threshold value, show that intelligence releases souls from purgatory certain value from the barrier quantity that mobile device encounters, movement routine is not very
It is smooth, then it controls intelligence and changes original motion state, i.e. movement routine from mobile device, avoid intelligence multiple from mobile device
Collision obstacle, to protect intelligence from mobile device, wherein preset time period and frequency threshold value can be by designers according to reality
Border demand is designed, such as sets preset time period to 1 minute, and frequency threshold value is set as 5 times, that is to say, that works as statistics
When intelligently encountering number arrival 5 times or 5 times or more of barrier in by 1 minute from mobile device, control is intelligent from mobile device
Change original motion state.
In above two application scenarios, processor 40 controls intelligence and changes original motion state packet from mobile device
Include: processor 40 controls intelligence and retreats or turn from mobile device.
Wherein, in the present invention, detection switch component 30 specifically includes: automatic reset switch 31, automatic reset switch 31
After being under pressure, it is in closed state, after pressure disappears, automatically resets, restPoses.
Automatic reset switch 31 and processor 40 couple, when bumper module 20 is subjected to displacement by applied external force
When, automatic reset switch 31 is closed under the pressure of bumper module 20 and generates trigger signal, when applied external force disappearance makes
When bumper module 20 resets, automatic reset switch 31 disconnects and terminates trigger signal.
That is, automatic reset switch 31 is closed after bumper module 20 is generated displacement by applied external force
And trigger signal is generated, after applied external force disappears, automatic reset switch 31 disconnects and terminates trigger signal, to guarantee to touch
The duration of signalling is equal with the duration for being applied to 20 applied external force of bumper module.
In an application scenarios, as shown in Fig. 2, detection switch component 30 is located at the upper surface of robot body 10, work as intelligence
When can be subjected to displacement in the first plane from mobile device, detection switch component 30 is triggered and generates trigger signal, so as to
Enough detect the barrier on the direction vertical with moving direction.
For example, for sweeping robot, when bumper module 20 applied external force is encountered during cleaning and
When being subjected to displacement in the first plane, such as encountering a bed bottom barrier, bumper module 20 press on automatic reset switch 31 and
It is closed automatic reset switch 31, when sweeping robot is detached from the barriers such as bed bottom, bumper module 20 resets, at this time automatically
Reset switch 31 disconnects and terminates trigger signal.
Optionally, with continued reference to Fig. 2, detection switch component 30 further include: the quantity of reset spring 32, reset spring 32 is
At least two, such as three or five.
When the quantity of reset spring 32 is two, two reset springs 32 are respectively arranged at the two of automatic reset switch 31
Side, when applied external force is applied in bumper module 20, two reset springs 32 are shunk, when applied external force disappears,
Two reset springs 32 revert to original state, to help bumper module 20 to reset, avoid bumper module 20 in applied external force
After disappearance, it is not capable of resetting due to self weight etc..
In order to when intelligence encounters barrier from mobile device, extenuate impact of the barrier to intelligence from mobile device
Power, bumper module 20 are made of Elastic flexible glue, and specifically, bumper module 20 is either whole use Elastic flexible glue system
At being also possible to part and be made of Elastic flexible glue.Wherein, Elastic flexible glue includes at least one of rubber, silica gel.
It is optionally, intelligent from mobile device with continued reference to Fig. 1 further include: fixed bracket 50, fixed bracket 50 and robot
Ontology 10 is fixedly connected, and detection switch component 30 is fixed on fixed bracket 50, passes through what is be fixedly connected with robot body 10
Fixed bracket 50 supports detection switch component 30, guarantees that it can be triggered when by applied external force, without by
It is integrally subjected to displacement when external pressure.
Wherein, bumper module 20 specifically includes: preceding to hit bumper upper cover 21 and before hit bumper lower cover 22.
Wherein, the preceding shape hit bumper upper cover 21 and before hit bumper lower cover 22 is mutually matched, and both ends are fixed respectively
It is fixedly connected after connection with robot body 10, by the way that bumper module 20 is arranged to two parts, convenient in bumper module
20 carry out the part dismantled and more renewed to it when being damaged.
To sum up, be in contrast to the prior art, intelligence in the present invention being capable of neatly basis from mobile device
The application situation of applied external force executes corresponding operation, executes different operations for different external environment indirectly, more
Add intelligent, hommization.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of intelligence is from mobile device characterized by comprising
Robot body；
Bumper module is set to the robot body periphery, is flexibly connected with the robot body, makees when by outside
When firmly, the bumper module is subjected to displacement, and when the applied external force disappears, the bumper module resets；
Detection switch component is set on the robot body, and when the bumper module is subjected to displacement, the detection is opened
Component is closed to be triggered and generate trigger signal；
Processor, the processor is coupled with the detection switch component, the robot body respectively, for receiving the inspection
The trigger signal that switch block generates is surveyed, and counts the duration of the trigger signal, the determining and trigger signal
Duration corresponding predetermined control strategy, and then control the intelligence according to the predetermined control strategy and held from mobile device
The corresponding operation of row.
2. intelligence according to claim 1 is from mobile device, which is characterized in that
The processor is specifically used for counting the duration of the trigger signal；It is not reached when the duration of the trigger signal
When to first threshold, the intelligence is controlled from mobile device and keeps original motion state；When the trigger signal it is lasting when
Between be more than or equal to the first threshold when, control the intelligence and change original motion state from mobile device；When the triggering
When the duration of signal is more than or equal to second threshold, the intelligence is controlled from mobile device and starts mode of getting rid of poverty,
Wherein, the second threshold is greater than the first threshold, and the mode of getting rid of poverty is to facilitate the intelligence to set from movement
The standby mode for being detached from current state.
3. intelligence according to claim 2 is from mobile device, which is characterized in that
The processor controls the intelligence also particularly useful for when the duration of the trigger signal being more than or equal to third threshold value
Alarm signal can be issued from mobile device,
Wherein, the third threshold value is greater than the second threshold.
4. robot according to claim 2, which is characterized in that
It includes: that the processor controls the intelligence certainly that the processor, which controls the intelligence from the mobile device starting mode of getting rid of poverty,
Mobile device changes original motion state, at the same control the intelligence from mobile device execute deceleration, reduce height, change grab
The movement of at least one of soil fertility.
5. intelligence according to claim 1 is from mobile device, which is characterized in that
The total degree that the processor is triggered within a preset period of time also particularly useful for the statistics trigger signal；When the touching
When signaling the total degree being triggered in the preset time period more than or equal to frequency threshold value, controls the intelligence and set from movement
It is standby to change original motion state.
6. intelligence according to claim 2 or 5 is from mobile device, which is characterized in that
It includes: described in the processor control that the processor, which controls the intelligence to change original motion state from mobile device,
Intelligence is retreated or is turned from mobile device.
7. intelligence according to claim 1 is from mobile device, which is characterized in that
It is described when by applied external force, the bumper module, which is subjected to displacement, to be specifically included:
When by applied external force, the bumper module is subjected to displacement in the first plane and/or the second plane, wherein
First plane is perpendicular to the intelligence from the plane of mobile device moving direction, and second plane is described to be parallel to
Plane of the intelligence from mobile device moving direction.
8. intelligence according to claim 1 is from mobile device, which is characterized in that
The detection switch component includes: automatic reset switch,
The automatic reset switch and the processor couple, when the bumper module is subjected to displacement by applied external force
When, the automatic reset switch is closed under the pressure of the bumper module and generates the trigger signal, when the outside
When active force disappearance resets the bumper module, the automatic reset switch disconnects and terminates the trigger signal.
9. intelligence according to claim 8 is from mobile device, which is characterized in that
The detection switch component further include: reset spring, the quantity of the reset spring are at least two, two reset springs
It is respectively arranged at the two sides of the automatic reset switch.
10. intelligence according to claim 1 is from mobile device, which is characterized in that
The bumper module is made of Elastic flexible glue.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811215595.7A CN109222765B (en) | 2018-10-18 | 2018-10-18 | Intelligent self-moving equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811215595.7A CN109222765B (en) | 2018-10-18 | 2018-10-18 | Intelligent self-moving equipment |
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| CN109222765B CN109222765B (en) | 2023-05-05 |
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| CN201811215595.7A Active CN109222765B (en) | 2018-10-18 | 2018-10-18 | Intelligent self-moving equipment |
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| CN109730594A (en) * | 2019-03-27 | 2019-05-10 | 南京英维尔科技服务有限公司 | A kind of sweeping robot |
| CN110279348A (en) * | 2019-06-18 | 2019-09-27 | 深圳瑞科时尚电子有限公司 | One kind is from mobile device |
| CN111562782A (en) * | 2020-04-15 | 2020-08-21 | 长沙中联重科环境产业有限公司 | Epidemic prevention disinfection cleaning robot |
| WO2021068908A1 (en) * | 2019-10-12 | 2021-04-15 | 苏州宝时得电动工具有限公司 | Cleaning robot |
| CN112741556A (en) * | 2019-10-31 | 2021-05-04 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment control method and device, automatic cleaning equipment and medium |
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