CN115227146A - Ground cleaning device and working method - Google Patents
Ground cleaning device and working method Download PDFInfo
- Publication number
- CN115227146A CN115227146A CN202110438017.5A CN202110438017A CN115227146A CN 115227146 A CN115227146 A CN 115227146A CN 202110438017 A CN202110438017 A CN 202110438017A CN 115227146 A CN115227146 A CN 115227146A
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- China
- Prior art keywords
- driving motor
- cleaning device
- current
- ground cleaning
- supply voltage
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- 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
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- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- 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
- A47L11/4072—Arrangement of castors or wheels
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to a floor cleaning device which comprises a cleaning main body and a handle connected to the cleaning main body, wherein the cleaning main body comprises a shell, a control circuit board and a cleaning assembly which are arranged in the shell, and a wheel body rotatably connected to the shell, and the control circuit board is in electric signal connection with the cleaning assembly. And a driving motor which is connected with the control circuit board through an electric signal is also arranged in the shell, and an output shaft of the driving motor is elastically connected with the wheel body. The invention also relates to a working method of the ground cleaning device, in the moving process of the ground cleaning device, the current of the driving motor is detected and obtained, the moving direction of the ground cleaning device is obtained according to the direction of the current, and then the supply voltage which rotates to the moving direction is controlled to be supplied to the driving motor, and the driving motor assists the ground cleaning device to move; and when the current of the driving motor suddenly increases and exceeds the set steering current, the driving motor is controlled to supply reverse power supply voltage to the driving motor, and the driving motor assists the floor cleaning device to move in a reversing way.
Description
Technical Field
The invention relates to a floor cleaning device and also relates to a working method of the floor cleaning device.
Background
The dust catcher, drag the floor machine, inhale and drag current ground cleaning machine such as all-in-one and when cleaning, in order to guarantee good cleaning effect, can set up parts such as brush or rubber strip in the bottom usually, various different operating modes also can appear during the use, if when carrying out the cleanness of ground clearance or need carry out the carpet cleanness, because great with the frictional force between the ground for provide great motive force to ground cleaning machine when the user uses, use experience is poor.
For example, in the patent of "a steam sweeper with an improved driving motor" in the chinese utility model with the publication number CN204600376U (application number 201520219193. X), a brush is disposed in a lower cover of a base of the sweeper to better achieve cleaning, and a rubber strip is fixed on the base. Although the arrangement of the brush and the rubber strip can improve the cleaning effect on the ground, the friction between the brush and the ground is increased, the use resistance is increased, and the user experience is poor.
Disclosure of Invention
The first technical problem to be solved by the present invention is to provide a floor cleaning device capable of providing an assisting force according to the moving direction of the user in view of the above prior art.
A second technical problem to be solved by the present invention is to provide a working method of a floor cleaning device, which can effectively identify the pushing direction of a user to the floor cleaning device, and further accurately provide a power-assisted direction, in view of the above prior art.
The technical scheme adopted by the invention for solving the first technical problem is as follows: the utility model provides a ground cleaning device, includes clean main part and connects the handle in clean main part, clean main part includes the casing, sets up the control circuit board in the casing and cleans the subassembly, rotates the wheel body of connecting on the casing, control circuit board with clean subassembly signal connection, its characterized in that: the shell is internally provided with a driving motor which is connected with the control circuit board through electric signals, and an output shaft of the driving motor is elastically connected with the wheel body.
In order to facilitate assembly, the wheel body is connected with the driving motor through a connecting piece, an axially extending installation cavity is formed in the center of the wheel body, and the connecting piece is connected and arranged in the installation cavity and is connected with an output shaft of the driving motor;
the inner peripheral wall of the installation cavity is uniformly provided with convex edges extending along the axial direction, and the connecting piece is internally provided with a jacking piece which elastically jacks the inner peripheral wall of the installation cavity.
Simple structure ground, radially offer along the wheel body in the connecting piece towards installation cavity inner wall open-ended mounting groove, roof pressure spare sets up in the mounting groove to be provided with the elastic component between roof pressure spare and the mounting groove bottom.
Preferably, a guide post is arranged in the mounting groove, a guide hole extending along the radial direction of the wheel body is formed in the guide post, a guide portion capable of extending into the guide hole is arranged on the jacking member, and the length of the guide hole is larger than the movable distance of the jacking member.
In order to conveniently realize the rotary connection of the connecting piece in the installation cavity, the connecting piece is connected in the installation cavity through a fastening part, the fastening part is tightly matched with the installation cavity, and the connecting piece is in limited rotary connection on the fastening part.
Preferably, the outer side wall of the installation cavity is provided with an opening, and a sealing cover is buckled in the opening.
Preferably, the casing rear portion has the installation department that supplies the installation handle, the handle rotates to be connected on the installation department, the both sides of installation department are provided with respectively the wheel body, be provided with at least one auxiliary wheel on the anterior bottom surface of casing.
The technical scheme adopted by the invention for solving the second technical problem is as follows: a method of operating the above-described floor cleaning device, comprising: in the moving process of the ground cleaning device, detecting and acquiring the current of the driving motor, acquiring the moving direction of the ground cleaning device according to the direction of the current, further controlling the supply voltage which rotates to the moving direction to the driving motor, and assisting the ground cleaning device to move by the driving motor;
and when the current of the driving motor suddenly increases and exceeds the set steering current, the driving motor is controlled to supply reverse power supply voltage to the driving motor, and the driving motor assists the floor cleaning device to move in a reversing way.
As an improvement, after pushing the ground cleaning device to move towards a required direction, a user drives an output shaft of the motor to rotate, the control circuit board obtains a current signal of the driving motor, and then the moving direction of the ground cleaning device is obtained according to the direction of the current signal;
the control circuit board controls to supply basic power supply voltage rotating towards the moving direction to the driving motor, and the driving motor works to drive the ground cleaning device to move;
detecting and acquiring the working current of the motor in real time in the process of driving the motor to drive the ground cleaning device to move, and adjusting the magnitude of the power supply voltage according to the magnitude of the working current; and meanwhile, whether the working current of the motor reaches the set steering current is judged, if the working current reaches the set steering current, the replacement moving direction of the ground cleaning device is judged, and the control circuit board controls the direction of the power supply voltage of the driving motor to be switched, so that the driving motor is controlled to rotate in the opposite direction.
In order to ensure that the floor cleaning device can work more reliably, the driving motor is controlled to stop working if the direction switching times of the power supply voltage exceed the set times within the set duration.
Conveniently controlling, setting different current intervals in a range smaller than the set steering current, and setting corresponding power supply voltage for each current interval;
in the process that the driving motor drives the ground cleaning device to move, the working current of the motor is detected and obtained in real time, and the power supply voltage of the driving motor is adjusted according to the power supply voltage corresponding to the current interval where the working current is located.
Compared with the prior art, the invention has the advantages that: the ground cleaning device can detect the moving direction of the ground cleaning device through the working method of the ground cleaning device, so that assistance is provided for the movement of the ground cleaning device, the thrust of a user using the ground cleaning device is reduced, and the ground cleaning work is easier and more labor-saving. In addition, the ground cleaning device avoids the situation that the driving motor is locked when a user turns the ground cleaning device in an elastic connection mode between the wheel body and the driving motor, and simultaneously meets the requirement of obtaining the turning information of the ground cleaning device from the working parameters of the driving motor. The working method of the ground cleaning device can effectively identify the pushing direction of a user to the ground cleaning device, and then accurately provide the power-assisted direction, so that the ground cleaning work is more time-saving and labor-saving, and the efficiency of the ground cleaning work is also improved.
Drawings
FIG. 1 is a perspective view of a floor care appliance in an embodiment of the present invention.
Fig. 2 is a perspective view of the floor cleaning device from a bottom perspective in accordance with an embodiment of the present invention.
Fig. 3 is an exploded perspective view of a floor care appliance in accordance with an embodiment of the present invention.
Figure 4 is a cross-sectional view of a floor care appliance in an embodiment of the invention.
Fig. 5 is a partially enlarged view of fig. 4.
Fig. 6 is a cross-sectional view of the connecting member and the wheel body of the floor cleaning device according to the embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
As shown in fig. 1 to 6, the floor cleaning device of the present embodiment includes a cleaning main body and a handle 1 attached to the cleaning main body. Clean main part includes casing 2, sets up the control circuit board in the casing 2 and cleans the subassembly, rotates the wheel body 3 of connecting on casing 2, control circuit board with clean subassembly signal connection, still be provided with the driving motor 4 with control circuit board signal connection in the casing 2, driving motor 4's output shaft and wheel body 3 elastic connection.
The cleaning assembly can adopt a cleaning component in the prior art, namely a plurality of cavities are arranged on the bottom surface of the front part of the shell 2, a brush is arranged in each cavity, and the shell 2 is provided with a motor for driving the brush to rotate. The shell 2 is also internally provided with a dust collecting box, each cavity is communicated with the dust collecting box through a pipeline, the hairbrush is in a fan blade shape, and the hairbrush forms a cyclone after rotating, so that dirt on the ground is sucked into the dust collecting box. In order to improve the cleaning effect on the ground, a water box can be arranged in the shell 2 and is connected to each cavity through a water pipe, so that water can be supplied to the ground and the brush in the cleaning process, and the cleaning capability on the ground is improved. The water pipe can be also provided with a valve body capable of controlling the opening degree of the controller, and the water supply amount is further adjusted through the valve body. The valve body and the motor are in electric signal connection with the control circuit board, and then work under the control of the control circuit board.
The rear part of the shell 2 is provided with a mounting part 21 for mounting the handle 1, and the handle 1 can be connected to the mounting part 21 in a front-back rotating manner, so that a user can more conveniently hold the handle 1 to push the cleaning main body to move. The both sides of handle 1 lower extreme in this implementation are provided with the axis body respectively, and this axis body rotates to be connected on installation department 21 to be provided with the breach that can swing handle 1 swing range on this installation department 21.
The wheel bodies 3 are respectively arranged on two sides of the mounting portion 21, and at least one auxiliary wheel 9 is arranged on the bottom surface of the front portion of the shell 2, so that the ground cleaning device can be guaranteed to easily and evenly move forwards and backwards.
In this embodiment, the wheel body 3 and the driving motor 4 are connected through the connecting member 5, the center of the wheel body 3 is provided with an axially extending mounting cavity 31, and the connecting member 5 is rotatably connected and disposed in the mounting cavity 31 and connected with an output shaft of the driving motor 4. Wherein, the connecting piece 5 and the output shaft of the driving motor 4 can be connected in a fixed connection mode. In order to facilitate the rotation connection of the connecting piece 5 in the installation cavity 31, the connecting piece 5 in the embodiment is connected in the installation cavity 31 through the fastening piece 8, the fastening piece 8 is tightly fitted in the installation cavity 31, and the connecting piece 5 is connected on the fastening piece 8 in a limiting and rotating manner. Specifically, this tight fitting 8 is the annular, is provided with the spacing groove on the outer peripheral face of connecting piece 5, and the spacing inslot is established to the spacing cover of this tight fitting 8 to can rotate relatively between tight fitting 8 and the connecting piece 5, tight fitting 8 can the tight fitting card on the inner wall of installation cavity 31.
The other end of the connecting element 5 extends into the mounting cavity 31, the inner peripheral wall of the mounting cavity 31 is uniformly provided with convex ribs 311 extending along the axial direction, the connecting element 5 is internally provided with a jacking element 6 elastically jacking against the inner peripheral wall of the mounting cavity 31, and the elastic jacking force of the jacking element 6 against the inner peripheral wall of the mounting cavity 31 is enough to drive the wheel body 3 to rotate. Specifically, a mounting groove 51 facing the inner wall opening of the mounting cavity 31 is formed in the connecting member 5 along the radial direction of the wheel body 3, the abutting member 6 is disposed in the mounting groove 51, and an elastic member 7 is disposed between the abutting member 6 and the bottom of the mounting groove 51.
In order to provide guidance for the pressing direction of the pressing member 6, a guide post 511 is arranged in the mounting groove 51, a guide hole 5111 extending along the radial direction of the wheel body 3 is formed in the guide post 511, the pressing member 6 is provided with a guide part 61 capable of extending into the guide hole 5111, and the length of the guide hole 5111 is greater than the movable distance of the pressing member 6. Therefore, the radial jacking force of the jacking part 6 on the inner peripheral wall of the mounting cavity 31 can be ensured, and the elastic connection between the driving motor 4 and the wheel body 3 is realized.
In addition, for safety, an opening is formed on the outer side wall of the mounting cavity 31, and a sealing cover 32 is buckled in the opening.
The working method of the floor cleaning device comprises the following steps: in the moving process of the ground cleaning device, detecting and acquiring the current of the driving motor 4, acquiring the moving direction of the ground cleaning device according to the direction of the current, further controlling the supply voltage which rotates to the moving direction to the driving motor 4, and assisting the ground cleaning device to move by the driving motor 4; and when the current of the driving motor 4 suddenly increases and exceeds the set steering current, the driving motor 4 is controlled to supply reverse power supply voltage to the driving motor 4, and the driving motor 4 assists the floor cleaning device to move in a reversing way.
Specifically, after the user pushes the ground cleaning device to move in the required direction, the direction can be the forward direction or the backward direction, the output shaft of the motor is driven to rotate, current is generated in the motor due to the fact that the coil cuts the magnetic induction line, the control circuit board obtains the current signal of the driving motor 4, and then the moving direction of the ground cleaning device is obtained according to the direction of the current signal.
Control circuit board control supplies to driving motor 4 and removes direction pivoted basic supply voltage, and driving motor 4 work and then drive ground cleaning device and remove, specifically, driving motor 4 drive wheel body 3 rotates, and then drives ground cleaning device and remove, so realized providing the effect of helping hand for ground cleaning device removes for the user is carrying out ground cleaning work when using this ground cleaning device, labour saving and time saving more.
In the process that the driving motor 4 drives the ground cleaning device to move, the working current of the motor is detected and obtained in real time, and the power supply voltage is adjusted according to the working current, so that proper power assistance is provided for the ground cleaning device. Specifically, different current intervals are set in a range smaller than the set steering current, and a corresponding power supply voltage is set for each current interval; in the process that the driving motor 4 drives the ground cleaning device to move, the working current of the motor is detected and obtained in real time, and the power supply voltage of the driving motor 4 is adjusted according to the power supply voltage corresponding to the current interval where the working current is located.
And meanwhile, whether the working current of the motor reaches the set steering current is judged, namely, if the user pulls the ground cleaning device to move in the direction opposite to the current moving direction, the connecting piece 5 is driven by the output shaft of the driving motor 4 and is in the opposite direction to the rotating direction of the wheel body 3, the situation of motor stalling can not occur due to the elastic connection of the connecting piece 5 and the wheel body 3, but the resistance of the driving motor 4 can be increased due to the friction between the jacking piece 6 and the inner peripheral wall of the mounting cavity 31 on the wheel body 3, particularly, under the situation that the convex edge 311 is further arranged on the inner peripheral wall of the mounting cavity 31 on the wheel body 3, the resistance to the driving motor 4 is larger, and further, the action current of the driving motor 4 can be suddenly increased to a current value which cannot be reached in the normal walking process of the ground cleaning device. Based on this, if reach the steering current of setting then judge ground cleaning device and change the removal direction, control circuit board control switches the power supply voltage direction of driving motor 4, and then control driving motor 4 and rotate to opposite direction. The set steering current is greater than the current value that would occur during normal travel of the floor care appliance.
In the reversing working process of the rotation direction of the driving motor 4, if the direction switching frequency of the power supply voltage exceeds the set frequency within the set time, the driving motor 4 is controlled to stop working, so that the condition that the current of the driving motor 4 is suddenly increased due to other factors can be avoided, the ground cleaning device is protected, and at the moment, a user can check the specific condition of the ground cleaning device and avoid the damage to the ground cleaning device.
The ground cleaning device can detect the moving direction of the ground cleaning device through the working method of the ground cleaning device, so that assistance is provided for the movement of the ground cleaning device, the thrust of a user using the ground cleaning device is reduced, and the ground cleaning work is easier and more labor-saving. In addition, the ground cleaning device avoids the situation that the driving motor 4 is locked when a user turns the ground cleaning device in an elastic connection mode between the wheel body 3 and the driving motor 4, and simultaneously meets the requirement of obtaining the turning information of the ground cleaning device from the working parameters of the driving motor 4. The working method of the ground cleaning device can effectively identify the pushing direction of a user to the ground cleaning device, and further accurately provide the power-assisted direction, so that the ground cleaning work is more time-saving and labor-saving, and the efficiency of the ground cleaning work is also improved.
Claims (10)
1. The utility model provides a ground cleaning device, includes clean main part and connects handle (1) on clean main part, clean main part includes casing (2), sets up the control circuit board in casing (2) and cleans the subassembly, rotates wheel body (3) of connecting on casing (2), control circuit board with clean subassembly electric signal connection, its characterized in that: the motor is characterized in that a driving motor (4) connected with the control circuit board through an electric signal is further arranged in the shell (2), and an output shaft of the driving motor (4) is elastically connected with the wheel body (3).
2. A floor cleaning apparatus as claimed in claim 1, wherein: the wheel body (3) is connected with the driving motor (4) through a connecting piece (5), an axially extending mounting cavity (31) is formed in the center of the wheel body (3), and the connecting piece (5) is connected and arranged in the mounting cavity (31) and is connected with an output shaft of the driving motor (4);
the inner peripheral wall of the mounting cavity (31) is uniformly provided with convex ribs (311) extending along the axial direction, and the connecting piece (5) is internally provided with a jacking piece (6) elastically jacking on the inner peripheral wall of the mounting cavity (31).
3. A floor cleaning apparatus as claimed in claim 2, wherein: the wheel body (3) is radially provided with a mounting groove (51) facing the inner wall opening of the mounting cavity (31) in the connecting piece (5), the jacking piece (6) is arranged in the mounting groove (51), and an elastic piece (7) is arranged between the jacking piece (6) and the bottom of the mounting groove (51).
4. A floor cleaning apparatus as claimed in claim 3, wherein: the wheel body (3) is characterized in that a guide post (511) is arranged in the mounting groove (51), a guide hole (5111) extending along the radial direction of the wheel body (3) is formed in the guide post (511), a guide part capable of extending into the guide hole (5111) is arranged on the jacking piece (6), and the length of the guide hole (5111) is greater than the movable distance of the jacking piece (6).
5. A floor cleaning apparatus as claimed in claim 3, wherein: connecting piece (5) are connected in installation cavity (31) through tight fitting part (8), in tight fitting part (8) tight fit installation cavity (31), connecting piece (5) spacing rotation is connected on tight fitting part (8).
6. A floor cleaning apparatus as claimed in any one of claims 1 to 5, wherein: casing (2) rear portion has installation department (21) that supply installation handle (1), handle (1) rotate to be connected on installation department (21), the both sides of installation department (21) are provided with respectively wheel body (3), be provided with at least one auxiliary wheel (9) on the anterior bottom surface of casing (2).
7. A method of operating a floor cleaning unit according to any one of claims 1 to 6, the method comprising: in the moving process of the ground cleaning device, detecting and acquiring the current of the driving motor (4), acquiring the moving direction of the ground cleaning device according to the direction of the current, further controlling the supply voltage which rotates in the moving direction to the driving motor (4), and assisting the ground cleaning device to move by the driving motor (4);
and when the current of the driving motor (4) suddenly increases and exceeds the set steering current, the reverse power supply voltage is controlled to be supplied to the driving motor (4), and the driving motor (4) assists the floor cleaning device to move in a reversing way.
8. A method of operating a floor cleaning device according to claim 7, characterized in that: after pushing the ground cleaning device to move towards a required direction, a user drives an output shaft of the motor to rotate, the control circuit board obtains a current signal of the driving motor (4), and then the moving direction of the ground cleaning device is obtained according to the current signal direction;
the control circuit board controls to supply basic power supply voltage rotating towards the moving direction to the driving motor (4), and the driving motor (4) works to drive the ground cleaning device to move;
in the process that the driving motor (4) drives the ground cleaning device to move, the working current of the motor is detected and obtained in real time, and the magnitude of the power supply voltage is adjusted according to the magnitude of the working current; and meanwhile, whether the working current of the motor reaches the set steering current or not is judged, if the working current reaches the set steering current, the replacement moving direction of the ground cleaning device is judged, the control circuit board controls the direction of the power supply voltage of the driving motor (4) to be switched, and then the driving motor (4) is controlled to rotate in the opposite direction.
9. Method of operating a floor cleaning device according to claim 7, characterized in that: and controlling the driving motor (4) to stop working if the direction switching times of the power supply voltage exceed the set times within the set time length.
10. Method of operating a floor cleaning device according to claim 7, characterized in that: setting different current intervals within a range smaller than the set steering current, and setting corresponding power supply voltage for each current interval;
in the process that the driving motor (4) drives the ground cleaning device to move, the working current of the motor is detected and obtained in real time, and the power supply voltage of the driving motor (4) is adjusted according to the power supply voltage corresponding to the current interval where the working current is located.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110438017.5A CN115227146A (en) | 2021-04-22 | 2021-04-22 | Ground cleaning device and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110438017.5A CN115227146A (en) | 2021-04-22 | 2021-04-22 | Ground cleaning device and working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115227146A true CN115227146A (en) | 2022-10-25 |
Family
ID=83665944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110438017.5A Pending CN115227146A (en) | 2021-04-22 | 2021-04-22 | Ground cleaning device and working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115227146A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116269057A (en) * | 2023-05-08 | 2023-06-23 | 科沃斯家用机器人有限公司 | Control method and equipment of cleaning robot and readable storage medium |
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| JP2001037691A (en) * | 1999-07-29 | 2001-02-13 | Toshiba Tec Corp | Vacuum cleaner |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116269057A (en) * | 2023-05-08 | 2023-06-23 | 科沃斯家用机器人有限公司 | Control method and equipment of cleaning robot and readable storage medium |
| CN116269057B (en) * | 2023-05-08 | 2023-08-08 | 科沃斯家用机器人有限公司 | Control method and equipment of cleaning robot and readable storage medium |
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