CN205181264U - Cleaning machines people system, cleaning machines people and virtual wall subassembly - Google Patents
Cleaning machines people system, cleaning machines people and virtual wall subassembly Download PDFInfo
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- CN205181264U CN205181264U CN201520229015.5U CN201520229015U CN205181264U CN 205181264 U CN205181264 U CN 205181264U CN 201520229015 U CN201520229015 U CN 201520229015U CN 205181264 U CN205181264 U CN 205181264U
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Abstract
The utility model relates to a cleaning machines people system, cleaning machines people and virtual wall subassembly belongs to the cleaning machines field. Cleaning machines people system includes: cleaning machines people and virtual wall subassembly, cleaning machines people includes: at least one metal electrode, capacitive sensor and control chip, metal electrode sets up on cleaning machines people's bottom plate, metal electrode links to each other with the capacitive sensor electrical property, and capacitive sensor links to each other with the control chip electrical property, virtual wall subassembly is the banded object of containing metal, and virtual wall subassembly is used for attached plane of advancing in cleaning machines people. This has openly solved the virtual wall existence power consumption that utilizes infrared mode to realize, and the great problem of cost, realized utilizing the banded object of containing metal to realize virtual wall function, reached the energy consumption of exempting virtual wall subassembly, reduced the effect of the cost of virtual wall subassembly.
Description
Technical field
The disclosure relates to cleaning machine field, particularly a kind of cleaning robot system, clean robot and virtual wall assembly.
Background technology
The such as clean robot of sweeping robot, floor-mopping robot and so on is the important component part in Smart Home.
At cleaning machine man-hour, virtual wall is set by the plane of advancing at clean robot, realizes limiting the working space of clean robot.At present, common virtual wall utilizes infrared mode to realize.Such as, the plane that clean robot is advanced arranges virtual wall assembly, this virtual wall assembly outwards can send infrared ray and form virtual wall.After clean robot detects the infrared ray that virtual wall assembly sends in the process of advancing, just can determine the position of the virtual wall that this virtual wall assembly is formed, then according to the travel path of the position control self of virtual wall.
But there are the following problems for this virtual wall utilizing infrared mode to realize: the first, and the virtual wall utilizing infrared mode to realize exists energy consumption issues; The second, under the scene that sunlight is strong, the virtual wall utilizing infrared mode to realize will lose efficacy; 3rd, the cost of the virtual wall utilizing infrared mode to realize is larger.
Utility model content
Disclosure embodiment provides a kind of cleaning robot system, clean robot and virtual wall assembly.Described technical scheme is as follows:
According to the first aspect of disclosure embodiment, provide a kind of cleaning robot system, this system comprises: clean robot and virtual wall assembly;
Clean robot, comprising: at least one metal electrode, capacitance sensor and control chip;
Metal electrode is arranged on the base plate of clean robot;
Metal electrode and capacitance sensor are electrical connected, and capacitance sensor and control chip are electrical connected;
Virtual wall assembly is metallic strap-like objects, and the plane that virtual wall assembly is advanced for being attached at clean robot.
In a possible embodiment, described metal electrode is one, and described metal electrode is arranged at the edge described base plate is positioned in direction of advance; Or,
Described metal electrode is n, described n metal electrode scattering device in all lateral edges of described base plate, n >=2; Or,
Described metal electrode is n, and a described n metal electrode is arranged on described base plate in the form of an array, n >=2; Or,
Described metal electrode is n, wherein n
1individual metal electrode scattering device is in all lateral edges of described base plate, and n
2individual metal electrode is arranged on described base plate in the form of an array, n
1+ n
2=n, n>=2.
In a possible embodiment, described capacitance sensor is one and described metal electrode is one, and described capacitance sensor and described metal electrode are electrical connected; Or,
Described capacitance sensor is one and described metal electrode is n, and each metal electrode in described capacitance sensor and a described n metal electrode is electrical connected, n >=2; Or,
Described capacitance sensor at least two and described metal electrode be n, at least one metal electrode in each capacitance sensor and a described n metal electrode is electrical connected, n >=2.
In a possible embodiment, metal electrode is arranged at the outer surface of base plate; Or metal electrode is arranged at the inner surface of base plate.
In a possible embodiment, the every ribbon object in virtual wall assembly comprises the first block and b the second block be made up of nonmetallic materials that a is made up of metal material, the first block and the second block interphase distribution, a >=2 and b >=1.
In a possible embodiment, described first block and described second block are along the horizontal interphase distribution of described strap-like objects; Or,
Described first block and described second block are along longitudinal interphase distribution of described strap-like objects; Or,
Arrange in the form of an array in described first block and described second interval in described strap-like objects.
According to the second aspect of disclosure embodiment, provide a kind of clean robot, this clean robot comprises: at least one metal electrode, capacitance sensor and control chip;
Metal electrode is arranged on the base plate of described clean robot;
Metal electrode and capacitance sensor are electrical connected, and capacitance sensor and control chip are electrical connected.
In a possible embodiment, described metal electrode is one, and described metal electrode is arranged at the edge described base plate is positioned in direction of advance; Or,
Described metal electrode is n, described n metal electrode scattering device in all lateral edges of described base plate, n >=2; Or,
Described metal electrode is n, and a described n metal electrode is arranged on described base plate in the form of an array, n >=2; Or,
Described metal electrode is n, wherein n
1individual metal electrode scattering device is in all lateral edges of described base plate, and n
2individual metal electrode is arranged on described base plate in the form of an array, n
1+ n
2=n, n>=2.
In a possible embodiment, described capacitance sensor is one and described metal electrode is one, and described capacitance sensor and described metal electrode are electrical connected; Or,
Described capacitance sensor is one and described metal electrode is n, and each metal electrode in described capacitance sensor and a described n metal electrode is electrical connected, n >=2; Or,
Described capacitance sensor at least two and described metal electrode be n, at least one metal electrode in each capacitance sensor and a described n metal electrode is electrical connected, n >=2.
In a possible embodiment, metal electrode is arranged at the outer surface of base plate; Or metal electrode is arranged at the inner surface of base plate.
According to the third aspect of disclosure embodiment, provide a kind of virtual wall assembly, this virtual wall assembly is the virtual wall assembly in cleaning robot system as described in relation to the first aspect.
The technical scheme that disclosure embodiment provides can comprise following beneficial effect:
By arranging at least one metal electrode, capacitance sensor and control chip on clean robot, and virtual wall component design is become metallic strap-like objects; Solve the virtual wall utilizing infrared mode to realize and there is power consumption, and the problem that cost is larger; Achieve and utilize metallic strap-like objects to realize virtual wall function, reach the energy consumption of exempting virtual wall assembly, reduce the effect of the cost of virtual wall assembly, and the applicable scene of this virtual wall assembly is wider, can not because of the problem occurring losing efficacy under the violent scene of sunlight.
Should be understood that, it is only exemplary and explanatory that above general description and details hereinafter describe, and can not limit the disclosure.
Accompanying drawing explanation
Accompanying drawing to be herein merged in description and to form the part of this description, shows and meets embodiment of the present disclosure, and is used from description one and explains principle of the present disclosure.
Fig. 1 is the structural representation of a kind of cleaning robot system according to an exemplary embodiment;
Fig. 2 A is the inversion schematic perspective view of a kind of clean robot according to an exemplary embodiment;
Fig. 2 B is the upward view of a kind of clean robot according to an exemplary embodiment;
Fig. 2 C is the inversion schematic perspective view of another clean robot according to an exemplary embodiment;
Fig. 2 D is the upward view of another clean robot according to an exemplary embodiment;
Fig. 3 A is the structural representation of a kind of cleaning robot system according to another exemplary embodiment;
Fig. 3 B/3C is the top view of the strap-like objects of the virtual wall assembly that an exemplary embodiment relates to;
Fig. 3 D/3E/3F is the first block of the virtual wall assembly that an exemplary embodiment relates to and the distribution schematic diagram of the second block;
Fig. 3 G is the schematic diagram of the metal electrode array that an exemplary embodiment relates to.
Detailed description of the invention
Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the disclosure.On the contrary, they only with as in appended claims describe in detail, the example of apparatus and method that aspects more of the present disclosure are consistent.
Clean robot in the disclosure can be the robot such as sweeping robot, floor-mopping robot.Clean robot has automatic traveling mechanism usually.
Fig. 1 is the structural representation of a kind of cleaning robot system according to an exemplary embodiment.This cleaning robot system 100 comprises: clean robot 120 and virtual wall assembly 140.
Clean robot 120, comprising: at least one metal electrode 122, capacitance sensor 124 and control chip 126.
Metal electrode 122 is arranged on the base plate of clean robot 120.
Metal electrode 122 and capacitance sensor 124 are electrical connected, and capacitance sensor 124 and control chip 126 are electrical connected.
Virtual wall assembly 140 is metallic strap-like objects, and the plane that virtual wall assembly 140 is advanced for being attached at clean robot 120.
In sum, the cleaning robot system that the present embodiment provides, by arranging at least one metal electrode, capacitance sensor and control chip on clean robot, and becomes metallic strap-like objects by virtual wall component design; Solve the virtual wall utilizing infrared mode to realize and there is power consumption, and the problem that cost is larger; Achieve and utilize metallic strap-like objects to realize virtual wall function, reach the energy consumption of exempting virtual wall assembly, reduce the effect of the cost of virtual wall assembly, and the applicable scene of this virtual wall assembly is wider, can not because of the problem occurring losing efficacy under the violent scene of sunlight.
Fig. 2 A and Fig. 2 B is inversion schematic perspective view and the upward view of a kind of clean robot according to an exemplary embodiment respectively.
As shown in Figure 2 A and 2 B, clean robot can include flat cylinder blanket 21 and base plate 22.Clean robot has automatic traveling mechanism.In a kind of possible embodiment, as shown in Figure 2 A and 2 B, base plate 22 side of clean robot is provided with three road wheels 23, and the road wheel 23 being wherein positioned at front is universal wheel, and two other road wheel 23 with same axis is driving wheel.Driving wheel is connected with the CD-ROM drive motor of clean robot inside.
As shown in Figure 2 A and 2 B, clean robot comprises: at least one metal electrode 24, capacitance sensor and control chip (not shown).Metal electrode 24 is arranged on the base plate 22 of clean robot.Capacitance sensor and control chip are arranged at clean robot inside.Wherein, metal electrode 24 and capacitance sensor are electrical connected, and capacitance sensor and control chip are electrical connected.The capacitance collected for gathering the capacitance of each metal electrode 24, and is supplied to control chip by capacitance sensor.Control chip is used for the situation of change according to the capacitance of each metal electrode, whether the plane that detection clean robot is advanced is provided with virtual wall assembly, and when the plane that clean robot is advanced being provided with virtual wall assembly, controlling the travel path of clean robot and being limited to the virtual wall that this virtual wall assembly formed.
In a kind of possible embodiment, when the quantity of metal electrode 24 is one, this metal electrode 24 is arranged at edge base plate 22 is positioned in direction of advance.Such as, this metal electrode 24 can be arranged at the position being positioned at universal wheel front in base plate 22.
In the embodiment that another kind is possible, when the quantity of metal electrode 24 be n and n >=2 time, as shown in Figure 2 A and 2 B, this n metal electrode 24 dispersibles all lateral edges being arranged at base plate 22.
In the embodiment that another kind is possible, when the quantity of metal electrode 24 be n and n >=2 time, this n metal electrode 24 can be arranged on base plate 22 in the form of an array.
In the embodiment that another kind is possible, when the quantity of metal electrode 24 be n and n >=2 time, as shown in Figure 2 C and 2 D shown in FIG., this n metal electrode 24, except scattering device is except all lateral edges of base plate 22, is also arranged on base plate 22 in the form of an array.Alternatively, the distance between adjacent two metal electrodes 24 is identical.
It should be noted is that: in actual applications, can determine quantity and the position of metal electrode 24 according to the actual requirements, the present embodiment is not construed as limiting this.
In addition, when the quantity of capacitance sensor is one and the quantity of metal electrode 24 is also one, this capacitance sensor and metal electrode 24 are electrical connected.When the quantity of metal electrode 24 be n and n >=2 time, the quantity of capacitance sensor can be one, and this capacitance sensor is electrical connected with each metal electrode 24 in n metal electrode 24 respectively.Or, when the quantity of metal electrode 24 be n and n >=2 time, the quantity of capacitance sensor can be at least two, and at least one metal electrode 24 in each capacitance sensor and n metal electrode 24 is electrical connected.Such as, suppose that the quantity of metal electrode is 12, the quantity of capacitance sensor is 2, then one of them capacitance sensor is electrical connected with 6 metal electrodes respectively, and another capacitance sensor is electrical connected with other 6 metal electrodes respectively.
In addition, metal electrode 24 can be arranged at the outer surface (as shown in Fig. 2 A to Fig. 2 D) of base plate 22; Or metal electrode 24 also can be arranged at the inner surface (not shown) of base plate 22.
Fig. 3 A is the structural representation of a kind of cleaning robot system according to another exemplary embodiment.This cleaning robot system comprises: clean robot 20 and virtual wall assembly 40.
Wherein, clean robot 20 can be shown clean robot as arbitrary in Fig. 2 A to Fig. 2 D.
Virtual wall assembly 40 is metallic strap-like objects, and the plane that virtual wall assembly 40 is advanced for being attached at clean robot 20.Virtual wall assembly 40 comprises at least one strap-like objects.As shown in Fig. 3 B and Fig. 3 C, it illustrates the top view of two kinds of possible strap-like objects.In a kind of possible embodiment, as shown in Figure 3 B, this strap-like objects 40a can linearly shape.In the embodiment that another kind is possible, as shown in Figure 3 C, this strap-like objects 40b can be shape wave.Certainly, in the embodiment that other is possible, this strap-like objects also can ringwise or other shape, and the present embodiment is not construed as limiting this.
When clean robot 20 works, lay virtual wall assembly 40 by the plane of advancing at clean robot 20, realize limiting the working space of clean robot.In one example in which, suppose that the kitchen in user family is open kitchen, this open kitchen is communicated with parlor, when user wishes that clean robot 20 only carries out cleaning and don't entering into kitchen to ground, parlor, user can place virtual wall assembly 40 (as laid a ribbon object) on the ground of the boundary in kitchen and parlor, then clean robot 20 is placed on region, parlor and starts working.When clean robot 20 is in mode of operation, clean robot 20 obtains the capacitance of each metal electrode by capacitance sensor.When ground below metal electrode exists metallic object, will there is significant change in the capacitance of metal electrode.Utilize this principle, clean robot 20 just can according to the situation of change of the capacitance of each metal electrode, detect in its plane of advancing and whether be provided with virtual wall assembly 40, when detect be provided with virtual wall assembly 40 time, control chip controls the travel path of clean robot 20 and is limited to the virtual wall that virtual wall assembly 40 formed, and also namely controls the strap-like objects that clean robot 20 negotiate terrain is not laid.
Alternatively, the every ribbon object in virtual wall assembly 40 can be the strap-like objects be made up of simple metal material.
Alternatively, in order to be different from metal bar of moving into one's husband's household upon marriage, the anti-metal object such as groove and furniture leg of stepping on the line, every ribbon object in virtual wall assembly 40 comprises a the first block 41 be made up of metal material and b the second block 42 be made up of nonmetallic materials, and the first block 41 and the second block 42 interphase distribution, a >=2 and b >=1.As shown in Figure 3 D, in a kind of possible embodiment, the first block 41 and the second block 42 are along the horizontal interphase distribution of strap-like objects.As shown in FIGURE 3 E, in the embodiment that another kind is possible, the first block 41 and the second block 42 are along longitudinal interphase distribution of strap-like objects.As illustrated in Figure 3 F, in the embodiment that another kind is possible, the first block 41 and the second block 42 are arranged in the form of an array in strap-like objects.This array can be that the first block 41 is alternate between two with the second block 42, also can be to form specific pattern by the first block 41 and the second block 42.When clean robot 20 detect there is metal object in its plane of advancing time, the characteristic such as shape, size, arrangement form of this metal object can be determined according to the situation of change of the capacitance of each metal electrode.Such as, when the arrangement form determining this metal object is continuous metal form, can determine that this metal object is not virtual wall assembly 40; And when the arrangement form determining this metal object is discontinuous metal form, can determine that this metal object is virtual wall assembly 40.Certainly, distinguishing precision to improve, can distinguish in conjunction with many-sided characteristics such as shape, size, arrangement forms.
Alternatively, clean robot 20, when determining that the metal object in its plane of advancing is not virtual wall assembly 40, also can continue to detect this metal object according to the characteristic of this metal object and whether belong to predtermined category.Wherein, comprise at least one metal object preset and arrange in predtermined category, such as this at least one metal object can comprise metal tableware, hair fastener, key, coin etc.Clean robot 20 prestores the characteristic of each metal object in this predtermined category, comprises the characteristics such as shape, size, arrangement form.When detecting that belonging to predtermined category is, clean robot 20 can send alarm signal, has metal object to drop to point out on user ground.Alarm signal can be the alerting signal of voice signal, visual alerts signal or other form.Correspondingly, clean robot 20 also may be configured with the parts such as loudspeaker and/or signal lamp.
In one example in which, as shown in Figure 3 G, the base plate supposing clean robot 20 is provided with metal electrode array 50 as shown in Figure 3 G, in this metal electrode array 50, comprises several metal electrodes 51.When clean robot 20 detects the capacitance generation significant change of several metal electrodes 52 as illustrated in the drawing, the shape of the metal object in its plane of advancing can be determined according to the arrangement of this metal electrode 52, and to go out this metal object according to this shape recognition be key, right rear line sends alarm instruction, has key to drop as pointed out on user ground by speech form.
Need supplementary notes a bit: when a capacitance sensor is connected with multiple metal electrode, this capacitance sensor can adopt time division way to obtain the capacitance of each metal electrode successively, thus realizes utilizing a capacitance sensor to the collection of the capacitance of multiple metal electrode.
In sum, the cleaning robot system that the present embodiment provides, by arranging at least one metal electrode, capacitance sensor and control chip on clean robot, and becomes metallic strap-like objects by virtual wall component design; Solve the virtual wall utilizing infrared mode to realize and there is power consumption, and the problem that cost is larger; Achieve and utilize metallic strap-like objects to realize virtual wall function, reach the energy consumption of exempting virtual wall assembly, reduce the effect of the cost of virtual wall assembly.
In addition, also by the second block interphase distribution that the first block of being designed to be made up of metal material by the every ribbon object in virtual wall assembly and nonmetallic materials are made, make clean robot can distinguish virtual wall and metal bar of moving into one's husband's household upon marriage, the anti-metal object such as groove and furniture leg of stepping on the line exactly.
Those skilled in the art, at consideration description and after putting into practice content disclosed herein, will easily expect other embodiment of the present disclosure.The application is intended to contain any modification of the present disclosure, purposes or adaptations, and these modification, purposes or adaptations are followed general principle of the present disclosure and comprised the undocumented common practise in the art of the disclosure or conventional techniques means.Description and embodiment are only regarded as exemplary, and true scope of the present disclosure and spirit are pointed out by claim below.
Should be understood that, the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and can carry out various amendment and change not departing from its scope.The scope of the present disclosure is only limited by appended claim.
Claims (11)
1. a cleaning robot system, is characterized in that, described system comprises: clean robot and virtual wall assembly;
Described clean robot, comprising: at least one metal electrode, capacitance sensor and control chip;
Described metal electrode is arranged on the base plate of described clean robot;
Described metal electrode and described capacitance sensor are electrical connected, and described capacitance sensor and described control chip are electrical connected;
Described virtual wall assembly is metallic strap-like objects, and the plane that described virtual wall assembly is advanced for being attached at described clean robot.
2. system according to claim 1, is characterized in that,
Described metal electrode is one, and described metal electrode is arranged at the edge described base plate is positioned in direction of advance; Or,
Described metal electrode is n, described n metal electrode scattering device in all lateral edges of described base plate, n >=2; Or,
Described metal electrode is n, and a described n metal electrode is arranged on described base plate in the form of an array, n >=2; Or,
Described metal electrode is n, wherein n
1individual metal electrode scattering device is in all lateral edges of described base plate, and n
2individual metal electrode is arranged on described base plate in the form of an array, n
1+ n
2=n, n>=2.
3. system according to claim 1 and 2, is characterized in that,
Described capacitance sensor is one and described metal electrode is one, and described capacitance sensor and described metal electrode are electrical connected; Or,
Described capacitance sensor is one and described metal electrode is n, and each metal electrode in described capacitance sensor and a described n metal electrode is electrical connected, n >=2; Or,
Described capacitance sensor at least two and described metal electrode be n, at least one metal electrode in each capacitance sensor and a described n metal electrode is electrical connected, n >=2.
4. system according to claim 1 and 2, is characterized in that,
Described metal electrode is arranged at the outer surface of described base plate; Or,
Described metal electrode is arranged at the inner surface of described base plate.
5. system according to claim 1 and 2, is characterized in that,
Every ribbon object in described virtual wall assembly comprises the first block and b the second block be made up of nonmetallic materials that a is made up of metal material, described first block and described second block interphase distribution, a >=2 and b >=1.
6. system according to claim 5, is characterized in that,
Described first block and described second block are along the horizontal interphase distribution of described strap-like objects; Or,
Described first block and described second block are along longitudinal interphase distribution of described strap-like objects; Or,
Arrange in the form of an array in described first block and described second interval in described strap-like objects.
7. a clean robot, is characterized in that, described clean robot comprises: at least one metal electrode, capacitance sensor and control chip;
Described metal electrode is arranged on the base plate of described clean robot;
Described metal electrode and described capacitance sensor are electrical connected, and described capacitance sensor and described control chip are electrical connected.
8. clean robot according to claim 7, is characterized in that,
Described metal electrode is one, and described metal electrode is arranged at the edge described base plate is positioned in direction of advance; Or,
Described metal electrode is n, described n metal electrode scattering device in all lateral edges of described base plate, n >=2; Or,
Described metal electrode is n, and a described n metal electrode is arranged on described base plate in the form of an array, n >=2; Or,
Described metal electrode is n, wherein n
1individual metal electrode scattering device is in all lateral edges of described base plate, and n
2individual metal electrode is arranged on described base plate in the form of an array, n
1+ n
2=n, n>=2.
9. the clean robot according to claim 7 or 8, is characterized in that,
Described capacitance sensor is one and described metal electrode is one, and described capacitance sensor and described metal electrode are electrical connected; Or,
Described capacitance sensor is one and described metal electrode is n, and each metal electrode in described capacitance sensor and a described n metal electrode is electrical connected, n >=2; Or,
Described capacitance sensor at least two and described metal electrode be n, at least one metal electrode in each capacitance sensor and a described n metal electrode is electrical connected, n >=2.
10. the clean robot according to claim 7 or 8, is characterized in that,
Described metal electrode is arranged at the outer surface of described base plate; Or,
Described metal electrode is arranged at the inner surface of described base plate.
11. 1 kinds of virtual wall assemblies, is characterized in that, described virtual wall assembly be as arbitrary in claim 1 to 6 as described in cleaning robot system in as described in virtual wall assembly.
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| CN201520229015.5U CN205181264U (en) | 2015-04-15 | 2015-04-15 | Cleaning machines people system, cleaning machines people and virtual wall subassembly |
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| CN201520229015.5U CN205181264U (en) | 2015-04-15 | 2015-04-15 | Cleaning machines people system, cleaning machines people and virtual wall subassembly |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106137058A (en) * | 2015-04-15 | 2016-11-23 | 小米科技有限责任公司 | Cleaning robot system and virtual wall detection method |
| CN108008725A (en) * | 2017-12-01 | 2018-05-08 | 深圳市沃特沃德股份有限公司 | Confining device and from moving-vision robot and its control method |
-
2015
- 2015-04-15 CN CN201520229015.5U patent/CN205181264U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106137058A (en) * | 2015-04-15 | 2016-11-23 | 小米科技有限责任公司 | Cleaning robot system and virtual wall detection method |
| CN108008725A (en) * | 2017-12-01 | 2018-05-08 | 深圳市沃特沃德股份有限公司 | Confining device and from moving-vision robot and its control method |
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Address after: 100085 Beijing Haidian District Qinghe middle street 68 Huarun colorful shopping mall two phase 13 level. Co-patentee after: Beijing Roborock Technology Co.,Ltd. Patentee after: Xiaomi Technology Co.,Ltd. Address before: 100085 Beijing Haidian District Qinghe middle street 68 Huarun colorful shopping mall two phase 13 level. Co-patentee before: BEIJING ROCKROBO TECHNOLOGY Co.,Ltd. Patentee before: Xiaomi Technology Co.,Ltd. |
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