CN208740865U - From mobile clean robot - Google Patents
From mobile clean robot Download PDFInfo
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- CN208740865U CN208740865U CN201721645174.9U CN201721645174U CN208740865U CN 208740865 U CN208740865 U CN 208740865U CN 201721645174 U CN201721645174 U CN 201721645174U CN 208740865 U CN208740865 U CN 208740865U
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- Prior art keywords
- clean robot
- mobile clean
- sensor
- side brush
- control unit
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Abstract
A kind of certainly mobile clean robot, it is described to include control unit and side brush assemblies (120) from mobile clean robot, the side brush assemblies are equipped with the sensor coupled with control unit, it is disturbed that the sensor is arranged to detect the side brush assemblies, the sensor is arranged to will test signal and sends control unit to, and described control unit is arranged to according to the control of detection signal from mobile clean robot movement.The utility model passes through the sensor being arranged on the brush assemblies of side, side brush assemblies are detected to be disturbed, thus the certainly mobile clean robot movement of control, when solving mobile clean robot normal walking certainly, the stuck phenomenon that is likely to occur avoids and burns motor.
Description
Technical field
The utility model relates to a kind of from mobile clean robot, belong to small household appliances manufacturing technology field.
Background technique
In the process of running, side brush is easy to encounter the barriers such as power supply line, carpet wool, dirty cleaning machine, if on occurring
The case where stating barrier interference edge brush then will affect the normal work of cleaning machine, and most cleaning machines can not be detected lower than clear
The barrier of washing machine minimum altitude hinders to cleaning machine to work normally.
Utility model content
It is a kind of from mobile cleaning the technical problem to be solved by the utility model is in view of the deficiencies of the prior art, provide
It is disturbed to detect side brush assemblies by the sensor being arranged on the brush assemblies of side for robot, to control from mobile cleaning machine
Human action, when solving from mobile clean robot normal walking, in fact it could happen that stuck phenomenon, avoid and burn the feelings such as motor
The generation of condition.
Technical problem to be solved in the utility model is achieved by the following technical solution:
The utility model provide it is a kind of from mobile clean robot, it is described from mobile clean robot include control unit and
Side brush assemblies, the side brush assemblies are equipped with the sensor coupled with control unit, and the sensor is arranged to detect side brush
Component is disturbed, and the sensor, which is arranged to will test signal, sends control unit to, and described control unit is arranged to root
It is acted according to the control of detection signal from mobile clean robot.
Specifically, described brush and transmission shaft when brush assemblies include, the transmission axis connection simultaneously drives side to brush to rotate, described
Brush body of the side brush comprising rotating disk and installation on the rotating pan.
Disturbed in order to detect side brush assemblies, the sensor is pressure sensor, and the pressure sensor is arranged in institute
State the periphery of rotating disk.
Preferably, the pressure sensor includes elastic telescopic unit, trigger unit and pressure switch, the elastic telescopic
One end of unit is fixed, and the other end is connected with trigger unit, and trigger unit is opened far from the side of elastic telescopic unit equipped with pressure
It closes.
It is disturbed to detect side brush assemblies, the sensor includes trigger member and the induction for passing through trigger member triggering
Part, the induction pieces and control unit couple, and the trigger member is arranged in the rotating disk, and the induction pieces setting is rotating
On disk or transmission shaft.
Preferably, the trigger member is mobile bar, and the induction pieces are optocoupler, travel switch, microswitch, Hall switch
Or magnetic switch.
Disturbed in order to detect side brush assemblies, the sensor is torque sensor, and the torque sensor is located at described
On transmission shaft or the rotating disk.
The barrier includes but is not limited to be lower than the power supply line from mobile clean robot minimum altitude, carpet wool, dirty
Dirt etc.；The interference includes situations such as stopping, wind, limiting, clamping.
In conclusion the utility model passes through the sensor being arranged on the brush assemblies of side, side brush assemblies are detected by barrier
It interferes, so that control is acted from mobile clean robot, when solving mobile clean robot normal walking certainly, in fact it could happen that
Stuck phenomenon avoids and burns motor.
In the following with reference to the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Detailed description of the invention
Fig. 1 is bottom schematic view of the utility model from mobile clean robot；
Fig. 2 is the top view of the utility model side brush assemblies；
Fig. 3 is the cross-sectional view of the utility model side brush assemblies.
Specific embodiment
Fig. 1 is bottom schematic view of the utility model from mobile clean robot；Fig. 2 is the vertical view of the utility model side brush
Figure；Fig. 3 is the cross-sectional view of the utility model side brush.As shown in Figure 1 to Figure 3, the utility model provides a kind of from mobile cleaner
Device people, it is described to include the components such as cleaning unit, control unit, driving unit and detection unit from mobile clean robot.
Driving unit includes driving wheel 110 and driving motor (not shown), and control unit controls driving motor work,
Described from mobile clean robot walking to drive to drive the rotation of driving wheel 110, the driving wheel 110 is mounted on from mobile
The quantity of clean robot bottom, the driving wheel 110 is at least 1, and the quantity of the driving wheel 110 is in the present embodiment
It two, is symmetrically distributed in from left and right sides of mobile clean robot bottom.Driving unit can also include supporting roller 111, institute
Supporting roller 111 is stated, is configured to support from mobile clean robot, making certainly mobile clean robot, holding is horizontal at work.
Supporting roller 111 can also be arranged from mobile clean robot bottom by spring, meet when from mobile clean robot walking
To lesser pit, spring allows supporting roller 111 to pop up a distance so as to continue holding level from mobile clean robot, when
From when encountering lesser protrusion when mobile clean robot walking, spring allows supporting roller 111 to bounce back a distance so that from moving
Dynamic clean robot continues holding level.
Detection unit may include one or more of following sensory package, such as laser ranging system (LDS), be set
It is auxiliary for detecting the surrounding enviroment from mobile clean robot, and build environment map at the top from mobile clean robot
It helps from mobile clean robot positioning and walking；Ultrasonic sensor is arranged on the front from mobile clean robot, is used for
Detection is from the distance between movement clean robot front position face to be cleaned and certainly mobile clean robot, so that identification moves certainly
There are pit or protrusions in front of dynamic clean robot；Ground medium sensor is arranged on from mobile clean robot bottom, uses
In the type of detection ground medium；Command reception component, the various work orders assigned for receiving user.
Cleaning unit includes side brush assemblies 120 and roller brush assembly 121, dirty for clearing up.Wherein roller brush assembly 121 includes
Round brush motor and at least one clearer, the clearer are equipped with multiple rows of bristle, the V-shaped setting of bristle described in every row,
For limit it is dirty stirred by bristle when the direction of motion, make dirty to clearer intermediary movements.In some embodiments, may be used
Two clearers being parallel to each other are arranged, the rotation reversely with each other under the driving of round brush motor of two clearers can
By dirty agitation between two clearers, recycled with facilitating.
When brush assemblies 120 include, brush motor, transmission shaft 122 and side brush, side brush motor are connected by the transmission shaft 122
And drive side brush rotation, it is preferred that the transmission shaft 122 is vertically arranged.It is of course also possible to directly adopt round brush motor to drive
Side brush rotation, or using the driving round brush rotation of side brush motor, the utility model is not limited thereto.The side brush includes rotation
Disk 123 and the brush body 124 being mounted in rotating disk 123.
The coupling of the components such as control unit (not shown) and the cleaning unit, driving unit and detection unit, receives
The detection signal of detection unit, and control from mobile clean robot movement, such as clean, walking, turn to, stop movement.It changes
Sentence is talked about, and control unit can be clear from movement according to detection signal control in response to the various detection signals of detection unit
Clean robot motion, the detection signal include the action command that user assigns.
You need to add is that be additionally provided with vacuum unit from mobile clean robot, store up dirty unit etc., it is respectively used to generate
Suction, dirty for recycling, the structure from mobile clean robot is the prior art, and details are not described herein.
Also comprising the sensor coupled with control unit, the sensor is set side brush assemblies 120 in the utility model
Disturbed for detection side brush assemblies, control unit is acted according to the control of the detection signal of sensor from mobile clean robot.It needs
It should be noted that the interference includes situations such as stopping, wind, limiting, clamping.
Typically, since the constantly rotation during the work time of side brush assemblies 120, when there are barriers on face to be cleaned
When, transmission shaft 122 or rotating disk 123 can be interfered by barrier, at this point, be subject to by detection transmission shaft 122 or rotating disk 123
Pressure, torque or rotation speed change can judge disturbed from mobile clean robot.The barrier is including but not limited to low
In from mobile clean robot minimum altitude (from mobile the distance between clean robot chassis and ground, and non-driving wheel and
The distance between ground) power supply line, carpet wool, dirty etc..For example, from when mobile clean robot work, the rotation of side brush assemblies
Turn, the power supply line of the power supply line or other electric appliances that connect with from mobile clean robot is possible to wind or be blocked in side brush group
On part, side brush assemblies normal work is influenced；Hair or polybag in dirty etc. may also interference edge brush assemblies；Alternatively, some
There are shag carpets in environment, and the edge of shag carpet or its knitting wool under falling off may also interference edge brush assemblies.If from moving
Dynamic clean robot is interfered by barrier, and sensor will test signal and be sent to control unit, and control unit control is clear from movement
Clean robot motion further in order to avoid sensor issues the signal of mistake, does not influence to move certainly as transmission shaft 122 encounters
The slight barrier of dynamic clean robot stores threshold value in control unit, after control unit receives detection signal, by its with
The threshold value of storage is compared, when detecting signal and the threshold value meets certain relationship, the certainly mobile cleaner of control unit control
Device human action, when detecting signal and the threshold value is unable to satisfy certain relationship, the certainly mobile clean robot work of control unit control
Make.
The movement include but is not limited to stop from mobile clean robot walking, retreat, turn to, side brush stops rotating and
One or more of side brush reversion.Those skilled in the art, which can according to need, is combined above-mentioned movement, to move certainly
Dynamic clean robot releases the interference of barrier.Specifically, it is interfered, and detects by barrier when oneself moves clean robot
When signal is met certain condition, control unit control stops walking from mobile clean robot, while it is anti-to control side brush assemblies 120
Turn, if detecting signal after a predetermined time is unable to satisfy certain condition, it is meant that had been detached from from mobile clean robot
Barrier interference, meets the condition operated normally from mobile clean robot, and control unit continues control from mobile cleaning machine
It is artificial to make；If detecting signal after a predetermined time still to meet certain condition, it is meant that not yet from mobile clean robot
It is detached from barrier interference, control unit controls from mobile clean robot and retreats or turn to, so as to certainly mobile clean robot solution
Except the interference of barrier.
Embodiment one
In the present embodiment, sensor is pressure sensor 400, and those skilled in the art can be according to actual needs by institute
It states pressure sensor 400 to be arranged on transmission shaft 122 or rotating disk 123, it is preferred that the periphery of the rotating disk 123 is equipped with institute
State pressure sensor 400.
When barrier interference edge brush assemblies 120, when side brush assemblies 120 have stopped rotating, if control unit is only controlled at this time
System stops walking from mobile clean robot or turns to, and the motor of side brush assemblies 120 is driven not stop working, it is possible to cause
Motor is burnt, therefore sensor identifies that the motion state of side brush assemblies 120 is also very heavy when judging that side brush assemblies 120 are disturbed
It wants.
In the present embodiment, sensor is pressure sensor 400, and the pressure sensor 400 includes elastic telescopic unit
410, one end of trigger unit 420 and pressure switch 430, the elastic telescopic unit 410 is fixed, the other end and trigger unit
420 are connected, and trigger unit 420 is equipped with pressure switch 430 far from the side of elastic telescopic unit 410, wherein elastic telescopic unit
410 can be able to be using spring or flexible rope etc., trigger unit 420 objects such as steel ball or trigger (can be arbitrary objects,
As long as it can trigger pressure switch 430).In the present embodiment, the threshold value stored in control unit is rotary speed threshold value.
As shown in figure 3, pressure switch 430 close to transmission shaft 122 be arranged, when side brush assemblies 120 are static trigger unit 420 with
Pressure switch 430 contact, when side brush assemblies 120 rotate or rotate be higher than certain revolving speed when, trigger unit 420 due to by from
Mental and physical efforts can move, and leave the switch (not shown) of pressure switch 430, so that the state of pressure switch 430 be made to occur
Variation, when side brush 120 and transmission shaft 122 are stopped rotating or rotated when being lower than rotary speed threshold value, elastic telescopic unit 410 makes to trigger
Unit 420 resets, and trigger unit 420 contacts with pressure switch 430, thus detect side brush assemblies 120 be in rotation status or
In high speed rotation state.
The relative position that elastic telescopic unit 410, trigger unit 420 and pressure switch 430 can certainly be changed, makes bullet
Property telescopic unit 410 close to transmission shaft 122 be arranged, pressure switch 430 far from transmission shaft 122 be arranged (not shown).At this time
Trigger unit 420 is not contacted with pressure switch 430 when side brush assemblies 120 are static, is higher than when side brush assemblies 120 are rotated or rotated
Or when being equal to certain revolving speed, trigger unit 420 by centrifugal force due to that can be moved, the switch of contact pressure switch 430, from
And the state of pressure switch 430 is made to change.Turn when side brush assemblies 120 and transmission shaft 122 stop rotating or rotate to be lower than
When fast threshold value, elastic telescopic unit 410 resets trigger unit 420, and trigger unit 420 is not contacted with pressure switch 430, thus
Detection side brush assemblies 120 are in rotation status or in high speed rotation states.
Wherein, rotary speed threshold value is preferably 10r/min-20r/min (revolutions per minute).
Specifically, for example, when carrying out cleaning in market from mobile clean robot, the personnel in market can
The barrier from mobile clean robot can be pullled, causes to be interfered from mobile clean robot by barrier, sensor inspection
When measuring the revolving speed of side brush assemblies 120 lower than rotary speed threshold value, control unit control stops walking from mobile clean robot, simultaneously
Control side brush assemblies 120 invert, by a predetermined time (such as 3s) if after revolving speed be greater than or equal to rotary speed threshold value, it is meant that from move
Dynamic clean robot has been detached from barrier interference, meets the condition operated normally from mobile clean robot, control unit after
Continuous control works from mobile clean robot；If revolving speed is still below rotary speed threshold value after a predetermined time (such as 3s), it is meant that
It is detached from barrier interference not yet from mobile clean robot, control unit control is retreated or is turned to from mobile clean robot,
To release the interference of barrier from mobile clean robot.The present embodiment is judged by detecting the revolving speed of side brush assemblies 120
Interference from mobile clean robot by barrier.
Embodiment two
In the present embodiment, sensor include trigger member and by trigger member trigger induction pieces, the induction pieces with
Control unit coupling.The trigger member and induction pieces can be arranged in transmission shaft according to actual needs by those skilled in the art
122 or rotating disk 123 on, the two can also be provided separately.Under normal circumstances from the volume of mobile clean robot rotating disk 123
It is larger, and the length of transmission shaft 122 is shorter, when barrier interference edge brush assemblies 120 work, often connects with rotating disk 123
Touching, it is preferred that the trigger member is arranged in the rotating disk 123, and the induction pieces are arranged in rotating disk 123 or transmission shaft
On 122, the trigger member is arranged to generate displacement triggering induction pieces generation detection letter under external force (barrier interference)
Number, induction pieces will test signal and be sent to control unit, and control unit is dynamic from mobile clean robot according to the control of detection signal
Make.
The utility model does not limit the type of trigger member and induction pieces, and those skilled in the art can be according to clear from movement
The working environment of clean robot and design trigger member and induction pieces are selected from the self structure of mobile clean robot.It is preferred that
, the trigger member uses mobile bar, and the mobile bar is arranged to move along its length, i.e., barrier obstruction,
It winds, limit or clamps when on side brush assemblies 120, can be contacted with mobile bar, to keep mobile bar mobile, mobile bar is as touching
Outbox can trigger induction pieces, and the induction pieces are preferably optocoupler, travel switch, microswitch, Hall switch, magnetic switch etc..
Further, when side brush assemblies 120 encounter the slight barrier not influenced from mobile clean robot, in order to avoid
Sensor issues the signal of mistake, stores threshold value in control unit, in the present embodiment, the threshold value stored in control unit is
Pressure threshold.Preferably, the pressure threshold is 2N-5N, and certainly, the utility model is not limited thereto, those skilled in the art
Member can according to actual needs be adjusted the pressure threshold.Such as the pressure threshold is when being 5N, if by trigger member and
The sensor of induction pieces composition detects that the power that barrier is applied on side brush assemblies 120 is greater than 5N, and control unit control moves certainly
Dynamic clean robot movement.Specifically, when being interfered from mobile clean robot by barrier, sensor detects barrier
When the pressure being applied on side brush assemblies 120 is greater than pressure threshold, control unit control stops walking from mobile clean robot,
Simultaneously control side brush assemblies 120 reversion, by a predetermined time (such as 5s) if after pressure be less than or equal to pressure threshold, it is meant that from
Mobile clean robot has been detached from barrier interference, meets the condition operated normally from mobile clean robot, control unit
Continue control from mobile clean robot work；If pressure is still greater than pressure threshold after a predetermined time (such as 5s), meaning
Be detached from barrier interference not yet from mobile clean robot, control unit control retreats or turns from mobile clean robot
To release the interference of barrier from mobile clean robot.Side brush group is applied to by detecting barrier in the present embodiment
Pressure on part 120 judges the interference from mobile clean robot by barrier.
Embodiment three
In the present embodiment, sensor is torque sensor (not shown), and the torque sensor is arranged to detect
Change in torque when side brush assemblies 120 rotate.When barrier interference is when transmission shaft 122 works, barrier is applied to side brush group
Pressure on part 120 can change torque when side brush assemblies 120 rotate, and pass through setting torque sensor, monitoring in the present embodiment
Change in torque when side brush assemblies 120 rotate, thus interference of the judgement from mobile clean robot by barrier.The torque
Sensor can be non-contact torque sensor or foil gauge torque sensor.In the present embodiment, it is stored up in control unit
The threshold value deposited is torque threshold.
Specifically, the torque threshold stored in control unit be 1Nm-3Nm, certainly, the utility model not with
This is limited, and those skilled in the art can according to actual needs be adjusted the torque threshold.Specifically, such as it is described
When torque threshold is 3Nm, if torque sensor detects that change in torque is greater than 3Nm, control unit control on side brush assemblies 120
System is from mobile clean robot movement, as side brush assemblies 120 stop rotating or/and stop walking from mobile clean robot or turn
To etc., to release the interference of barrier from mobile clean robot, when torque sensor detects torque on side brush assemblies 120
When variation is less than or equal to 3Nm, the certainly mobile clean robot work of control unit control.
For example, when carrying out cleaning in the family from mobile clean robot, in order to clean entire ground, from
Mobile clean robot, which may be turned to repeatedly, could traverse ground, at this point, may be by obstacle from mobile clean robot
Object interference, when sensor detects that change in torque is greater than torque threshold on side brush assemblies 120, the certainly mobile cleaning of control unit control
Robot stops walking, while controlling the reversion of side brush assemblies 120, by a predetermined time (such as 10s) if after change in torque to first
Beginning torque, it is meant that have been detached from barrier interference from mobile clean robot, meet from mobile clean robot and operate normally
Condition, control unit continues control from mobile clean robot work；If by a predetermined time (such as 10s) if after torque still
To be changed to initial torque, it is meant that be detached from barrier interference not yet from movement clean robot, control unit control moves certainly
Dynamic clean robot alarm, has reminded user manually to release the interference of barrier.The present embodiment passes through detection side brush assemblies 120
Change in torque judge the interference from mobile clean robot by barrier.
You need to add is that those skilled in the art can also select without departing from the principles of the present invention
It is used to detect side brush assemblies with other existing sensors disturbed；Or above-mentioned multiple sensors are applied in combination, for example, can
Torque sensor and pressure sensor is arranged simultaneously on the brush assemblies of side, so as to can accurately identify the work of side brush assemblies
Make state, to facilitate control unit to act for different state control from mobile clean robot.
A kind of control method from mobile clean robot is also disclosed in the utility model, described to be from mobile clean robot
Certainly mobile clean robot as described above, the control method are as follows:
The sensor detects the side brush assemblies and is disturbed, and the sensor will test signal and send control unit to,
Described control unit control is acted from mobile clean robot.
The sensor detection side brush assemblies are disturbed specifically:
If the revolving speed when sensor detection side brush assemblies rotation is lower than rotary speed threshold value；Alternatively,
If the pressure being subject to when the sensor detection side brush assemblies rotation is greater than pressure threshold；Alternatively,
If the change in torque when sensor detection side brush assemblies rotation is greater than torque threshold, side brush assemblies quilt is judged
Interference.
The emergency action include stop from mobile clean robot walking, retreat, turn to, while brush stop rotating and while brush
One or more of reversion.
The rotary speed threshold value is preferably 10r/min-20r/min, and the pressure threshold is preferably 2N-5N, the torque threshold
Value is preferably 1Nm-3Nm.
In conclusion the utility model provides a kind of certainly mobile clean robot, pass through the biography being arranged on the brush assemblies of side
Sensor, detection side brush assemblies are disturbed, so that control is solved from mobile clean robot just from mobile clean robot movement
Often when walking, in fact it could happen that stuck phenomenon, avoid and burn motor.
Claims (7)
1. a kind of from mobile clean robot, the certainly mobile clean robot includes control unit and side brush assemblies (120),
It is characterized in that, the side brush assemblies are equipped with the sensor coupled with control unit, and the sensor is arranged to described in detection
Side brush assemblies are disturbed, and the sensor, which is arranged to will test signal, sends control unit to, and described control unit is set
It is described from mobile clean robot movement according to detection signal control.
2. as described in claim 1 from mobile clean robot, which is characterized in that described to be brushed when brush assemblies (120) include
With transmission shaft (122), the transmission axis connection simultaneously drives side brush rotation, and the side brush is comprising rotating disk (123) and is mounted on rotation
Brush body (124) on turntable.
3. as claimed in claim 2 from mobile clean robot, which is characterized in that the sensor is pressure sensor
(400), periphery of the pressure sensor setting in the rotating disk (123).
4. as claimed in claim 3 from mobile clean robot, which is characterized in that the pressure sensor includes elastic telescopic
Unit (410), trigger unit (420) and pressure switch (430), one end of the elastic telescopic unit are fixed, the other end and touching
Bill member is connected, and trigger unit is equipped with pressure switch far from the side of elastic telescopic unit.
5. as claimed in claim 2 from mobile clean robot, which is characterized in that the sensor includes trigger member and leads to
The induction pieces of trigger member triggering are crossed, the induction pieces and control unit couple, and the trigger member is arranged in the rotating disk, institute
Induction pieces are stated to be arranged in rotating disk or transmission shaft.
6. as claimed in claim 5 from mobile clean robot, which is characterized in that the trigger member is mobile bar, the sense
Answering part is optocoupler, travel switch, microswitch, Hall switch or magnetic switch.
7. as claimed in claim 2 from mobile clean robot, which is characterized in that the sensor is torque sensor, institute
Torque sensor is stated to be located in the transmission shaft or the rotating disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721645174.9U CN208740865U (en) | 2017-11-30 | 2017-11-30 | From mobile clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721645174.9U CN208740865U (en) | 2017-11-30 | 2017-11-30 | From mobile clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208740865U true CN208740865U (en) | 2019-04-16 |
Family
ID=66051610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721645174.9U Active CN208740865U (en) | 2017-11-30 | 2017-11-30 | From mobile clean robot |
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| Country | Link |
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| CN (1) | CN208740865U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846425A (en) * | 2017-11-30 | 2019-06-07 | 科沃斯机器人股份有限公司 | From mobile clean robot and its control method |
| CN112237401A (en) * | 2020-10-28 | 2021-01-19 | 追创科技(苏州)有限公司 | Obstacle detection method and self-moving equipment |
| CN115153365A (en) * | 2021-04-02 | 2022-10-11 | 速感科技（北京）有限公司 | Cleaning robot, method for controlling rotation speed of main brush of cleaning robot, and storage medium |
-
2017
- 2017-11-30 CN CN201721645174.9U patent/CN208740865U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846425A (en) * | 2017-11-30 | 2019-06-07 | 科沃斯机器人股份有限公司 | From mobile clean robot and its control method |
| CN112237401A (en) * | 2020-10-28 | 2021-01-19 | 追创科技(苏州)有限公司 | Obstacle detection method and self-moving equipment |
| CN112237401B (en) * | 2020-10-28 | 2022-06-28 | 追觅创新科技(苏州)有限公司 | Obstacle detection method and self-moving equipment |
| CN115153365A (en) * | 2021-04-02 | 2022-10-11 | 速感科技（北京）有限公司 | Cleaning robot, method for controlling rotation speed of main brush of cleaning robot, and storage medium |
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