CN215534039U - Lifting device of rolling brush assembly and cleaning robot - Google Patents
Lifting device of rolling brush assembly and cleaning robot Download PDFInfo
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- CN215534039U CN215534039U CN202121560269.7U CN202121560269U CN215534039U CN 215534039 U CN215534039 U CN 215534039U CN 202121560269 U CN202121560269 U CN 202121560269U CN 215534039 U CN215534039 U CN 215534039U
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Abstract
The utility model relates to the technical field of intelligent robots, and particularly discloses a lifting device of a rolling brush assembly and a cleaning robot. According to the lifting device of the rolling brush assembly, provided by the utility model, in the cleaning process of a cleaning robot, if the cleaning robot encounters an uneven road surface or an obstacle, the rolling brush can be lifted by the rotating wheel arranged on the dust box, and then the lifting assembly can enable the rolling brush to be adaptive to the lifting, so that the rolling brush or the road surface is prevented from being damaged due to excessive friction between the rolling brush and the road surface, the road condition is adapted, and the rolling brush or the road surface, the obstacle and the like are protected from being damaged; compared with the prior art that the motor is used for driving the rolling brush to ascend, the lifting device of the rolling brush assembly provided by the utility model is simple in structure, does not affect the cleaning effect, and can adaptively adjust the state of the rolling brush according to road conditions.
Description
Technical Field
The utility model relates to the technical field of intelligent robots, in particular to a lifting device of a rolling brush assembly and a cleaning robot.
Background
With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive. The coming of the robot era will revolutionize the existing production and manufacturing modes and the human life style. Intelligent cleaning machines people is applicable to various indoor environment, for example: market, office building, pavement and hotel etc. replace artifical clean, have reduced artifical intensity of labour, and clean efficient.
When the cleaning robot runs, the cleaning robot can encounter some obstacles such as uneven road surfaces or doorsills, and because the front rolling brush is flatly arranged with the road surface, the friction between the rolling brush and the road surface can be increased when the cleaning robot encounters uneven road surfaces, and finally the motor or the road surface can be damaged. In the prior art, when the cleaning robot meets an uneven road surface or an obstacle, the motor is adopted to pull the rolling brush to rise, the structure is complex, and the cleaning effect can be influenced.
Therefore, it is desirable to provide a lifting device for a rolling brush assembly to solve the above-mentioned problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a lifting device of a rolling brush assembly and a cleaning robot, which can automatically adjust the height of a rolling brush according to the concave-convex condition of a road surface and have a simple structure.
In order to achieve the purpose, the utility model adopts the following technical scheme:
in one aspect, the present invention provides a lifting device for a round brush assembly, the lifting device being used for lifting the round brush assembly, the round brush assembly including a round brush housing, a round brush and a dust box mounted on the round brush housing, the dust box being disposed at a front end of the round brush in a direction in which a cleaning robot advances, the lifting device including:
the lifting assembly is connected with a bottom plate of the cleaning robot and the rolling brush shell, and can enable the rolling brush to rise adaptively when the rolling brush is in contact with an uneven road surface or an obstacle;
the dust box comprises a rolling brush, wherein at least one end of the dust box is provided with the rolling wheel, the rolling brush is in contact with a flat road surface when in contact with the flat road surface, and the rolling brush can be lifted up by the rolling wheel when in contact with an uneven road surface or an obstacle.
As a preferable aspect of the lifting device of the above-mentioned roller brush assembly, the rotating wheel has a diameter larger than an outer diameter of the dust box.
As a preferable technical solution of the lifting device of the above rolling brush assembly, the two ends of the dust box are both provided with the rotating wheels.
As an optimal technical scheme of the lifting device of the rolling brush assembly, the lifting assembly comprises two parallel swing arms arranged at intervals, one end of each swing arm is hinged to the bottom plate, the other end of each swing arm is hinged to the rolling brush shell, and the two hinge points are arranged in a staggered mode.
As a preferable technical solution of the lifting device of the above rolling brush assembly, the two swing arms are connected through a connecting rod.
As a preferable technical solution of the lifting device of the above rolling brush assembly, the lifting assembly further includes a limiting member, and the limiting member is used for enabling the rolling brush to contact with a road surface.
As an optimal technical scheme of the lifting device of the rolling brush assembly, the limiting member is one of an air spring, a spring and a hydraulic rod, a fixed end of the limiting member is hinged to the bottom plate, and a movable end of the limiting member is hinged to the rolling brush shell.
As a preferable technical solution of the lifting device of the above rolling brush assembly, the lifting assembly includes a sleeve and a guide post having one end slidably disposed in the sleeve, one of the sleeve and the guide post is connected to the bottom plate, and the other is connected to the rolling brush housing.
As a preferable technical solution of the lifting device of the rolling brush assembly, an elastic member is disposed in the sleeve, one end of the elastic member abuts against the bottom of the sleeve, and the other end of the elastic member abuts against the guide post.
In another aspect, the present invention provides a cleaning robot including the lifting device of the brush roll assembly according to any one of the above aspects.
The utility model has the beneficial effects that:
according to the lifting device of the rolling brush assembly, provided by the utility model, in the cleaning process of a cleaning robot, if the cleaning robot encounters an uneven road surface or an obstacle, the rolling brush can be lifted by the rotating wheel arranged on the dust box, and then the lifting assembly can enable the rolling brush to be adaptive to the lifting, so that the rolling brush or the road surface is prevented from being damaged due to excessive friction between the rolling brush and the road surface, the road condition is adapted, and the rolling brush or the road surface, the obstacle and the like are protected from being damaged; compared with the prior art that the motor is used for driving the rolling brush to ascend, the lifting device of the rolling brush assembly provided by the utility model is simple in structure, does not affect the cleaning effect, and can adaptively adjust the state of the rolling brush according to road conditions.
The rolling brush of the cleaning robot provided by the utility model can automatically adjust the height of the rolling brush according to the concave-convex condition of the road surface, and has a simple structure.
Drawings
Fig. 1 is a schematic structural diagram of a lifting device of a rolling brush assembly according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view at A of FIG. 1;
fig. 3 is a schematic structural diagram of a lifting device of a rolling brush assembly according to a second embodiment of the present invention.
In the figure:
100. a roll brush assembly; 101. a roller brush housing; 102. rolling and brushing; 103. a dust box; 200. a base plate;
1. a lifting assembly; 11. swinging arms; 12. a connecting rod; 13. a limiting member; 14. a sleeve; 15. a guide post; 2. and rotating the wheel.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
To among the prior art, cleaning machines people adopt the motor to stimulate the round brush and rise when meetting unevenness's road surface or barrier, and this structure is complicated, also can influence the problem of the effect of cleaning, and this embodiment provides a lifting device and cleaning machines people of round brush subassembly in order to solve above-mentioned technical problem.
Example one
As shown in fig. 1 and 2, the cleaning robot provided in this embodiment includes a bottom plate 200 and a rolling brush assembly 100, the bottom plate 200 is disposed at the bottom of the cleaning robot, and the rolling brush assembly 100 is connected to the bottom plate 200 by a lifting device, and the lifting device is used to lift the rolling brush assembly 100. Specifically, the drum brush assembly 100 includes a drum brush housing 101, and a drum brush 102 and a dust box 103 mounted on the drum brush housing 101, and the dust box 103 is disposed at a front end of the drum brush 102 in a direction in which the cleaning robot travels. When the cleaning robot is operated, the roller brush 102 is in contact with the road surface, and the garbage swept by the roller brush 102 is collected in the dust box 103.
When the cleaning robot encounters an uneven road surface or an obstacle, the lifting device of the rolling brush assembly provided by the embodiment can lift the rolling brush 102 so as to reduce friction between the rolling brush 102 and the road surface. In particular, the lifting device comprises a lifting assembly 1 and a rotating wheel 2. The lifting assembly 1 is connected with the base plate 200 and the rolling brush housing 101 of the cleaning robot, and when the rolling brush 102 is contacted with an uneven road surface or an obstacle, the lifting assembly 1 can enable the rolling brush 102 to be lifted adaptively. The rotating wheel 2 is attached to at least one end of the dust box 103, and when the roller brush 102 contacts a flat road surface, the rotating wheel 2 contacts the road surface, and when the roller brush 102 contacts an uneven road surface or an obstacle, the rotating wheel 2 can lift the roller brush 102.
According to the lifting device of the rolling brush assembly provided by the embodiment, in the cleaning process of the cleaning robot, if the cleaning robot encounters an uneven road surface or an obstacle, the rolling brush 102 can be lifted by the rotating wheel 2 arranged on the dust box 103, and then the lifting assembly 1 can enable the rolling brush 102 to be adaptively lifted, so that the rolling brush 102 or the road surface is prevented from being damaged due to excessive friction between the rolling brush 102 and the road surface, the road condition is adapted, and the rolling brush 102 or the road surface, the obstacle and the like are protected from being damaged; compared with the prior art in which the motor is used to drive the rolling brush to ascend, the lifting device of the rolling brush assembly provided by the embodiment has the advantages of simple structure, no influence on cleaning effect, and capability of adaptively adjusting the state of the rolling brush 102 according to road conditions.
In the present embodiment, the diameter of the rotating wheel 2 is larger than the outer diameter of the dust box 103. When the rolling brush 102 is in contact with a flat road surface, the rotating wheel 2 is in contact with the road surface, so that friction generated by contact between the dust box 103 and the road surface is avoided, the dust box 103 is protected from being damaged, the rotating wheel 2 plays a role in supporting the dust box 103, and the rolling brush 102 is required to be ensured to be in contact with the road surface on the flat road surface. When round brush 102 and unevenness's road surface or barrier contact, dirt box 103 sets up in the front end of round brush 102, rotates wheel 2 earlier with unevenness's road surface or barrier contact to support round brush 102, avoid round brush 102 and unevenness's road surface or barrier to take place the striking, and when the road surface of process unevenness or barrier, can also guarantee round brush 102 and treat clear surface contact, can not influence clean effect.
Further, both ends of the dust box 103 are provided with the rotating wheels 2, so that both ends of the dust box 103 are uniformly stressed, and the cleaning robot can be ensured to stably move forward.
In this embodiment, the lifting assembly 1 includes two parallel swing arms 11 disposed at an interval, one end of the swing arm 11 is hinged to the base plate 200, the other end of the swing arm 11 is hinged to the rolling brush casing 101, and the two hinge points are disposed in a staggered manner. When the cleaning robot encounters an uneven road surface or an obstacle, the roll brush 102 is subjected to an upward force, and the swing arm 11 swings in the vertical direction to lift the roll brush 102.
Further, in the direction in which the cleaning robot moves forward, the hinge point of the swing arm 11 and the base plate 200 is disposed at the front end, and the hinge point of the swing arm 11 and the roll brush housing 101 is disposed at the rear end. Of course, the hinge point of the swing arm 11 and the bottom plate 200 may be disposed at the rear end, and the hinge point of the swing arm 11 and the rolling brush casing 101 may be disposed at the front end, which is not particularly limited herein.
In another embodiment, the hinge point between the swing arm 11 and the bottom plate 200 and the hinge point between the swing arm 11 and the rolling brush casing 101 may be arranged at intervals along the axial direction of the rolling brush 102, so as to meet the requirement of lifting the rolling brush 102, and is not particularly limited herein.
Still further, in order to improve the structural stability of the lifting assembly 1, the lifting assembly 1 further comprises a connecting rod 12, and the connecting rod 12 connects the two swing arms 11.
In order to make the rolling brush 102 fully contact with the road surface, prevent the rolling brush 102 from jumping up and down, and ensure the cleaning effect, in this embodiment, the lifting assembly 1 further includes a limiting member 13, and the limiting member 13 is used to make the rolling brush 102 contact with the road surface.
Further, the limiting member 13 is one of a gas spring, a spring and a hydraulic rod, a fixed end of the limiting member 13 is hinged to the bottom plate 200, and a movable end of the limiting member 13 is hinged to the roller brush housing 101. The stopper 13 can apply a force to the roller housing 101, and even if the roller 102 is lifted, the roller 102 can be surely brought into contact with the surface to be cleaned by the force applied from the stopper 13, thereby ensuring the cleaning effect.
If the limiting member 13 is a gas spring, the fixed end of the gas spring is hinged to the bottom plate 200, and the movable end of the gas spring is hinged to the roller brush housing 101. If the limiting member 13 is a spring, one end of the spring is hinged to the bottom plate 200, and the other end of the spring is hinged to the roller brush housing 101. If the limiting piece 13 is a hydraulic rod, the hydraulic rod is hinged to the bottom plate 200, and the output end of the hydraulic rod is hinged to the rolling brush housing 101. Of course, the limiting member 13 may be another member to ensure that the rolling brush 102 contacts the road surface, and is not particularly limited herein.
When the cleaning robot provided by the embodiment is used, when the cleaning robot encounters an uneven road surface or an obstacle, the rotating wheel 2 is firstly contacted with the uneven road surface or the obstacle, the rotating wheel 2 is subjected to an upward force, and one end of the swing arm 11 connected with the rolling brush shell 101 swings upwards to lift the rolling brush 102, so that the rolling brush 102 is adapted to a surface to be cleaned, and the friction force between the rolling brush 102 and the ground is reduced. Meanwhile, the limiting piece 13 applies force to the rolling brush 102, so that the rolling brush 102 is in contact with the road surface, and the cleaning effect is ensured.
Example two
As shown in fig. 3, the cleaning robot provided in this embodiment includes a bottom plate 200 and a rolling brush assembly 100, the bottom plate 200 is disposed at the bottom of the cleaning robot, and the rolling brush assembly 100 is connected to the bottom plate 200 by a lifting device, and the lifting device is used for lifting the rolling brush assembly 100. Specifically, the drum brush assembly 100 includes a drum brush housing 101, and a drum brush 102 and a dust box 103 mounted on the drum brush housing 101, and the dust box 103 is disposed at a front end of the drum brush 102 in a direction in which the cleaning robot travels. When the cleaning robot is operated, the roller brush 102 is in contact with the road surface, and the garbage swept by the roller brush 102 is collected in the dust box 103.
When the cleaning robot encounters an uneven road surface or an obstacle, the lifting device of the rolling brush assembly provided by the embodiment can lift the rolling brush 102 so as to reduce friction between the rolling brush 102 and the road surface. In particular, the lifting device comprises a lifting assembly 1 and a rotating wheel 2. The lifting assembly 1 is connected with the base plate 200 and the rolling brush housing 101 of the cleaning robot, and when the rolling brush 102 is contacted with an uneven road surface or an obstacle, the lifting assembly 1 can enable the rolling brush 102 to be lifted adaptively. The rotating wheel 2 is attached to at least one end of the dust box 103, and when the roller brush 102 contacts a flat road surface, the rotating wheel 2 contacts the road surface, and when the roller brush 102 contacts an uneven road surface or an obstacle, the rotating wheel 2 can lift the roller brush 102.
According to the lifting device of the rolling brush assembly 100 provided by the embodiment, in the cleaning process of the cleaning robot, if an uneven road surface or an obstacle is encountered, the rolling brush 102 can be lifted by the rotating wheel 2 arranged on the dust box 103, and then the lifting assembly 1 can enable the rolling brush 102 to be adaptively lifted, so that the rolling brush 102 or the road surface is prevented from being damaged due to excessive friction between the rolling brush 102 and the road surface, the road condition is adapted, and the rolling brush 102 or the road surface, the obstacle and the like are protected from being damaged; compared with the prior art in which the motor is used to drive the rolling brush 102 to ascend, the lifting device of the rolling brush assembly 100 provided by the embodiment has the advantages of simple structure, no influence on the cleaning effect, and capability of adaptively adjusting the state of the rolling brush 102 according to the road condition.
In the present embodiment, the diameter of the rotating wheel 2 is larger than the outer diameter of the dust box 103. When the rolling brush 102 is in contact with a flat road surface, the rotating wheel 2 is in contact with the road surface, so that friction generated by contact between the dust box 103 and the road surface is avoided, the dust box 103 is protected from being damaged, the rotating wheel 2 plays a role in supporting the dust box 103, and the rolling brush 102 is required to be ensured to be in contact with the road surface on the flat road surface. When round brush 102 and unevenness's road surface or barrier contact, dirt box 103 sets up in the front end of round brush 102, rotates wheel 2 earlier with unevenness's road surface or barrier contact to support round brush 102, avoid round brush 102 and unevenness's road surface or barrier to take place the striking, and when the road surface of process unevenness or barrier, can also guarantee round brush 102 and treat clear surface contact, can not influence clean effect.
Further, both ends of the dust box 103 are provided with the rotating wheels 2, so that both ends of the dust box 103 are uniformly stressed, and the cleaning robot can be ensured to stably move forward.
In this embodiment, the lifting assembly 1 comprises a sleeve 14 and a guide post 15 with one end slidably disposed in the sleeve 14, one of the sleeve 14 and the guide post 15 is connected to the bottom plate 200, and the other is connected to the roller brush casing 101. When the roller brush 102 is subjected to an upward force, the guide post 15 can be moved along the sleeve 14 to lift the roller brush 102.
In order to make the rolling brush 102 contact with the road surface sufficiently, prevent the rolling brush 102 from jumping up and down, and ensure the cleaning effect, in the embodiment, an elastic member (not shown) is arranged in the sleeve 14, one end of the elastic member abuts against the bottom of the sleeve 14, and the other end abuts against the guide post 15. The elastic piece is preferably a spring or a spring piece, and has simple structure and low use cost.
In another embodiment, a resilient member may also be provided between the base plate 200 and the brush roll housing 101, the resilient member exerting a force on the brush roll housing 101.
The lifting assembly 1 is preferably hinged to the base plate 200 and the rolling brush casing 101, a hinge point of the lifting assembly 1 and the base plate 200 and a hinge point of the lifting assembly 1 and the rolling brush casing 101 may be staggered, or two hinge points may be arranged on the same straight line along the vertical direction, so that the lifting of the rolling brush 102 can be realized, which is not specifically limited herein. The lifting assembly 1 is hinged with the bottom plate 200 and the rolling brush shell 101, so that the lifting assembly 1 can be adapted to lift the rolling brush 102 on an inclined surface, and the impact force of the rolling brush 102 or the rotating wheel 2 on a road surface or an obstacle is reduced.
When the cleaning robot provided by the embodiment is used, when the cleaning robot meets an uneven road surface or an obstacle, the rotating wheel 2 is firstly contacted with the uneven road surface or the obstacle, the rotating wheel 2 is forced upwards, and one end of the sleeve 14 or the guide post 15, which is connected with the rolling brush shell 101, swings upwards to lift the rolling brush 102, so that the rolling brush 102 adapts to a surface to be cleaned, and the friction force between the rolling brush 102 and the ground is reduced. Meanwhile, the elastic piece exerts force on the rolling brush 102, so that the rolling brush 102 is in contact with the road surface, and the cleaning effect is ensured.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A lifting device of round brush subassembly for lifting round brush subassembly (100), round brush subassembly (100) include round brush shell (101) and install in round brush (102) and dirt box (103) on round brush shell (101), and in the direction that cleaning machines people gos forward, dirt box (103) set up in the front end of round brush (102), its characterized in that, the lifting device includes:
the lifting assembly (1) is connected with a bottom plate (200) of the cleaning robot and the rolling brush shell (101), and when the rolling brush (102) is contacted with an uneven road surface or an obstacle, the lifting assembly (1) can enable the rolling brush (102) to ascend adaptively;
the dust box comprises a rotating wheel (2), wherein the rotating wheel (2) is installed at least one end of the dust box (103), when the rolling brush (102) is in contact with a flat road surface, the rotating wheel (2) is in contact with the road surface, and when the rolling brush (102) is in contact with an uneven road surface or an obstacle, the rotating wheel (2) can lift the rolling brush (102).
2. Lifting device of a roller brush assembly according to claim 1, characterized in that the diameter of the rotating wheel (2) is larger than the outer diameter of the dust box (103).
3. Lifting device of a roller brush assembly according to claim 1, characterized in that the dust box (103) is provided with the turning wheels (2) at both ends.
4. The lifting device of the rolling brush assembly according to any one of claims 1-3, characterized in that the lifting assembly (1) comprises two parallel and spaced swing arms (11), one end of the swing arm (11) is hinged with the bottom plate (200), the other end of the swing arm (11) is hinged with the rolling brush casing (101), and the two hinged points are arranged in a staggered manner.
5. Lifting device of a roller brush assembly according to claim 4, characterized in that the two swing arms (11) are connected by a connecting rod (12).
6. Lifting device of a roller brush assembly according to claim 4, characterized in that the lifting assembly (1) further comprises a stop (13), the stop (13) being adapted to bring the roller brush (102) into contact with the road surface.
7. The round brush assembly lifting device according to claim 6, characterized in that the limiting member (13) is one of a gas spring, a spring and a hydraulic rod, a fixed end of the limiting member (13) is hinged to the bottom plate (200), and a movable end of the limiting member (13) is hinged to the round brush housing (101).
8. Lifting device of a roller brush assembly according to any of claims 1-3, characterized in that the lifting assembly (1) comprises a sleeve (14) and a guide post (15) with one end slidably arranged in the sleeve (14), one of the sleeve (14) and the guide post (15) being connected to the bottom plate (200) and the other to the roller brush housing (101).
9. Lifting device of a roller brush assembly according to claim 8, characterized in that the sleeve (14) is provided with a resilient member, one end of which abuts against the bottom of the sleeve (14) and the other end abuts against the guide post (15).
10. A cleaning robot comprising the lifting device of the brush roll assembly according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121560269.7U CN215534039U (en) | 2021-07-09 | 2021-07-09 | Lifting device of rolling brush assembly and cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121560269.7U CN215534039U (en) | 2021-07-09 | 2021-07-09 | Lifting device of rolling brush assembly and cleaning robot |
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| CN215534039U true CN215534039U (en) | 2022-01-18 |
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| CN202121560269.7U Active CN215534039U (en) | 2021-07-09 | 2021-07-09 | Lifting device of rolling brush assembly and cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114451819A (en) * | 2022-03-02 | 2022-05-10 | 佛山市银星智能制造有限公司 | Cleaning robot and obstacle crossing method thereof |
| WO2023221132A1 (en) * | 2022-05-20 | 2023-11-23 | 深圳市好奇心探索科技有限公司 | Cleaning device and control method therefor, controller, and computer-readable storage medium |
-
2021
- 2021-07-09 CN CN202121560269.7U patent/CN215534039U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114451819A (en) * | 2022-03-02 | 2022-05-10 | 佛山市银星智能制造有限公司 | Cleaning robot and obstacle crossing method thereof |
| CN114451819B (en) * | 2022-03-02 | 2023-09-26 | 佛山市银星智能制造有限公司 | Cleaning robot and obstacle surmounting method thereof |
| WO2023221132A1 (en) * | 2022-05-20 | 2023-11-23 | 深圳市好奇心探索科技有限公司 | Cleaning device and control method therefor, controller, and computer-readable storage medium |
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