WO2019165860A1 - Robot de nettoyage et procédé de commande de fonctionnement - Google Patents

Robot de nettoyage et procédé de commande de fonctionnement Download PDF

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Publication number
WO2019165860A1
WO2019165860A1 PCT/CN2019/072008 CN2019072008W WO2019165860A1 WO 2019165860 A1 WO2019165860 A1 WO 2019165860A1 CN 2019072008 W CN2019072008 W CN 2019072008W WO 2019165860 A1 WO2019165860 A1 WO 2019165860A1
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WO
WIPO (PCT)
Prior art keywords
detecting
cleaning robot
detectors
detector
main body
Prior art date
Application number
PCT/CN2019/072008
Other languages
English (en)
Chinese (zh)
Inventor
韩云学
吴玉胜
齐焱
Original Assignee
科沃斯机器人股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Publication of WO2019165860A1 publication Critical patent/WO2019165860A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention relates to the field of automatic detection and control of a cleaning robot, in particular to a cleaning robot and a running control method thereof.
  • Infrared detection and ultrasonic inspection technology are now used in the field of obstacle detection for products such as automatic vacuum cleaners and cleaning robots.
  • infrared detection mainly calculates the distance by detecting the reflected infrared energy, the reaction speed is fast, no harm, and the price is low, but the infrared probe is susceptible to environmental illumination and obstacle material, which leads to inaccurate detection; ultrasonic detection
  • the outdoor work is more reliable by measuring the propagation time of the ultrasonic wave between the obstacle and the ultrasonic probe to calculate the distance or judging the edge of the working surface according to the intensity of the received signal.
  • the object of the present invention is to provide a cleaning robot and a running control method thereof, which can more accurately detect edges, gaps or frames of a surface to be cleaned, prevent falling damage, and can achieve better path planning and improve cleaning efficiency.
  • the present invention provides a cleaning robot comprising:
  • a detecting device is disposed at the bottom of the main body to detect an edge or a gap or a frame of the surface to be cleaned;
  • the detecting device comprises a front detecting component, the front detecting component is disposed near a front end of the main body, and the front detecting component has at least two detectors arranged at intervals in the front-rear direction.
  • the front detecting assembly has three detectors and is arranged in a triangular shape in the front-rear direction, wherein one detector is disposed adjacent to the front end of the main body; the other two detectors are disposed in the previous detector The rear side is distributed laterally to the left and right.
  • the front-rear vertical distance between the detector disposed adjacent to the front end of the main body of the front detecting component and the other two detectors is set to L1, and the L1 boundary is 30-90 mm.
  • the detecting device further includes a rear detecting assembly disposed near a rear end of the main body, the rear detecting assembly including at least two detectors arranged one behind the other.
  • the two detectors of the rear detecting assembly are disposed along the central axis of the main body in the front-rear direction.
  • the detecting device further includes a side detecting assembly disposed adjacent to a side of the main body, the side detecting assembly including at least two detectors arranged laterally and laterally.
  • a lateral vertical distance between adjacent two detectors in the side detection assembly is smaller than a front-rear vertical distance between two front and rear spaced detectors in the front detection assembly.
  • a lateral vertical distance between the laterally located detector and the innermost detector in the lateral detection assembly is greater than two front and rear spaced detectors in the front detection assembly. The vertical distance between front and rear.
  • the side detection components are disposed in two groups and are respectively disposed adjacent to left and right sides of the main body.
  • the detector is an ultrasonic probe, and each of the ultrasonic probes includes an ultrasonic transmitting end and a receiving end that cooperates with receiving a signal emitted by the ultrasonic transmitting end.
  • the present invention also provides an operation control method for the above cleaning robot, the cleaning robot further having a control device, the operation control method comprising:
  • the control cleaning robot continues to move forward;
  • the detector in the front detection component does not detect the feedback signal of the surface to be cleaned, it is determined that the front side is the edge of the surface to be cleaned, and the forward movement or steering is stopped.
  • the detecting device further includes a rear detecting component including at least two detectors arranged in front and rear;
  • the running control method further includes: when determining the front side of the cleaning robot as the edge of the surface to be cleaned When the vehicle stops moving forward, the detector of the post-detection component performs real-time detection, and the detector that controls the cleaning robot to retreat to the front detection component can detect the feedback signal of the surface to be cleaned; stop back and turn.
  • the detecting device further includes a side detecting component, the side detecting component includes at least two detectors arranged side by side in a lateral direction; and the running control method further comprises sequentially opening and closing the sidewise control The detector of the side detection component, and when one of the side detection components is turned on, the other detectors of the group of side detection components remain closed.
  • n is the set of side detection components The number of detectors that have.
  • the side detection assembly is consistent with each detector single working time T1, T2 ... Tn.
  • the invention has the beneficial effects that the cleaning robot and the operation control method thereof of the invention can accurately detect the edge or the gap or the frame of the surface to be cleaned by the real-time detection of the detector arranged in the front and rear intervals in the front detecting component, thereby preventing the damage from falling. And can achieve better path planning and improve cleaning efficiency.
  • FIG. 1 is a schematic view showing the structure of a bottom surface of a cleaning robot of the present invention
  • FIG. 2 is a schematic plan view showing the arrangement of an ultrasonic probe of the cleaning robot of the present invention
  • Fig. 3 is a schematic view showing the operation of the ultrasonic probe of the cleaning robot of the present invention.
  • FIG. 1 is a schematic structural view of the bottom surface of the cleaning robot 100 of the present invention.
  • the cleaning robot 100 includes a main body and a detecting device disposed at the bottom of the main body and used to detect a surface edge or a gap or a frame to be cleaned.
  • the main body includes a cleaning body 10 and a walking body 20 that are disposed adjacent to each other.
  • a cleaning assembly 11 is disposed at a bottom of the cleaning body 10; a steering wheel 21 and a traveling crawler 22 disposed on both sides of the steering wheel 21 are disposed at a bottom of the walking body 20.
  • the walking track 22 is further provided with a plurality of vacuum chucks 221.
  • the detecting device comprises a front detecting component disposed at the bottom of the cleaning body 10, a rear detecting component disposed at the bottom of the walking body 20, and two sets of side detecting components disposed at the bottom of the cleaning body 10 and adjacent to the left and right sides of the cleaning body 10, respectively.
  • the front detecting component and the rear detecting component respectively comprise at least two detectors arranged one behind the other; each of the side detecting components comprises at least two detectors arranged laterally and laterally.
  • the detectors are each configured as an ultrasound probe 30, and each of the ultrasound probes 30 includes an ultrasound transmitting end 31 and a receiving end 32 that cooperates to receive a signal from the ultrasonic transmitting end 31.
  • the positional relationship of the ultrasonic probes 30 in the front detection assembly, the rear detection assembly, and the side detection assembly is better illustrated with reference to FIG.
  • the front detecting assembly has three ultrasonic probes 30 and is arranged in an isosceles triangle shape in the front-rear direction, wherein one ultrasonic probe 30 is disposed adjacent to the front end of the cleaning body 10 and the ultrasonic probe is located in the front-rear direction of the cleaning body 10.
  • the other two ultrasonic probes 30 are disposed on the rear side of the previous ultrasonic probe 30 and are laterally distributed laterally.
  • the two ultrasonic probes 30 located on the rear side and distributed laterally to the left and right are more advantageous for finding the edge or gap or the frame of the surface to be cleaned in advance.
  • the front-rear vertical distance between the ultrasonic probe 30 disposed adjacent to the front end of the cleaning body 10 and the other two ultrasonic probes 30 of the front detecting assembly is set to L1, and L1 is defined by 30-90 mm. Preferably, L1 is set to 60 mm.
  • the ultrasonic probes 30 of the rear detecting assembly are disposed in two and are disposed on the rear side of the steering wheel 21.
  • the two ultrasonic probes 30 of the rear detecting assembly are disposed along the central axis of the traveling body 20 in the front-rear direction and their vertical distances L2 in the front-rear direction coincide with L1.
  • the cleaning body 10 extends laterally beyond the walking body 20, and each of the ultrasonic probes 30 of the side detecting assembly extends laterally beyond the walking body 20.
  • the two sets of side detection components are symmetrically arranged in a left-right direction.
  • the lateral vertical distance L3 between two adjacent ultrasonic probes 30 in the side edge detecting assembly is smaller than L1, and the ultrasonic probe 30 and the innermost ultrasonic probe 30 located laterally in the lateral side detecting assembly
  • the lateral vertical distance L4 is greater than L1.
  • the lateral distance L3 of the adjacent two ultrasonic probes 30 is set to 18 mm, and the number of the ultrasonic probes 30 of each side detecting assembly is set to five, so as to avoid frequent adjustment of the direction of the cleaning robot 100 along the surface to be cleaned, ensuring Its walking stability.
  • the structural specifications of the ultrasonic probe 30 in the foregoing front detecting component, the rear detecting component and the side detecting component are all the same, the ultrasonic probe is 58KHz, the sensitivity is greater than or equal to -90db, and the foam protective cover is added during installation.
  • the height of the ultrasonic probe 30 from the working interface is H, and the distance between the ultrasonic transmitting end 31 and the receiving end 32 is d.
  • H is set to 55 mm
  • d is 30 mm
  • the inclination angle ⁇ of the ultrasonic transmitting end 31 toward the receiving end 32 is set to 15°, so that the receiving end 32 can be smoothly received and sent out from the ultrasonic transmitting end 31. Ultrasonic waves after the interface is reflected.
  • the present invention also provides an operation control method of the above cleaning robot 100, the cleaning robot 100 further having a control device, the operation control method comprising:
  • the cleaning robot 100 is turned on, and the ultrasonic probe 30 of the front detecting component is used for real-time detection;
  • the cleaning robot is controlled to continue;
  • the ultrasonic probe 30 in the front detecting component does not detect the feedback signal of the surface to be cleaned, it is judged that the front side is the edge of the surface to be cleaned, and the forward movement or the steering is stopped; in order to avoid the fall damage that may occur during the turning of the cleaning robot 100, the post-detection is passed.
  • the ultrasonic probe 30 of the assembly detects in real time, and the ultrasonic probe 30 that controls the cleaning robot 100 to retreat to the front detection assembly can detect the feedback signal of the surface to be cleaned; stop back and turn.
  • the operation control method further includes: when the cleaning robot 100 walks along an edge or a gap or a frame of the surface to be cleaned, the ultrasonic probe 30 along the lateral intermediate position of the side detecting component is used as a position standard, where When the cleaning robot 100 is normally walking, the ultrasonic probe 30 in the intermediate position does not detect the signal; if the ultrasonic probe 30 in the intermediate position and the ultrasonic probe on the inner side thereof detect the feedback signal of the surface to be cleaned, the cleaning robot 100 is controlled to External deflection; if the ultrasonic probe 30 inside the ultrasonic probe 30 at the intermediate position does not detect the feedback signal of the surface to be cleaned, the cleaning robot 100 is controlled to deflect inward.
  • the operation control method further includes sequentially opening and closing the ultrasonic probe 30 of the side detecting component along the lateral control, and when one of the side detecting components is turned on, the set of side detecting components is other The ultrasound probes 30 are all kept closed. Thereby, the signal interference between different ultrasonic probes 30 in the same side detection component is effectively avoided, and the reliability of the detection result is improved.
  • control method includes controlling to open the outermost or innermost ultrasonic probe 30 of the side detecting component and accumulating the working time T1, turning off the ultrasonic probe 30, and then opening the ultrasonic probe 30 adjacent thereto and accumulating the working time T2 After closing, until the innermost or outermost ultrasonic probe 30 of the set of side detection components is opened and its working time Tn is accumulated, and then enters the next cycle to open the outermost or innermost ultrasonic probe 30; wherein n is the side of the set The number of ultrasound probes 30 that the edge detection assembly has.
  • the cyclic working order of the left and right sets of the side detecting assemblies is set to be the same, and the side detecting components are consistent with each of the ultrasonic probes 30 for a single working time T1, T2, ..., Tn.
  • T1, T2, ..., Tn are each set to 20 ms.
  • the cleaning robot 100 of the present invention is suitable for cleaning operations of solar panels, building curtain walls, window glass, etc., and the solar panels to be cleaned are usually provided with a frame and gaps formed between adjacent solar panels; forming a building curtain wall or window A partition structure such as a frame is also provided between adjacent glass plates.
  • the cleaning operation of the solar panel is taken as an example.
  • the ultrasonic probe 30 adjacent to the front end of the cleaning body 10 in the front detecting assembly loses the signal and is located at the
  • the cleaning robot 100 continues to move forward; if the ultrasonic probe 30 of the front detecting component loses the signal, the cleaning robot 100 advances to the edge of the solar panel. Location, you need to stop.
  • the front detection assembly has a detection accuracy of ⁇ 4 mm as measured in the field.
  • the side detecting component can quickly identify the edge, the gap and the frame of the solar panel by the cyclic operation, prevent the cleaning robot 100 from running off, and can avoid frequent adjustment of the direction; when the cleaning robot 100 deviates from the predetermined path, the two sides are controlled
  • the walking track 22 is subjected to differential motion for correction.
  • the ultrasonic probes 30 of the side detecting components can be cyclically operated to avoid signal disturbances between each other, thereby further improving the detection reliability.
  • the cleaning robot 100 and the operation control method thereof can accurately detect the edge or the gap or the frame of the surface to be cleaned to prevent falling damage; and can realize better path planning, prevent deviation, and improve cleaning. effectiveness.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

La présente invention concerne un robot de nettoyage et un procédé de commande de fonctionnement associé. Ledit robot de nettoyage comprend un corps principal et un dispositif de détection disposé sur la base dudit corps principal et utilisé pour détecter un bord, un dégagement ou un rebord de surface à nettoyer. Ledit dispositif de détection comprend un composant de prédétection disposé à proximité de l'extrémité avant dudit corps principal. Ledit composant de prédétection comporte au moins deux détecteurs agencés à des intervalles dans la direction avant-arrière. Ledit robot de nettoyage comprend en outre un dispositif de commande, qui conduit une détection en temps réel lors du démarrage de fonctionnement au moyen des détecteurs du composant de prédétection et détermine si la zone devant le robot est un bord, un dégagement ou un rebord de surface à nettoyer, de façon à commander le robot de nettoyage pour arrêter ou continuer le déplacement vers l'avant. L'utilisation du robot de nettoyage et du procédé de commande de fonctionnement associé dans la présente invention peut détecter de façon plus précise un bord, un dégagement ou un rebord de surface à nettoyer, de façon à éviter les dommages dus à une chute; et une meilleure planification d'itinéraire peut être obtenue, de façon à améliorer l'efficacité de nettoyage.
PCT/CN2019/072008 2018-03-02 2019-01-16 Robot de nettoyage et procédé de commande de fonctionnement WO2019165860A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810173986.0A CN110215153B (zh) 2018-03-02 2018-03-02 清洁机器人及其运行控制方法
CN201810173986.0 2018-03-02

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Publication Number Publication Date
WO2019165860A1 true WO2019165860A1 (fr) 2019-09-06

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CN110860501B (zh) * 2019-11-22 2024-09-20 深圳怪虫机器人有限公司 一种具有自伸缩旋转吸盘组件的光伏清洁机器人
CN111561931A (zh) * 2020-05-09 2020-08-21 深圳拓邦股份有限公司 移动机器人的路径规划方法、装置及计算机可读存储介质
CN115191888B (zh) * 2022-07-14 2024-08-02 杭州萤石软件有限公司 清洁机器人的控制方法及控制装置、清洁基站的控制方法

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US20050166355A1 (en) * 2004-01-30 2005-08-04 Funai Electric Co., Ltd. Autonomous mobile robot cleaner
US20050273967A1 (en) * 2004-03-11 2005-12-15 Taylor Charles E Robot vacuum with boundary cones
CN1864944A (zh) * 2005-05-17 2006-11-22 Lg电子株式会社 自行机器人的位置识别系统
CN104216404A (zh) * 2013-05-31 2014-12-17 科沃斯机器人科技(苏州)有限公司 一种自移动装置及其控制方法
CN207020534U (zh) * 2017-05-31 2018-02-16 珠海市一微半导体有限公司 基于多红外的机器人避障装置

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CN110215153B (zh) 2024-03-26

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