WO2021179595A1 - Appareil à paroi virtuelle et système de robot de nettoyage de sol - Google Patents

Appareil à paroi virtuelle et système de robot de nettoyage de sol Download PDF

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Publication number
WO2021179595A1
WO2021179595A1 PCT/CN2020/120467 CN2020120467W WO2021179595A1 WO 2021179595 A1 WO2021179595 A1 WO 2021179595A1 CN 2020120467 W CN2020120467 W CN 2020120467W WO 2021179595 A1 WO2021179595 A1 WO 2021179595A1
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WO
WIPO (PCT)
Prior art keywords
signal
virtual wall
signal transmitting
housing
emitting device
Prior art date
Application number
PCT/CN2020/120467
Other languages
English (en)
Chinese (zh)
Inventor
陈远
艾博文
林周雄
Original Assignee
美智纵横科技有限责任公司
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
Priority claimed from CN202010163690.8A external-priority patent/CN111329396A/zh
Priority claimed from CN202020290259.5U external-priority patent/CN212415629U/zh
Application filed by 美智纵横科技有限责任公司 filed Critical 美智纵横科技有限责任公司
Publication of WO2021179595A1 publication Critical patent/WO2021179595A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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

Definitions

  • This application belongs to the technical field of household appliances, and specifically relates to a virtual wall device and a sweeping robot system.
  • the sweeping robot can effectively avoid obstacles in the open area and walk smoothly, thereby completing the cleaning work of the open area.
  • the user wants to limit the operating range of the cleaning robot in the open area, the user needs to set the operating boundary for the cleaning robot in the open area.
  • a virtual wall device is provided in the related art.
  • the virtual wall device is provided with an infrared emitting tube through which infrared rays are emitted.
  • the user can reasonably place the virtual wall device, and use the infrared light emitted by the infrared emission tube on the virtual wall device as the operating boundary.
  • the sweeping robot is equipped with an infrared receiving tube. When the sweeping robot runs to the operating boundary delineated by infrared, the infrared receiving tube on the sweeping robot receives the infrared rays emitted by the virtual wall device, and the sweeping robot will think that there are obstacles in front of the operation and change its operation. Direction to avoid crossing the operating boundary.
  • the virtual wall device in the above related technology can only set one operating boundary.
  • the user needs to set multiple operating boundaries, only one virtual wall device can be used for each operating boundary. Too many virtual wall devices are used, resulting in cost It is high, occupies a large space, the operation boundary setting is not flexible, and the layout of virtual wall equipment is complicated and not convenient enough.
  • the virtual wall device has multiple signal emitting devices, and multiple operating boundaries are set at the same time through a virtual wall device.
  • the first signal transmitting device can be rotated relative to the housing, and the signal transmitting direction can be adjusted by rotating, which greatly reduces the number of virtual wall devices that need to be used, reduces the cost, the device occupies a small space, and is convenient and flexible to use.
  • the embodiment of the first aspect of the present application proposes a virtual wall device, which includes a housing and a controller provided in the housing, and also includes a plurality of signal transmitting devices;
  • Each of the signal emitting devices is arranged on the surface of the housing, and each of the signal emitting devices is communicatively connected with the controller;
  • the plurality of signal emitting devices includes at least one first signal emitting device capable of rotating relative to the housing.
  • the first signal transmitting device includes a base, a support, and a transmitting tube
  • the base is fixedly installed on the surface of the housing, and a hinge part is provided on the base;
  • the launch tube is installed at one end of the bracket, and the other end of the bracket is hinged with the hinge part;
  • the launch tube is in communication connection with the controller.
  • the first signal transmitting device further includes a signal line
  • the bracket and the base are provided with a wiring chamber, the bottom of the base is provided with a first hole, the housing is provided with a second hole, and the base is fixed on the surface of the housing so that the first A hole is aligned with the second hole;
  • One end of the signal line is connected to the launch tube, the other end of the signal line extends into the housing through the wiring chamber, the first hole and the second hole, and the signal The other end of the line is connected to the controller.
  • the hinge part includes a spherical groove; one end of the bracket hinged to the hinge part is provided with a connecting ball;
  • the connecting ball is embedded in the spherical groove, so that the bracket and the base are universally connected.
  • the virtual wall device further includes a plurality of switches, and the switches correspond to the signal transmitting device in a one-to-one correspondence;
  • the switch is arranged on the surface of the housing, or the switch is arranged on its corresponding signal transmitting device;
  • the switch is in communication connection with the controller, and the controller receives an opening instruction triggered by the switch, and controls the signal transmitting device corresponding to the triggered switch to transmit a blocking signal.
  • the multiple signal transmitting devices are two signal transmitting devices
  • the two signal transmitting devices include one of the first signal transmitting device and a second signal transmitting device with a fixed signal transmitting direction;
  • the angle between the first signal emitting device and the second signal emitting device is adjusted by rotating the first signal emitting device.
  • the adjustment range of the included angle between the first signal transmitting device and the second signal transmitting device is 0°-360°.
  • it further includes an infrared emitting tube for transmitting an anti-collision signal; the infrared emitting tube is installed on the surface of the housing.
  • the signal emitting device includes an infrared emitting device, an ultrasonic emitting device, or a laser emitting device.
  • the embodiment of the second aspect of the present application proposes a sweeping robot system, including a sweeping robot and the virtual wall device described in the first aspect;
  • a signal receiving device is provided on the sweeping robot
  • the cleaning robot changes its running direction according to the blocking signal emitted by the signal transmitting device on the virtual wall device received by the signal receiving device.
  • the virtual wall device has multiple signal transmitting devices, and multiple operating boundaries can be set at the same time through one virtual wall device, which greatly reduces the number of virtual wall devices that need to be used, reduces the cost, and the device occupies a small space.
  • the first signal transmitting device can be rotated relative to the housing, and the signal transmitting direction can be adjusted by turning, so as to conveniently adjust the angle between the first signal transmitting device and other signal transmitting devices, so that the user can flexibly set the operating boundary, which is convenient and flexible to use. .
  • FIG. 1 shows a schematic structural diagram of a virtual wall device provided by an embodiment of the present application
  • FIG. 2 shows a schematic structural diagram of a first signal transmitting device provided by an embodiment of the present application
  • FIG. 3 shows another schematic structural diagram of the first signal transmitting device provided by an embodiment of the present application
  • FIG. 4 shows another schematic structural diagram of the first signal transmitting device provided by an embodiment of the present application
  • FIG. 5 shows another schematic structural diagram of a virtual wall device provided by an embodiment of the present application
  • FIG. 6 shows a working schematic diagram of a virtual wall device and a sweeping robot provided by an embodiment of the present application
  • FIG. 7 shows another schematic structural diagram of a virtual wall device provided by an embodiment of the present application.
  • 31 the first signal transmitting device
  • 32 the second signal transmitting device
  • 311 base, 312: bracket, 313: transmitter, 314: signal line;
  • 3111 spherical groove
  • 3121 connecting ball
  • the embodiment of the present application provides a virtual wall device, as shown in FIG. 1, comprising a housing 1, a controller 2 arranged in the housing 1, and a plurality of signal transmitting devices 3 arranged on the surface of the housing 1;
  • Each signal transmitting device 3 is communicatively connected with the controller 2; the plurality of signal transmitting devices 3 include at least one first signal transmitting device 31 that can rotate relative to the housing 1.
  • FIG. 1 Only three signal transmitting devices 3 are schematically shown in FIG. 1. Two of the three signal transmitting devices 3 are first signal transmitting devices 31 that can rotate relative to the housing 1. In actual applications, it can be based on requirements. Design the number of signal transmitting devices 3 included in the virtual wall device and the number of first signal transmitting devices 31 included therein. Since the connecting lines between the signal emitting device 3 and the controller 2 cannot be directly seen from the outside of the virtual wall device, the connecting lines between the signal emitting devices 3 and the controller 2 are not shown in FIG. 1.
  • the virtual wall device described above is provided with multiple signal transmitting devices 3, and each signal transmitting device 3 can transmit a blocking signal. Therefore, the virtual wall device can simultaneously set multiple operating boundaries for the sweeping robot. Moreover, the plurality of signal emitting devices 3 include at least one first signal emitting device 31 that can rotate relative to the housing 1.
  • the signal emitting direction of the first signal emitting device 31 to emit blocking signals can be adjusted, Thereby, the angle between the first signal transmitting device 31 and the other signal transmitting devices 3 can be conveniently adjusted, so that the user can flexibly set the operating boundary for the sweeping robot, and use this application to implement in the scenario where multiple operating boundaries need to be set
  • the virtual wall device provided by the example can greatly reduce the number of virtual wall devices that need to be used, thereby reducing costs, the device occupies a small space, and the setting is convenient and flexible.
  • the first signal transmitting device 31 includes a base 311, a bracket 312, and a transmitting tube 313;
  • the base 311 is fixedly installed on the surface of the housing 1, and the base 311 is provided with a hinge 4; one end of the bracket 312 is equipped with a launch tube 313, and the other end of the bracket 312 is hinged with the hinge 4; the launch tube 313 is in communication with the controller 2 .
  • hinge part 4 is also shown in FIG. 1.
  • bracket 312 Since the bracket 312 is hinged to the base 311, pushing the bracket 312 can make the bracket 312 rotate around the hinge part 4, and the rotation of the bracket 312 drives the launch tube 313 installed on the bracket 312 to rotate, thereby changing the signal emission direction of the launch tube 313 to emit blocking signals. After pushing the bracket 312 to rotate around the hinge part 4 and adjusting it in place, after removing the thrust applied to the bracket 312, the bracket 312 will stop rotating under the action of friction, so as to maintain the set signal emission direction.
  • the transmitting tube 313 may be connected to the controller 2 in wireless communication, and the transmitting tube 313 may specifically communicate with the controller 2 wirelessly through Bluetooth, WiFi (wireless Internet access), or the like.
  • the transmitting tube 313 may also be connected to the controller 2 in wired communication.
  • the first signal transmitting device 31 further includes a signal line 314;
  • the bracket 312 and the base 311 are provided with a wiring chamber, the bottom of the base 311 is provided with a first hole, the housing 1 is provided with a second hole, and the base 311 is fixed on the surface of the housing 1 so that the first hole and the second hole are aligned
  • One end of the signal line 314 is connected to the launch tube 313, the other end of the signal line 314 extends into the housing 1 through the wiring chamber, the first hole and the second hole, and the other end of the signal line 314 is connected to the controller 2.
  • the signal line 314 connecting the transmitter tube 313 and the controller 2 can be in the wiring chamber, the first hole and The second hole is wired to prevent the signal line 314 from being exposed to the outside of the signal transmitter 3, which provides a good protection for the signal line 314 and prolongs the service life of the signal line 314.
  • the wiring of the signal line 314 makes the structural arrangement of the virtual wall equipment even better. Neat and orderly, the appearance of the equipment is more beautiful.
  • the hinge portion 4 of the base 311 and the bracket 313 may be hinged through a hinge structure.
  • the hinge part 4 on the base 311 includes a spherical groove 3111; the bracket 312 is hinged with the hinge part 4 at one end with a connecting ball 3121; the connecting ball 3121 is embedded in the spherical groove 3111, so that the bracket 312 and the base 311 universal connection.
  • the bracket 312 can be freely rotated from 0° to 360° relative to the base 311, thereby facilitating the user to adjust the signal transmitting direction of the first signal transmitting device 31, thereby freely adjusting the required settings
  • the included angle between two adjacent operating boundaries, the adjustment interval of the included angle is 0°-360°.
  • the multiple signal transmitting devices 3 included in the virtual wall device in addition to the above-mentioned first signal transmitting device 31, it may also include a second signal transmitting device 32 with a fixed signal transmitting direction, as shown in FIG.
  • the second signal transmitting device 32 is fixedly installed on the housing 1 and cannot rotate relative to the housing 1.
  • the second signal transmitting device 32 also includes a base, a bracket and a transmitting tube.
  • the launch tube is installed at one end of the bracket, the other end of the bracket is fixed on the base, and the base is fixedly installed on the surface of the housing 1.
  • the base and the support can also be integrally formed.
  • the communication connection between the launch tube and the controller 2 can be a wireless connection or a wired connection.
  • the second signal transmitting device also includes a signal line, and the wiring mode of the signal line and the structure related to the wired connection are the same as the above-mentioned first signal transmitting device, which will not be repeated here.
  • the multiple signal transmitting devices 3 included in the virtual wall device may all be the first signal transmitting device 31, or may be a combination of the first signal transmitting device 31 and the second signal transmitting device 32.
  • the virtual wall device further includes a plurality of switches 5, the number of switches 5 is equal to the number of signal transmitting devices 3 included in the virtual wall device, and the switches 5 correspond to the signal transmitting devices 3 one-to-one;
  • the switch 5 is arranged on the surface of the housing 1, or the switch 5 is arranged on its corresponding signal transmitting device 3; each switch 5 is in communication connection with the controller 2, and the controller 2 receives the turn-on instruction triggered by the switch 5 to control the
  • the signal transmitting device 3 corresponding to the triggered switch 5 transmits a blocking signal.
  • each signal transmitting device 3 is set separately A corresponding switch 5 is provided, and the switches 5 are all connected to the controller 2. If the user wants to use a certain signal transmitting device 3, the user can press the switch 5 corresponding to the signal transmitting device 3, and the switch 5 triggers the turn-on instruction corresponding to the signal transmitting device 3, and transmits the turn-on instruction to the controller 2.
  • the controller 2 receives the opening instruction, and transmits a signal transmission instruction to the signal transmitting device 3 corresponding to the switch 5 according to the opening instruction.
  • the signal transmitting device 3 receives the signal transmitting instruction transmitted by the controller 2, and transmits a blocking signal according to the signal transmitting instruction.
  • the user can freely select the signal transmitting device 3 he wants to use, which improves the flexibility of the user to set the operating boundary for the sweeping robot.
  • the multiple signal transmitting devices 3 included in the virtual wall device are two signal transmitting devices 3, that is, the number of signal transmitting devices 3 included in the virtual wall device is two.
  • the two signal transmitting devices 3 include a first signal transmitting device 31 and a second signal transmitting device 32 with a fixed signal transmitting direction; the first signal transmitting device 31 and the second signal transmitting device 32 are adjusted by rotating the first signal transmitting device 31 The angle between.
  • the adjustment range of the included angle between the first signal emitting device 31 and the second signal emitting device 32 is 0°-360°.
  • the user can push the bracket 312 of the first signal transmitter 31 to make the signal transmission direction of the first signal transmitter 31
  • the included angle with the signal emitting direction of the second signal emitting device 32 is 60°.
  • the user places the virtual wall device with the angle set at a position where the operating range needs to be limited, and the blocking signals emitted by the first signal emitting device 31 and the second signal emitting device 32 form two operating boundaries. If the sweeping robot receives the blocking signal transmitted by the first signal transmitter 31 or the second signal transmitter 32 during the travel, it is considered that there is an obstacle in front of the traveling, so the sweeping robot will change the current running direction. Therefore, the sweeping robot is prevented from crossing the operating boundary set by the first signal device and the second signal device.
  • adjust the angle between the first signal transmitter 31 and the second signal transmitter 32 on the virtual wall device to 180°, and place the virtual wall device at the entrance of the bathroom, which can prevent the sweeping robot from entering bathroom.
  • a certain area of the room is extremely dusty. You can place a virtual wall device in front of this area and adjust the corresponding angle of the first signal transmitter 31 so that the sweeping robot can only clean in this area, so that the area can be cleaned. Focus on cleaning.
  • the virtual wall device further includes an infrared emitting tube 7 for transmitting anti-collision signals; the infrared emitting tube 7 is installed on the surface of the housing 1.
  • the anti-collision signal emitted by the infrared emitting tube 7 can cover an area centered on the virtual wall device and a preset distance as a radius, and the preset distance may be 5 cm or 8 cm.
  • the sweeper When the sweeper receives the anti-collision signal emitted by the infrared transmitting tube 7 during the traveling process, it will stop traveling and change the traveling direction to prevent hitting the virtual wall device.
  • the signal emitting device 3 includes an infrared emitting device, an ultrasonic emitting device or a laser emitting device.
  • the carrier that blocks the signal emitted is infrared rays.
  • the signal transmitter 3 is an ultrasonic transmitter, the carrier of the blocking signal emitted is ultrasonic.
  • the signal emitting device 3 is a laser emitting device, the carrier for blocking signals emitted is a laser.
  • multiple signal transmitting devices are provided on the virtual wall device, which can set multiple operating boundaries at the same time, reducing the number of virtual wall devices required for setting multiple operating boundaries, and reducing costs.
  • the first signal emitting device can rotate relative to the housing, and the signal emitting direction of the first signal emitting device can be adjusted freely by rotating, which improves the flexibility of setting the operating boundary and is convenient to use.
  • An embodiment of the present application provides a sweeping robot system, as shown in FIG. 6, the system includes a sweeping robot and the virtual wall device described in the above embodiments; the sweeping robot is provided with a signal receiving device; the sweeping robot receives according to the signal receiving device The blocking signal emitted by the signal transmitter on the virtual wall equipment changes the direction of operation.
  • the signal transmitting device on the virtual wall device is an infrared transmitting device
  • the signal receiving device on the sweeping robot is an infrared receiving device. If the signal transmitting device on the virtual wall device is an ultrasonic transmitting device, the signal receiving device on the sweeping robot is an ultrasonic receiving device. If the signal emitting device on the virtual wall device is a laser emitting device, the signal receiving device on the sweeping robot is a laser receiving device.
  • the user can adjust the first signal emitting device and other signal emitting devices by adjusting the signal emitting direction of the first signal emitting device.
  • the robot crosses the operating boundary set by the virtual wall device.
  • multiple signal transmitting devices are provided on the virtual wall device, which can set multiple operating boundaries at the same time, reducing the number of virtual wall devices required for setting multiple operating boundaries, and reducing the cost.
  • the first signal transmitting device can be rotated relative to the housing of the virtual wall device, and the signal transmitting direction of the first signal transmitting device can be freely adjusted by rotating, which improves the flexibility of operating boundary setting and is convenient to use.
  • modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or units are mutually exclusive, any combination can be used to compare all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or methods disclosed in this manner or All the processes or units of the equipment are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.
  • the various component embodiments of the present application may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the virtual machine creation apparatus according to the embodiments of the present application.
  • This application can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for implementing the present application may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

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Abstract

Sont divulgués un appareil à paroi virtuelle et un système de robot de nettoyage de sol. L'appareil à paroi virtuelle comprend une pluralité de dispositifs émetteurs de signaux (3), chaque dispositif émetteur de signaux (3) étant agencé sur une surface d'une coque (1), et chaque dispositif émetteur de signaux (3) étant en liaison de communication avec un dispositif de commande (2) ; et la pluralité de dispositifs émetteurs de signaux (3) comprend au moins un premier dispositif émetteur de signaux (31) apte à tourner par rapport à la coque (1). L'appareil à paroi virtuelle est doté de la pluralité de dispositifs émetteurs de signaux (3), et une pluralité de limites de fonctionnement peut être agencée simultanément au moyen d'un appareil à paroi virtuelle, de sorte que le nombre d'appareils à paroi virtuelle devant être utilisés est significativement réduit, le coût est réduit et l'appareil occupe un petit espace. Le premier dispositif émetteur de signaux (31) est apte à tourner par rapport à la coque (1), et une direction d'émission de signaux est réglée au moyen de la rotation du premier dispositif d'émission de signaux, de sorte que des angles inclus entre le premier dispositif d'émission de signaux (31) et d'autres dispositifs émetteurs de signaux sont réglés de façon pratique, un utilisateur peut agencer de manière flexible les limites de fonctionnement, et l'utilisation est pratique et flexible.
PCT/CN2020/120467 2020-03-10 2020-10-12 Appareil à paroi virtuelle et système de robot de nettoyage de sol WO2021179595A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202010163690.8A CN111329396A (zh) 2020-03-10 2020-03-10 一种虚拟墙设备及扫地机器人系统
CN202020290259.5 2020-03-10
CN202020290259.5U CN212415629U (zh) 2020-03-10 2020-03-10 一种虚拟墙设备及扫地机器人系统
CN202010163690.8 2020-03-10

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WO2021179595A1 true WO2021179595A1 (fr) 2021-09-16

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PCT/CN2020/120467 WO2021179595A1 (fr) 2020-03-10 2020-10-12 Appareil à paroi virtuelle et système de robot de nettoyage de sol

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WO (1) WO2021179595A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101344790A (zh) * 2007-07-09 2009-01-14 泰怡凯电器(苏州)有限公司 用于限定机器人工作区域的系统和方法
CN102133078A (zh) * 2010-01-22 2011-07-27 泰怡凯电器(苏州)有限公司 地面处理系统及其地面处理装置的引导方法
CN203436291U (zh) * 2013-06-03 2014-02-19 松腾实业有限公司 机器人清洁机的虚拟墙装置
CN204091896U (zh) * 2014-09-15 2015-01-14 湖南格兰博智能科技有限责任公司 一种虚拟墙装置
US20150223653A1 (en) * 2014-02-13 2015-08-13 Samsung Electronics Co., Ltd. Robot cleaner
CN105629972A (zh) * 2014-11-07 2016-06-01 科沃斯机器人有限公司 引导式虚拟墙系统
CN106137058A (zh) * 2015-04-15 2016-11-23 小米科技有限责任公司 清洁机器人系统及虚拟墙检测方法
CN111329396A (zh) * 2020-03-10 2020-06-26 江苏美的清洁电器股份有限公司 一种虚拟墙设备及扫地机器人系统

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101344790A (zh) * 2007-07-09 2009-01-14 泰怡凯电器(苏州)有限公司 用于限定机器人工作区域的系统和方法
CN102133078A (zh) * 2010-01-22 2011-07-27 泰怡凯电器(苏州)有限公司 地面处理系统及其地面处理装置的引导方法
CN203436291U (zh) * 2013-06-03 2014-02-19 松腾实业有限公司 机器人清洁机的虚拟墙装置
US20150223653A1 (en) * 2014-02-13 2015-08-13 Samsung Electronics Co., Ltd. Robot cleaner
CN204091896U (zh) * 2014-09-15 2015-01-14 湖南格兰博智能科技有限责任公司 一种虚拟墙装置
CN105629972A (zh) * 2014-11-07 2016-06-01 科沃斯机器人有限公司 引导式虚拟墙系统
CN106137058A (zh) * 2015-04-15 2016-11-23 小米科技有限责任公司 清洁机器人系统及虚拟墙检测方法
CN111329396A (zh) * 2020-03-10 2020-06-26 江苏美的清洁电器股份有限公司 一种虚拟墙设备及扫地机器人系统

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