CN109259674A - It brushes on concertina type side for sweeping robot - Google Patents
It brushes on concertina type side for sweeping robot Download PDFInfo
- Publication number
- CN109259674A CN109259674A CN201811479881.4A CN201811479881A CN109259674A CN 109259674 A CN109259674 A CN 109259674A CN 201811479881 A CN201811479881 A CN 201811479881A CN 109259674 A CN109259674 A CN 109259674A
- Authority
- CN
- China
- Prior art keywords
- side brush
- brush
- motor
- guide rail
- concertina type
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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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
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
Landscapes
- Manipulator (AREA)
Abstract
The present invention brushes on the concertina type side for sweeping robot, including side brush assemblies, guide rail, rack gear, gear, first motor, sensor, sweeper main body and limited block, concertina type level of brush assemblies and the sweeper main body when brush is able to achieve described by guide rail, rack gear, gear, first motor, metal winding displacement is slidably connected, to realize the horizontal extension setting of the side brush assemblies；Meanwhile sweeper main body described in the sensor Electricity Federation is able to achieve and is precisely controlled to the side brush assemblies distance of stretch out and draw back；Concertina type side brush of the present invention can effectively clear up the cleaning blind area such as wall abutment wall angle or short gap, and concertina type side brush can be placed in the sweeper main body, be advantageously implemented the flexible design requirement of sweeping robot compact.
Description
Technical field
The present invention relates to sweeping robot technical field more particularly to a kind of concertina type side brushes for sweeping robot.
Background technique
Currently, sweeping robot is gradually popularized, and replaces manpower to carry out flooring in more and more occasions
It efficiently cleans, brings great convenience to human lives.But being widely used and promoting with sweeping robot, it is existing
The some practicability defects or technical problem of sweeping robot itself are also exposed, wherein a most important problem is nothing
Method is done and is effectively cleaned to wall abutment wall angle or short gap.This is mainly due to sweeping robot need at runtime with it is neighbouring
Barrier keeps certain safe distance, causes above-mentioned zone can not be always cleaned, thus shape when it is cleaned along wall
At cleaning blind area.Currently, various sweeping robots mainly use the method for shortening safe distance and elongated edge brush, and by more
Reasonable sensor placement and enhance its sensing capability to ambient enviroment using more accurate sensor, minimizes
Clean the area of blind area.But this technological improvement can not be inherently eliminated the presence of cleaning blind area, especially when encountering
When right-angle wall corner, above scheme just more seems unable to do what one wishes.Therefore, it is urgent to provide a kind of concertina type sides for sweeping robot
Brush, to solve the above problems.
Summary of the invention
The purpose of the present invention is to solve the above problem, provides a kind of concertina type side brush for sweeping robot, described
Concertina type while brush realized by guide rail, rack gear, gear, first motor by while brush assemblies and the sweeper main body level it is sliding
Dynamic connection, to realize the flexible setting of the side brush assemblies；Meanwhile opposite side brush assemblies distance of stretch out and draw back is realized using sensor
Be precisely controlled；Concertina type side brush of the present invention can effectively clear up the cleaning blind area such as wall abutment wall angle or short gap, and
Concertina type side brush can be placed in the sweeper main body, be advantageously implemented the flexible design requirement of sweeper compact.
To achieve the goals above, this invention takes following technical schemes.
A kind of concertina type side for sweeping robot is brushed, containing side brush assemblies, guide rail, rack gear, gear, first motor,
Metal winding displacement, sensor, sweeper main body and position limiting slide block, the brush cavity when brush assemblies include are arranged on the side
Brush chamber it is intracorporal while brush driving device, while brush ontology, which is characterized in that the side brush cavity be square cavity structure, bottom surface
Equipped at least one bottom outlet, the side brush ontology is pierced by by the bottom outlet；The opposite two sides of the side brush cavity connect respectively
A guide rail is connect, the guide rail is oppositely arranged in parallel, and the separate end of each guide rail lateral surface is equipped with a limit and slides
Block；Wherein, the medial surface of a guide rail is equipped with rack gear, and the medial surface of another guide rail is provided with metal winding displacement；It is described
Sensor is located on three sides of the side brush cavity far from the guide rail, and the sensor by the metal winding displacement with
Sweeper main body Electricity Federation；It is slided in the sweeper bottom part body equipped with the first slideway corresponding with the guide rail, second
Road and third slideway corresponding with the side brush cavity, the guide rail and the sweeper main body are matched by sliding block and slideway
Conjunction is able to achieve being slidably connected for horizontal direction；The gear and the first motor are arranged in the sweeper main body, institute
State sweeper main body described in first motor Electricity Federation, the first motor output end connection gear and the gear and the tooth
Item engagement connection.
Further, it is described while brush driving device include the second motor and while brush central axis；Second motor is arranged in institute
It states in the brush cavity of side, second motor passes through the metal winding displacement and sweeper main body Electricity Federation；The side brush central axis
One end connect with second motor output end, the other end in brush central axis with it is described while brush ontology connect.
Further, it is described while brush ontology and it is described while brush central axis be Detachable connection structure, brush easy to clean of more changing sides
Main body.
Further, second motor output shaft and the side brush central axis can be using belt pulley or synchronous pulleys or gear
Or the modes such as turbine and worm connect.
Further, the bristle is hard bristle or soft bristle.
Further, one or more described concertina type side is equipped in the bottom of the sweeper main body to brush.
Further, the side brush cavity and the guide rail are integrally formed component.
Further, a side opening is respectively equipped on three sides in the side brush cavity away from the guide rail；The biography
Sensor is separately positioned in the side opening.
Further, the first motor is stepper motor；The output shaft of the first motor is equipped with a brake apparatus,
The brake apparatus can be by the output shaft locking of the first motor.
Good effect of the present invention for the concertina type side of sweeping robot to be brushed is:
(1) connected by the horizontal sliding that gear, rack gear and guide rail are able to achieve the side brush assemblies and the sweeper main body
It connects, realizes that side brush assemblies being capable of the relatively described sweeper main body telescopic adjustment.
(2) by the way that multiple sensors are arranged in side brush cavity side, perception of the side brush assemblies to ambient enviroment can be reinforced
Ability reinforces sensitivity and the precision of the control of guide rail distance of stretch out and draw back.
(3) the concertina type side brush can be taken in the side brush assemblies in sweeper main body by the stretching structure,
It is easy to implement sweeper integrated design demand.
(4) concertina type side brush configuration is reasonable, cheap, practical, there is the prospect of popularization and application.
Detailed description of the invention
Fig. 1 is the concertina type side brush configuration schematic diagram that the present invention is used for sweeping robot.
Fig. 2 is provided with the bottom view of the sweeping robot of concertina type side brush.
Fig. 3 is provided with the main view of the sweeping robot of concertina type side brush.
Figure label is respectively as follows:
1, side brush assemblies；101, side brush cavity；
102, side brush ontology；103, side opening；
2, guide rail；3, rack gear；
4, gear；5, metal winding displacement；
6, sweeper main body；601, the first slideway；
602, the second slideway；603, third slideway；
7, position limiting slide block.
Specific embodiment
Technical scheme in the embodiment of the invention is clearly and completely described with reference to the accompanying drawing.Obviously, described
Embodiment be only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment, art technology
Personnel's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of concertina type side brush for sweeping robot, including side brush assemblies 1, guide rail 2, rack gear 3, gear
4, first motor (not shown), metal winding displacement 5, sensor (not shown), sweeper main body 6 and position limiting slide block 7；Wherein
The brush cavity 101 when brush assemblies 1 include, while brush driving device (not shown), while brush ontology 102.Wherein, the gear
4, the component for having supply in the market can be used in rack gear 3, first motor, sensor and metal winding displacement 5, and the side brush assemblies 1 are led
Rail 2, position limiting slide block 7 and sweeper main body 8 can be brushed according to flexible side or use demand designed, designed and the production of sweeper,
A kind of component of basic universal models can also be designed to facilitate production.
The side brush cavity 101 is rectangular hollow cavity, offers a bottom outlet (not marking in figure) on its bottom surface；It is described
A pair of of opposite flank of side brush cavity 101 is separately connected a guide rail 2；The side brush cavity 101 away from the three of the guide rail 2
A side opening 103 is respectively set on a side.Brush driving device when being provided in brush cavity 101 and side brush ontology 102,
The wherein brush driving device when the connection of one end of brush ontology 102 is described, the other end of the side brush ontology 102 is by the bottom
Hole is pierced by the side brush cavity 101.Specifically, it is described while brush driving device include the second motor and while brush central axis；Described
Two motors are fixed in the side brush cavity 101, and second motor passes through the metal winding displacement 5 and the sweeper
Main body 6 is electrically connected；Described side brush central axis one end is connect with second motor output end, the other end of the side brush central axis
Connect the side brush ontology 102.
When it is implemented, second motor output end and the side brush central axis can using belt pulley or synchronous pulley or
The modes such as gear or turbine and worm connect, for example, in the output end of second motor and one end point of the side brush central axis
Not She Zhi bevel gear, the two can engage connection by bevel gear and realize transmission, so as to drive the side brush ontology 102 to rotate；
It is described in brush ontology 102 and it is described while brush central axis be Detachable connection structure, facilitate the cleaning and more of the side brush ontology 102
Change in addition it is described while brush central axis can configure variety classes, it is various sizes of described while brush ontology 102, meet the more of consumer
Kind demand；In addition, the side brush central axis can be designed as expansion link mechanism, the side brush ontology 102 is received completely to facilitate
It is retracted inside the side brush cavity 101；In addition, the bristle of the side brush ontology 102 can for hard bristle or soft bristle or
At least one of person's quartz glass fibre.In use, the sweeper main body 6 issues instruction, second electrical power turns
It is dynamic, it drives the side brush central axis to move, so that the side brush ontology 102 be driven to rotate, starts to clean health.
The guide rail 2 is horizontal and is oppositely arranged in parallel；The lateral surface of each guide rail 2 is far from the side brush cavity
10 one end is equipped with a position limiting slide block 7；The medial surface of one of them guide rail 2 is equipped with rack gear 3, leads described in another
The medial surface of rail 2 is provided with metal winding displacement 5.When it is implemented, the guide rail 2 and the side brush cavity 10 using bonding or are spirally connected
Form is fixedly connected, or uses integrated formed structure part；The guide rail 2 can be designed as cavity-like, and the metal winding displacement 5 is worn
In the cavity of the guide rail 2.
With reference to Fig. 2, the sweeper main body 6 includes sweeper cavity and is arranged in the sweeper inside cavity master control list
Member, the bottom of the sweeper cavity be equipped with first slideway 601 corresponding with the guide rail 2, the second slideway 602 and with
The corresponding third slideway 603 of the side brush cavity 101；The sweeper main body 6 and the guide rail 2 are matched by sliding block and slideway
Conjunction is able to achieve being slidably connected for horizontal direction.Specifically, first slideway 601, the second slideway 602 include accommodating completely
The accommodating area of its corresponding guide rail 2 and the slideway area for engaging the position limiting slide block 7, to guarantee that the guide rail 2 can be horizontal
Free extension and it will not slant or derail.In addition, first slideway 601 and the second slideway 602 pass through the third
Slideway 603 is connected to the accommodation groove that can accommodate the guide rail 2 and the side brush assemblies 1 completely at one, that is to say, that the side brush
Component 1 can be contracted in completely the bottom of the sweeper main body 6 by shrinking.Accordingly, the concertina type side brush not only can control
The distance of stretch out and draw back of the side brush assemblies 1, is also beneficial to sweeping robot integrated design.In addition, the side brush assemblies 1 are by stretching
The bottom of the sweeper main body 6 is arranged in contracting guide rail 2, therefore 1 whole height of side brush assemblies is smaller, so institute of the present invention
Stating concertina type side brush assemblies 1 can be used for cleaning short gap.
The gear 4 and the first motor are arranged in the sweeper main body 6.Wherein the first motor is fixed
In the cavity of the sweeper main body 6, the first motor is particularly located near the end of the medial surface of the rack gear 3, and
The first motor is electrically connected with the built-in main control unit of the sweeper main body 6 by the metal winding displacement 5；The gear 4
It is connected with the first motor output end, and the gear 4 and the engagement connection of the rack gear 3.In specific implementation, first electricity
The output end of machine is in series with a small brake device, and the small brake device can be according to the working condition of the first motor
Brake the gear 4.Specifically, when the first motor operates, the brake apparatus band-type brake, the first motor output
Axis can drive the gear 4 to rotate, so that the rack gear 3 be driven to move；When the first motor shuts down, the braking
Device releases braking, by the output end locking of the first motor, the 4 gear locking, thus by 2 locking of guide rail in institute
State the specified any position of sweeper main body 6.When sweeper works, main control unit issues instruction, and the first motor is powered, energy
It drives gear 4 to rotate, to stir the movement of rack gear 3, drives the horizontal extension of the guide rail 2, and then the side brush assemblies 1 can be with
The guide rail 2 carry out stretching motion；When the side brush assemblies 1 stretch out distance to a declared goal, the first motor stops operating, institute
It states brake apparatus and releases braking, so as to by 4 locking of gear, thus by the solid finger in the main control unit of side brush 1
Enable specified position.Thus, it is possible to adjust purpose of the side brush assemblies 1 at a distance from barrier or rubbish.
The sensor is arranged in the side opening 103 of the side of the side brush cavity 101, and the sensor can be used to obtain
The real-time range information of the side brush cavity 101 and target to be cleaned or barrier, and electricity is converted by the range information
The current information or information of voltage are transmitted to the owner that sweeps the floor by the metal winding displacement 5 by stream information or information of voltage
Main control unit inside body 6.The main control unit generates control instruction according to the current information or information of voltage, described in driving
The running of first motor drives the flexible of the side brush assemblies 1 to pass through the engaged transmission of the gear 4 and the rack gear 3
Movement；The brake apparatus being arranged simultaneously by the first motor output end is by 4 locking of gear, thus by the guide rail 2
Locking is in specified position.When it is implemented, the actual design situation that can be brushed according to sweeper or side, increases the sensing
The quantity of device.
The working principle that the present invention is brushed for the concertina type side of sweeper robot are as follows:
When the present invention is used for the original state of the telescopic arm of sweeper, the guide rail 2, side brush cavity 101 are located at it
In corresponding first slideway 601 or the second slideway 602 or in third slideway 603.By the control for starting the sweeper main body 6
System, first motor are powered, and band moving gear 4 rotates, so that the side brush assemblies 1 are stretched out the sweeper main body 6 by guide rail 2
Designated position is reached, and utilizes the brake apparatus locking；Meanwhile the main control unit can issue instruction, connect the second motor,
To drive the movement of side brush central axis, the side brush ontology 102, setting in motion cleaning；At the same time, the sensor is always
In real-time detection, the range information for collecting the side brush assemblies 1 and surrounding wall or barrier etc., and by the range information
Real-time delivery gives the main control unit, and the sweeper main body 6 issues the first motor according to the range information and controls
Instruction, adjusts, so that the side brush assemblies 1 and its object be made to be adjusted to and keep optimum distance, thus can be with
Achieve the purpose that high-efficiency cleaning.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (9)
1. a kind of concertina type side for sweeping robot is brushed, containing side brush assemblies (1), guide rail (2), rack gear (3), gear (4),
First motor, metal winding displacement (5), sensor, sweeper main body (6) and position limiting slide block (7), the side brush assemblies (1) include
While brush cavity (101), be arranged while described in brush cavity (101) while brush driving device, while brush ontology (102), feature exists
Be square cavity structure in, the side brush cavity (101), bottom surface is equipped at least one bottom outlet, the side brush ontology (101) by
The bottom outlet is pierced by；The opposite two sides of the side brush cavity (101) are separately connected a guide rail (2), and the guide rail (2) is flat
Row is oppositely arranged, and the separate end of each guide rail (2) lateral surface is equipped with a position limiting slide block (7)；Wherein, it is led described in one
The medial surface of rail (2) is equipped with rack gear (3), and the medial surface of another guide rail (2) is provided with metal winding displacement (5)；The sensing
Device is located on three sides of the side brush cavity (101) separate the guide rail (2), and the sensor is arranged by the metal
Line (5) and sweeper main body (6) Electricity Federation；It is equipped in sweeper main body (6) bottom corresponding with the guide rail (2)
First slideway (601), the second slideway (602) and third slideway (603) corresponding with side brush cavity (101) are described to lead
Rail (2) is able to achieve being slidably connected for horizontal direction by the cooperation of sliding block and slideway with the sweeper main body (6)；The gear
(4) it is arranged in the sweeper main body (6) with the first motor, sweeper main body described in the first motor Electricity Federation
(6), the first motor output end connects the gear (4) and the gear (4) engages connection with the rack gear (3).
2. the concertina type side according to claim 1 for sweeping robot is brushed, which is characterized in that the side brush driving dress
It sets including the second motor and side brush central axis；The second motor setting is in the side brush cavity (101), second motor
Pass through the metal winding displacement (5) and sweeper main body (6) Electricity Federation；One end of the side brush central axis and second motor
Output end connection, the other end in brush central axis with it is described while brush ontology (102) connect.
3. the concertina type side according to claim 2 for sweeping robot is brushed, which is characterized in that the side brush ontology
It (102) is Detachable connection structure, more change sides body of the brush (102) easy to clean with the side brush central axis.
4. the concertina type side according to claim 2 for sweeping robot is brushed, which is characterized in that second motor is defeated
Shaft can be connected with the side brush central axis using belt pulley or synchronous pulley or the modes such as gear or turbine and worm.
5. the concertina type side according to claim 2 for sweeping robot is brushed, which is characterized in that the bristle is hard
Bristle or soft bristle.
6. the concertina type side according to claim 1 for sweeping robot is brushed, which is characterized in that in the owner that sweeps the floor
The bottom of body (6) is equipped with one or more concertina type side brush.
7. the concertina type side according to claim 1 for sweeping robot is brushed, which is characterized in that the side brush cavity
(101) it is integrally formed component with the guide rail (2).
8. the concertina type side according to claim 1 for sweeping robot is brushed, which is characterized in that in the side brush cavity
(101) side opening (103) is respectively equipped on three sides of the guide rail (2)；The sensor is separately positioned on institute
It states in side opening (103).
9. the concertina type side according to claim 1 for sweeping robot is brushed, which is characterized in that the first motor is
Stepper motor；The output shaft of the first motor is equipped with a brake apparatus, and the brake apparatus can be by the first motor
Output shaft locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811479881.4A CN109259674A (en) | 2018-12-05 | 2018-12-05 | It brushes on concertina type side for sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811479881.4A CN109259674A (en) | 2018-12-05 | 2018-12-05 | It brushes on concertina type side for sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109259674A true CN109259674A (en) | 2019-01-25 |
Family
ID=65187009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811479881.4A Pending CN109259674A (en) | 2018-12-05 | 2018-12-05 | It brushes on concertina type side for sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109259674A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112914445A (en) * | 2021-02-10 | 2021-06-08 | 深圳市杉川机器人有限公司 | Scrubbing brush subassembly and have its steam engine and scrubber |
| CN113287975A (en) * | 2021-06-11 | 2021-08-24 | 科沃斯机器人股份有限公司 | Cleaning robot, control method and movable cleaner assembly |
| CN113367617A (en) * | 2021-06-23 | 2021-09-10 | 浙江农林大学暨阳学院 | Intelligent sweeper |
| CN113974505A (en) * | 2021-09-23 | 2022-01-28 | 云鲸智能(深圳)有限公司 | Cleaning robot, method and device for controlling brush hair thereof, and computer storage medium |
| CN114287837A (en) * | 2022-01-21 | 2022-04-08 | 深圳巴诺机器人有限公司 | Corner cleaning robot and working method thereof |
| CN114847800A (en) * | 2022-04-18 | 2022-08-05 | 安徽梵凯思数码科技有限公司 | Unmanned service robot based on 5G communication |
| US11889971B2 (en) | 2021-09-23 | 2024-02-06 | Yunjing Intelligence (Shenzhen) Co., Ltd. | Cleaning robot, bristle control method and device, and computer storage medium |
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| CN202390792U (en) * | 2011-11-17 | 2012-08-22 | 南通铭德机床有限公司 | Anti-colliding device of edge brush of sweeper |
| CN211022461U (en) * | 2018-12-05 | 2020-07-17 | 华东理工大学 | A flexible type limit brush for sweeping floor robot |
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| KR20070107956A (en) * | 2006-05-04 | 2007-11-08 | 삼성전자주식회사 | Robot cleaner |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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| CN115104958A (en) * | 2020-10-28 | 2022-09-27 | 追觅创新科技(苏州)有限公司 | Obstacle detection method and self-moving equipment |
| CN112914445A (en) * | 2021-02-10 | 2021-06-08 | 深圳市杉川机器人有限公司 | Scrubbing brush subassembly and have its steam engine and scrubber |
| CN113287975A (en) * | 2021-06-11 | 2021-08-24 | 科沃斯机器人股份有限公司 | Cleaning robot, control method and movable cleaner assembly |
| CN113367617A (en) * | 2021-06-23 | 2021-09-10 | 浙江农林大学暨阳学院 | Intelligent sweeper |
| CN113974505A (en) * | 2021-09-23 | 2022-01-28 | 云鲸智能(深圳)有限公司 | Cleaning robot, method and device for controlling brush hair thereof, and computer storage medium |
| CN113974505B (en) * | 2021-09-23 | 2023-11-14 | 云鲸智能(深圳)有限公司 | Cleaning robot, bristle control method and device thereof, and computer storage medium |
| US11889971B2 (en) | 2021-09-23 | 2024-02-06 | Yunjing Intelligence (Shenzhen) Co., Ltd. | Cleaning robot, bristle control method and device, and computer storage medium |
| CN114287837A (en) * | 2022-01-21 | 2022-04-08 | 深圳巴诺机器人有限公司 | Corner cleaning robot and working method thereof |
| CN114287837B (en) * | 2022-01-21 | 2022-12-20 | 深圳巴诺机器人有限公司 | Corner cleaning robot and working method thereof |
| CN114847800A (en) * | 2022-04-18 | 2022-08-05 | 安徽梵凯思数码科技有限公司 | Unmanned service robot based on 5G communication |
| CN114847800B (en) * | 2022-04-18 | 2024-05-10 | 安徽梵凯思数码科技有限公司 | Unmanned service robot based on 5G communication |
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Inventor after: Zhang Xuning Inventor after: Wang Ning Inventor after: Zhang Han Inventor after: Li Jialin Inventor after: Zheng Kaiwen Inventor before: Zhang Xuning Inventor before: Wang Ning Inventor before: Zhang Han Inventor before: Li Jialin Inventor before: Zheng Kaiwen |