CN113974505A - Cleaning robot, method and device for controlling brush hair thereof, and computer storage medium - Google Patents

Cleaning robot, method and device for controlling brush hair thereof, and computer storage medium Download PDF

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Publication number
CN113974505A
CN113974505A CN202111116086.0A CN202111116086A CN113974505A CN 113974505 A CN113974505 A CN 113974505A CN 202111116086 A CN202111116086 A CN 202111116086A CN 113974505 A CN113974505 A CN 113974505A
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CN
China
Prior art keywords
bristles
target
area
designated
cleaning robot
Prior art date
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Granted
Application number
CN202111116086.0A
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Chinese (zh)
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CN113974505B (en
Inventor
林伟劲
陈云
谢旻钊
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Yunjing Intelligence Technology Dongguan Co Ltd
Yunjing Intelligent Shenzhen Co Ltd
Original Assignee
Yunjing Intelligence Technology Dongguan Co Ltd
Yunjing Intelligent Shenzhen Co Ltd
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Application filed by Yunjing Intelligence Technology Dongguan Co Ltd, Yunjing Intelligent Shenzhen Co Ltd filed Critical Yunjing Intelligence Technology Dongguan Co Ltd
Priority to CN202111116086.0A priority Critical patent/CN113974505B/en
Publication of CN113974505A publication Critical patent/CN113974505A/en
Priority to EP24164672.8A priority patent/EP4368092A2/en
Priority to PCT/CN2022/119132 priority patent/WO2023045832A1/en
Priority to EP22789834.3A priority patent/EP4247227B1/en
Priority to US18/344,890 priority patent/US11889971B2/en
Application granted granted Critical
Publication of CN113974505B publication Critical patent/CN113974505B/en
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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
    • 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
    • A47L11/24—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
    • A47L11/28—Floor-scrubbing 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
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to the technical field of robots, and discloses a cleaning robot, a bristle control method and device thereof, and a computer storage medium. Wherein, cleaning robot includes: a robot main body; the side brush assembly is arranged on the robot main body; and the controller is arranged on the robot main body and used for controlling the limit of the target bristles of the side brush assembly in a designated area. In the embodiment of the invention, the target bristles of the side brush component are limited in the designated area, so that the target bristles can be prevented from extending out of the cleaning robot to influence the appearance.

Description

Cleaning robot, method and device for controlling brush hair thereof, and computer storage medium
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a cleaning robot, a bristle control method and device thereof and a computer storage medium.
Background
With the rapid development of intelligent equipment technology, cleaning robots with automatic cleaning functions are increasingly popular; and with the acceleration of the life rhythm of people, the role played by the cleaning robot in family life is more and more important. The cleaning robot can automatically perform a cleaning operation in a waiting cleaning space of a home space or a large-sized place to clean the space to be cleaned, thereby saving a large amount of cleaning time for a user.
A cleaning assembly and a driving device are arranged on a robot main body of the cleaning robot. Under the driving of the driving device, the cleaning robot moves automatically according to a preset cleaning path, and cleans the ground through the cleaning assembly.
For a multi-function cleaning robot, the cleaning assembly may include both an edge brush assembly and a scrubbing assembly; wherein, the side brush component is often arranged in front of the bottom of the robot main body; the mopping assembly is often mounted at the rear end of the bottom of the robot body and comprises one or more mops which can be rotated or moved to perform the mopping function.
In the prior art, when the side brush assembly is in a non-working state (for example, in a mopping mode), bristles of the side brush assembly rotate along with the movement of the robot, so that adverse effects such as interference on external objects outside the cleaning robot or mopping assemblies, driving wheels and the like inside the cleaning robot are often caused.
For example: during the traveling process of the cleaning robot in the mopping mode, the bristles can protrude out of the cleaning robot, which affects the appearance and the user experience.
Disclosure of Invention
The invention aims to provide a cleaning robot, a bristle control method and a bristle control device of the cleaning robot, and a computer storage medium, so as to prevent bristles of an edge brush assembly in a non-working state from extending out of the cleaning robot to affect the appearance.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cleaning robot, comprising:
a robot main body;
the side brush assembly is arranged on the robot main body;
the controller is arranged on the robot main body and used for controlling the target bristles of the side brush assembly to be limited in a designated area;
the designated area is a projection area of the robot main body on a horizontal plane;
the target bristles are bristles with lengths exceeding a preset length threshold value, and the preset length threshold value is the minimum distance from the rotating center of the side brush to the edge of the robot main body.
A brush control method applied to a cleaning robot including an edge brush assembly as described in any one of the above, the method comprising:
controlling the target bristles of the side brush component to be limited in a designated area;
the designated area is a projection area of the robot main body on a horizontal plane;
the target bristles are bristles with lengths exceeding a preset length threshold value, and the preset length threshold value is the minimum distance from the rotating center of the side brush to the edge of the robot main body.
A brush control device applied to a cleaning robot including an edge brush assembly as described in any one of the above, the brush control device comprising:
the control unit is used for controlling the limit of the target bristles of the side brush component in a designated area;
the designated area is a projection area of the robot main body on a horizontal plane;
the target bristles are bristles with lengths exceeding a preset length threshold value, and the preset length threshold value is the minimum distance from the rotating center of the side brush to the edge of the robot main body.
A computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the bristle control method as described above.
Compared with the prior art, the invention has the beneficial effects that:
in the embodiment of the invention, the target bristles are bristles with the length exceeding a preset length threshold value, the preset length threshold value is the minimum distance from the rotating center of the side brush to the edge of the robot main body, the target bristles can extend out of the designated area, and the target bristles extending out of the designated area influence the attractiveness when the cleaning robot moves.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a structural view of a cleaning robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the preset length threshold value provided by the embodiment of the invention being the minimum distance from the rotation center of the side brush to the edge of the robot body.
FIG. 3 is a schematic diagram of the relationship between an edge brush assembly and a mopping assembly according to an embodiment of the present invention.
FIG. 4 is a schematic structural view of an edge brush assembly before and after the integral movement according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a method for determining a reference angle threshold according to a designated sub-region according to an embodiment of the present invention.
Fig. 6 is a schematic view of a method for determining a reference angle threshold according to a profile of a cleaning robot and a length of a target bristle according to an embodiment of the present invention.
FIG. 7 is a top view of an edge brush assembly according to an embodiment of the present invention.
FIG. 8 is a cross-sectional view of a portion of the structure of an edge brush assembly according to an embodiment of the present invention.
[ Mark Specification ]
The robot comprises a robot main body 1, a side brush assembly 2, a mopping assembly 3, a driving wheel 4, a position detection sensor 5, an encoding disc 6, an output shaft 21 and brush bristles 22.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the 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.
The cleaning robot can be used for automatically cleaning the ground, and the application scene can be household indoor cleaning, large-scale place cleaning and the like.
The cleaning robot is of a sweeping robot, a mopping robot, a sweeping and mopping integrated robot and the like. On the cleaning robot, a cleaning assembly and a driving device are arranged. The cleaning robot moves along a set cleaning path by itself under the driving of the driving device, and cleans the floor through the cleaning assembly. For the sweeping robot, the cleaning assembly comprises a sweeping assembly and a dust suction device, in the cleaning process, the sweeping assembly sweeps dust, garbage and the like to a dust suction port of the dust suction device, so that the dust suction device absorbs the dust, the garbage and the like for temporary storage, and the sweeping assembly can comprise an edge brush assembly. For the mopping robot, the cleaning assembly comprises a mopping assembly, the mopping assembly is in contact with the ground, and the mopping piece mops the ground in the moving process of the mopping robot, so that the ground is cleaned. For the sweeping and mopping integrated cleaning robot, the cleaning assembly comprises a sweeping assembly and a mopping assembly, and the sweeping assembly and the mopping assembly can work simultaneously to mop and sweep the floor, and can also work separately to respectively mop and sweep the floor. The sweeping assembly further comprises an edge brush assembly and a rolling brush (also called a centering brush), the edge brush assembly sweeps dust and other garbage to the middle area at the outer side, and the rolling brush continuously sweeps the garbage to the dust collection device.
An embodiment of the present invention provides a cleaning robot, as shown in fig. 1, which may include: a robot main body 1, an edge brush assembly 2, and a controller (not shown in the drawings).
Wherein, the side brush component 2 is arranged on the robot main body 1 and comprises brush bristles 22; the controller is arranged on the robot main body 1 and used for controlling the limit of the target bristles of the side brush assembly in a designated area;
the designated area is a projection area of the robot main body on a horizontal plane;
the target bristles are bristles with lengths exceeding a preset length threshold value, as shown in fig. 2, wherein the preset length threshold value is the minimum distance from the rotation center of the side brush to the edge of the robot body.
It is understood that the shape of the robot body of the cleaning robot may be a circle, and may also be other shapes, for example, a square, a D-shape, etc., and the embodiment of the present application is not limited thereto, and therefore, the shape of the projection area of the robot body on the horizontal plane is not limited to the shape shown in fig. 2.
The side brush assembly 2 can further comprise an output shaft 21, the brush bristles 22 are mounted on the robot main body 1 by taking the output shaft 21 as a rotating shaft, and the side brush assembly is used for sweeping.
Optionally, the side brush assembly may include non-target bristles of other lengths in addition to the target bristles longer than the predetermined length threshold, which is not limited in this application.
Alternatively, the number of the side brush assemblies 2 may be one or more than two, and the side brush assemblies may be disposed at intervals at the bottom or the peripheral side of the robot body 1. The number of the brush hairs 22 included in each side brush assembly 2 may be one or more than two, one end of each brush hair 22 is connected with the output shaft 21, and the other end of each brush hair 22 is a free end, so that the brush hairs 22 can be driven to rotate relative to the robot body 1 by taking the output shaft 21 as a rotating shaft.
When the number of the brush staples 22 is two or more, the brush staples 22 are spaced around the outer circumference of the output shaft 21, and may be uniformly distributed or non-uniformly distributed, which is not limited in the present invention. When the side brush assembly 2 is in a working state, the driving device drives the bristles of the side brush assembly to rotate, so that the cleaning function is realized.
The designated area is a projection area of the robot main body on the horizontal plane, in the specific implementation, when the cleaning robot moves, the target bristles of the side brush assembly extend out of the designated area and can be seen by a user or touch a barrier to generate friction and interference, so that the target bristles of the side brush assembly can be controlled to be limited in the designated area, the target bristles of the side brush assembly can be prevented from extending out of the designated area to influence attractiveness, and the target bristles can be prevented from rubbing the barrier.
Optionally, the cleaning robot further comprises a mopping assembly, and the designated area comprises a designated sub-area;
the designated sub-area is an area which is formed by the mopping assembly and is overlapped with the designated area, and the area between two tangent lines along the traveling direction of the cleaning robot is tangent to the mopping area.
As shown in fig. 3, the designated sub-area is an area where an area between two tangent lines along a traveling direction of the cleaning robot, which are tangent to a mopping area formed by the mopping assembly, coincides with the designated area, in a specific implementation, in a moving process of the cleaning robot, the side brush assembly is in front of the cleaning robot, the mopping assembly is behind the cleaning robot, and an area in the designated sub-area, which is contacted by the side brush assembly, can be cleaned by the mopping assembly in time, but target bristles of the side brush assembly extend out of the designated sub-area, which may cause pollution to the area outside the designated sub-area, and the mopping assembly cannot be cleaned immediately, so that the target bristles of the side brush assembly can be controlled to be limited to the designated sub-area; therefore, the area outside the designated area is not polluted, and the projection area of the robot main body on the horizontal plane is not extended, so that the appearance is not influenced.
Optionally, the designated area includes a designated sub-area, and in terms of controlling the target bristles of the edge brush assembly to be limited in the designated area, the controller is specifically configured to:
and controlling the target bristles to rotate or translate so that the target bristles are limited in the designated area or the designated sub-area.
The target bristles are controlled to rotate or translate, so that the target bristles are limited in a designated area or a designated sub-area, and the target bristles are limited in the designated sub-area by controlling, so that the area outside the designated area is not polluted, the horizontal projection area of the robot main body is not extended out, and the attractiveness is affected.
In specific implementation, after the target bristles are controlled to rotate to the designated region or the designated sub-region, the target bristles are limited in the designated region or the designated sub-region and do not extend out of the designated region or the designated sub-region, for example, the target bristles can be controlled to rotate to the designated region or the designated sub-region and then be fixed in the designated region or the designated sub-region, or the target bristles can be controlled to rotate in the designated region or the designated sub-region and do not rotate out of the designated region or the designated sub-region.
The side brush assembly can also be controlled to translate, in particular, to translate towards the inner side of the designated area or the designated sub-area, so that the target bristles move into the designated area or the designated sub-area.
As shown in fig. 4, after the side brush assembly 2 moves to the inner side of the robot main body 1 as a whole, the side brush assembly 2 is closer to the center of the robot main body 1 as a whole, so that the target bristles of the side brush assembly also move to the inner side of the designated area or the designated sub-area, and in the designated area or the designated sub-area, the area through which the bristles pass can be cleaned by the rear mopping assembly, thereby reducing the risk that the side brush assembly 2 pollutes the cleaned area because of extending out of the designated sub-area, and avoiding the influence on the appearance because of extending out of the designated area.
Optionally, the designated area or the designated sub-area does not include the position of the driving wheel 4.
In general, since the driving wheel 4 of the driving device is disposed at a middle position of the bottom of the robot body 1 and is located closer to the side brush assembly 2, when the length of the brush bristles 22 of the side brush assembly 2 exceeds a distance between the two, the driving wheel 4 may press the brush bristles 22 to damage the brush bristles 22. For this reason, in the embodiment of the present invention, the designated area does not include the position of the driving wheel 4, so that the position of the driving wheel 4 is excluded from the designated area, and the situation that the driving wheel 4 presses the brush bristles 22 is effectively avoided.
When the side brush assembly 2 includes a plurality of bristles 22 with different lengths, the target bristle may be selected as a long bristle with a length exceeding a preset length threshold, wherein, as shown in fig. 2, a mopping area is formed when the mopping assembly cleans, and the preset length threshold may be set as: the minimum distance from the rotation center of the side brush to the edge of the robot main body, thereby preventing the target brush from protruding out of the designated area during the traveling of the cleaning robot. It can be understood that the target bristles having a length exceeding the preset length threshold may protrude from the designated area, thereby affecting the beauty, and further controlling the target bristles to be confined in the designated area without limiting whether other bristles are confined in the designated area.
In the embodiment of the present application, when the number of the target bristles exceeding the preset length threshold is 1, the cleaning robot may control the target bristles to be in a designated region or a designated sub-region.
When the number of the target bristles (i.e. bristles having a length exceeding a preset length threshold) exceeds one, if an included angle between two of the target bristles is large, one of the target bristles may be limited in a designated area or a designated sub-area, but the other target bristle is outside the designated area or the designated sub-area, so that the target bristles outside the designated area pollute the area outside the designated sub-area, or the target bristles outside the designated sub-area affect the appearance, in order to ensure that the adverse effect of the target bristles is reduced to the maximum extent, the target included angle between the two farthest separated target bristles may be set to be less than or equal to a reference angle threshold, so that the two farthest separated target bristles are limited in the designated area or the designated sub-area, and the bristles between the two target bristles are also limited in the designated area or the designated sub-area, so that during the traveling process of the cleaning robot, it can be achieved that all target bristles do not protrude beyond the designated area or designated sub-area. In this way, the controller can control all of the target bristles to be confined to a designated area or a designated sub-area at the same time.
Optionally, the number of the target bristles is at least two, and a target included angle between two farthest target bristles is smaller than or equal to a reference angle threshold;
the designated sub-region includes a first intersection point and a second intersection point, a distance between the first intersection point and the center of rotation of the side brush assembly and a distance between the second intersection point and the center of rotation of the side brush assembly are equal to the length of the target bristle, and the reference angle threshold is: an included angle between a first connecting line from the first intersection point to the rotation center and a second connecting line from the second intersection point to the rotation center; alternatively, the first and second electrodes may be,
the robot body includes a first contour point and a second contour point, a distance between the first contour point and a rotation center of the side brush assembly and a distance between the second contour point and the rotation center of the side brush assembly are equal to a length of the target bristle, and the reference angle threshold is: and an included angle is formed between a third connecting line from the first contour point to the rotation center and a fourth connecting line from the second contour point to the rotation center.
In one possible embodiment, as shown in fig. 5, the designated sub-area is an area where an area between two tangents to the mopping area formed by the mopping assembly along the traveling direction of the cleaning robot coincides with the designated area, the designated sub-area includes a first intersection point P and a second intersection point Q, the first intersection point P is a contour point on the robot body, the Q is an intersection point on the tangents, a distance from the first intersection point to the rotation center O of the side brush assembly and a distance from the second intersection point to the rotation center of the side brush assembly are equal to the length L of the target bristle, and at this time, the reference angle threshold is: an angle θ between a first line connecting the first intersection point P to the rotation center O and a second line connecting the second intersection point Q to the rotation center O.
By controlling the target included angle between two target bristles which are farthest away to be smaller than the reference angle threshold value, all the target bristles can be limited on the inner side of the designated sub-region, and when the target bristles rotate, the target bristles cannot rotate to the outer side of the designated sub-region, so that pollution caused by the target bristles can be avoided, and the target bristles can be shown to be influenced in appearance.
In another possible embodiment, as shown in fig. 6, the cleaning robot includes a first contour point M and a second contour point N, and a distance from the first contour point M to the rotation center O of the side brush assembly and a distance from the second contour point N to the rotation center of the side brush assembly are equal to the length L of the target bristle. At this time, the reference angle threshold is: an angle theta between a first line connecting the first contour point M to the rotation center O and a second line connecting the second contour point N to the rotation center O. In this way, the reference angle threshold may be simply and rapidly determined according to the profile of the cleaning robot and the length of the target bristle.
By controlling the target included angle between the two target bristles which are farthest away to be smaller than the reference angle threshold value, all the target bristles can be limited at the inner side of the contour between the first contour point and the second contour point of the cleaning robot, when the bristles rotate, the bristles cannot rotate to the outer side of the contour between the first contour point and the second contour point, the bristles can be prevented from extending out of the outer side of the contour between the first contour point and the second contour point, and therefore the target bristles are prevented from influencing attractiveness.
Optionally, the controller, in the aspect of controlling the target bristles to rotate so that the target bristles are limited in the designated region or the designated sub-region, is specifically configured to:
detecting the position of the target bristles in real time;
when the target bristles are detected to rotate out of the designated area or the designated sub-area, the target bristles are controlled to rotate to the designated area or the designated sub-area.
In the specific implementation, as the cleaning robot moves, the target bristles randomly rotate along with the movement of the cleaning robot and extend out of the designated area or the designated sub-area, so that the positions of the target bristles can be detected in real time, whether the target bristles extend out of the designated area or the designated sub-area in the rotating process is detected, and when the target bristles are detected to rotate out of the designated area or the designated sub-area, the target bristles are controlled to rotate to the designated area or the designated sub-area in real time.
Optionally, for the purpose of accurately controlling the target bristles 22 to rotate to the designated area or the designated sub-area, the cleaning robot further includes a position detection sensor, and the controller is further configured to:
and judging whether the target bristles rotate out of the designated area or the designated sub-area according to the sensing signals detected by the position detection sensor.
In an alternative embodiment, the position detecting sensor 5 may be specifically located near the side brush assembly 2, and directly detect the position of the target bristles, that is, determine whether the target bristles are sensed to enter or rotate out of the sensing region thereof, and determine whether the bristles are confined to the designated region or the designated sub-region by determining whether the target bristles enter or rotate out of the sensing region thereof, for example, the sensing region of the position detecting sensor may be set at a position, and when the position detecting sensor detects that the target bristles enter the sensing region thereof, it may be determined that the target bristles are not confined to the designated region or the designated sub-region, and further, the rotation of the bristles may be controlled, so that whether the target bristles are confined to the designated region or the designated sub-region may be detected in real time, and when the target bristles are not confined to the designated region or the designated sub-region, the rotation of the target bristles to the designated region or the designated sub-region may be controlled in real time, the target bristles can not cause pollution or influence the appearance of the designated subarea in the moving process of the cleaning robot.
Optionally, in another alternative embodiment, referring to fig. 7, the cleaning robot further includes an encoder disk 6. One end of the output shaft is connected with the coding disc 6, and the other end of the output shaft 21 is connected with the target bristles 22; the position detection sensor 5 is arranged on one side of the cleaning robot close to the coding disc 6; the output shaft 21 is used for driving the coding disc 6 and the target bristles to rotate simultaneously; in the aspect of determining whether the target bristles are rotated out of the designated region or the designated sub-region according to the sensing signal detected by the position detection sensor, the controller is specifically configured to:
in the process that the coding disc and the bristles rotate simultaneously, the position information of the coding disc entering or rotating out of the sensing area is determined according to the sensing signal detected by the position detection sensor;
and judging whether the target bristles are rotated out of the designated area or the designated sub-area according to the position information of the code disc entering or rotating out of the sensing area.
Specifically, referring to the top view of the side brush assembly 2 shown in fig. 7 and the cross-sectional view of the side brush assembly 2 shown in fig. 8, the output shaft 21 and the target bristles 22 rotate simultaneously, the output shaft 21 drives the encoding disk 6 and the target bristles 22 to rotate, and the encoding disk 6 passes through the sensing area of the position detection sensor 5 during the rotation process, so that the signal of the position detection sensor 5 is interrupted; when the encoder disk 6 is separated from the sensing area of the position detecting sensor 5, the position detecting sensor 5 can detect the sensing signal. Therefore, the encoding disc 6 can be determined to enter or rotate out of the sensing area according to the sensing signal detected by the position detection sensor 5, and then the rotation angle of the encoding disc 6 can be determined, the rotation angle can represent the position to which the encoding disc 6 rotates, and then the target bristles 22 rotating simultaneously with the encoding disc 6 can be determined to which position relative to the robot main body 1 or the driving wheel 4 according to the fixing structure and the installation position of the side brush assembly 2.
Optionally, the position detection sensor is a U-shaped sensor; in the aspect of determining whether the target bristles are rotated out of the designated region or the designated sub-region according to the position information of the code wheel entering or rotating out of the sensing region, the controller is specifically configured to:
if the position information is that the coding disc enters the induction area, judging that the target bristles are rotated out of the designated area or the designated subarea; alternatively, the first and second electrodes may be,
and if the position information indicates that the coding disc is rotated out of the induction area, judging that the target bristles are rotated out of the designated area or the designated subarea.
Specifically, by setting the position of the U-shaped sensor, the two different schemes can be implemented. In one example, the position of the U-shaped sensor may be set, so that when the target bristles rotate to another region, the code disc rotates to the sensing region of the U-shaped sensor, so that if the position information determined by the sensing signal detected by the position detection sensor 5 is entering the sensing region, it may be determined that the target bristles rotate to the designated region or another region other than the designated sub-region, and further, the brush may be controlled to rotate to the designated region or the designated sub-region, so that it may be detected in real time whether the target bristles rotate to another region along with the movement of the robot during the movement of the robot, and the target bristles transferred to another region may be adjusted to the designated region or the designated sub-region in real time.
In another example, the position of the U-shaped sensor may be set, so that when the target bristles rotate to another region, the encoding disc rotates out of the sensing region of the U-shaped sensor, so that if the position information determined by the sensing signal detected by the position detection sensor 5 is the rotated-out sensing region, it may be determined that the target bristles rotate to another region in the rotatable space except the designated region or the designated sub-region, and further, the target bristles may be controlled to rotate to the designated region or the designated sub-region, so that it may be detected in real time whether the target bristles shake to another region along with the movement of the robot during the movement of the robot, and the brushes transferred to the other region may be adjusted to the designated region or the designated sub-region in real time.
Therefore, the special structure of the U-shaped sensor is utilized, the difficulty in identifying the rotating position can be effectively reduced, the calculated amount is reduced, and the calculating efficiency and the accuracy are improved.
In practical applications, the position detecting sensor 5 may be a ground-detecting sensor, a TOF (Time of Flight) sensor, a photoelectric sensor, or a hall sensor, which is not limited in this respect.
Optionally, the controller is further configured to:
controlling the orientation of the target bristles to be not in accordance with the traveling direction of the cleaning robot.
When the target bristles are limited in the designated area or the designated sub-area in the air, if the direction of the target bristles is the traveling direction of the cleaning robot, the bristles may rub against the ground to damage the bristles, so that the direction of the target bristles may be controlled to be inconsistent with the traveling direction of the cleaning robot.
In specific implementation, the position of the target bristles can be controlled to limit the target bristles in a limit area which is not consistent with the traveling direction in a designated area or a designated sub-area, for example, the target bristles can be controlled to rotate only in the limit area or the designated sub-area, or the target bristles are controlled to be fixed in the limit area and not to rotate; or, when the target bristles are detected to rotate to the advancing direction, the target bristles are controlled to rotate to the limiting area, so that the orientation of the target bristles is not consistent with the advancing direction of the cleaning robot on the premise that the target bristles are limited in the designated area, and therefore the bristles can be prevented from being damaged due to friction between the target bristles and the cleaning surface in the advancing process of the cleaning robot.
Based on the same conception, the embodiment of the invention provides a brush hair control method, which is applied to the cleaning robot, wherein the cleaning robot comprises an edge brush assembly, and the method comprises the following steps: controlling the target bristles of the side brush component to be limited in a designated area;
the designated area is a projection area of the robot main body on a horizontal plane;
the target bristles are bristles with lengths exceeding a preset length threshold value, and the preset length threshold value is the minimum distance from the rotating center of the side brush to the edge of the robot main body.
In the specific implementation, the target bristles are bristles with the length exceeding a preset length threshold value, the preset length threshold value is the minimum distance from the rotation center of the side brush to the edge of the robot main body, the target bristles can extend out of the designated area, the designated area is the projection area of the robot main body on the horizontal plane, and when the cleaning robot moves, the target bristles extending out of the designated area affect attractiveness, so that the target bristles of the side brush assembly can be limited in the designated area, and the target bristles can be prevented from extending out of the cleaning robot to affect attractiveness.
Optionally, the side brush assembly may include non-target bristles of other lengths in addition to the target bristles longer than the predetermined length threshold, which is not limited in this application.
Optionally, the cleaning robot further includes a mopping assembly, the designated area includes a designated sub-area, and the designated sub-area is an area where an area between two tangent lines along a traveling direction of the cleaning robot, which are tangent to the mopping area formed by the mopping assembly, coincides with the designated area.
In specific implementation, in the moving process of the cleaning robot, the side brush assembly is in front of the cleaning robot, the mopping assembly is behind the cleaning robot, and the area in the designated sub-area, which is contacted by the side brush assembly, can be cleaned by the mopping assembly in time, but the target bristles of the side brush assembly extend out of the designated sub-area, so that the area outside the designated sub-area is possibly polluted, and the mopping assembly cannot be cleaned immediately, so that the target bristles of the side brush assembly can be controlled to be limited in the designated sub-area; therefore, the area outside the designated area is not polluted, and the robot body does not extend out of the projection area of the horizontal plane, so that the appearance is not influenced.
Optionally, the designated region includes a designated sub-region, and the target bristles controlling the edge brush assembly are limited in the designated region, including:
controlling the target bristles to rotate or translate so that the target bristles are limited in the designated area or the designated sub-area;
the designated sub-area is an area which is formed by the mopping assembly and is overlapped with the designated area, and the area between two tangent lines along the traveling direction of the cleaning robot is tangent to the mopping area.
The target bristles are controlled to rotate or translate, so that the target bristles are limited in a designated area or a designated sub-area, and the target bristles are limited in the designated sub-area through control, so that the area outside the designated area is not polluted, and the target bristles cannot extend out of a projection area of the robot main body on the horizontal plane, and the attractiveness is affected.
In specific implementation, the target bristles can be controlled to be limited in the designated area or the designated sub-area after being controlled to rotate to the designated area or the designated sub-area, so that the target bristles do not extend out of the designated area or the designated sub-area, for example, the target bristles can be controlled to rotate to the designated area or the designated sub-area, and then the target bristles are fixed in the designated area or the designated sub-area, or the target bristles are controlled to be in the designated area or the designated sub-area and do not rotate out of the designated area.
The side brush assembly can also be controlled to translate, in particular, to translate towards the inner side of the designated area or the designated sub-area, so that the target bristles move into the designated area or the designated sub-area.
Optionally, the designated area or the designated sub-area does not include the position of the driving wheel.
The designated area does not include the position of the driving wheel, and the driving wheel is excluded from the designated area, so that the situation that the driving wheel presses the target bristles can be avoided.
When the side brush component comprises a plurality of bristles with different lengths, the long bristles with the lengths exceeding a preset length threshold value can be selected as target bristles, a mopping area is formed when the mopping component cleans, and the preset length threshold value can be set as: the minimum distance from the rotation center of the side brush to the edge of the robot main body, thereby preventing the target brush from protruding out of the designated area during the traveling of the cleaning robot. It can be understood that the target bristles having a length exceeding the preset length threshold may protrude from the designated area, thereby affecting the beauty, and further controlling the target bristles to be confined in the designated area without limiting whether other bristles are confined in the designated area.
In the embodiment of the present application, when the number of the target bristles exceeding the preset length threshold is 1, the cleaning robot may control the target bristles to be in a designated region or a designated sub-region.
When the number of the target bristles (i.e. bristles having a length exceeding a preset length threshold) exceeds one, if an included angle between two of the target bristles is large, one of the target bristles may be limited in a designated area or a designated sub-area, but the other target bristle is outside the designated area or the designated sub-area, so that the target bristles outside the designated area pollute the area outside the designated sub-area, or the target bristles outside the designated sub-area affect the appearance, in order to ensure that the adverse effect of the target bristles is reduced to the maximum extent, the target included angle between the two farthest separated target bristles may be set to be less than or equal to a reference angle threshold, so that the two farthest separated target bristles are limited in the designated area or the designated sub-area, and the bristles between the two target bristles are also limited in the designated area or the designated sub-area, so that during the traveling process of the cleaning robot, it can be achieved that all target bristles do not protrude beyond the designated area or designated sub-area. In this way, the controller can control all of the target bristles to be confined to a designated area or a designated sub-area at the same time.
Optionally, the number of the target bristles is at least two, and a target included angle between two farthest target bristles is smaller than or equal to a reference angle threshold;
in one possible embodiment, the designated sub-region includes a first intersection point and a second intersection point, a distance between the first intersection point and the rotation center of the side brush assembly and a distance between the second intersection point and the rotation center of the side brush assembly are equal to the length of the target bristle, and the reference angle threshold is: an included angle between a first connecting line from the first intersection point to the rotation center and a second connecting line from the second intersection point to the rotation center;
by controlling the target included angle between two target bristles which are farthest away to be smaller than the reference angle threshold value, all the target bristles can be limited on the inner side of the designated sub-region, and when the target bristles rotate, the target bristles cannot rotate to the outer side of the designated sub-region, so that pollution caused by the target bristles can be avoided, and the target bristles can be shown to be influenced in appearance.
Alternatively, the first and second electrodes may be,
in another possible embodiment, the robot body includes a first contour point and a second contour point, a distance between the first contour point and the rotation center of the side brush assembly and a distance between the second contour point and the rotation center of the side brush assembly are equal to a length of the target bristle, and the reference angle threshold is: and an included angle is formed between a third connecting line from the first contour point to the rotation center and a fourth connecting line from the second contour point to the rotation center.
By controlling the target included angle between the two target bristles which are farthest away to be smaller than the reference angle threshold value, all the target bristles can be limited at the inner side of the contour between the first contour point and the second contour point of the cleaning robot, when the bristles rotate, the bristles cannot rotate to the outer side of the contour between the first contour point and the second contour point, the bristles can be prevented from extending out of the outer side of the contour between the first contour point and the second contour point, and therefore the target bristles are prevented from influencing attractiveness.
Optionally, the controlling the target bristles to rotate to limit the target bristles to the designated area or the designated sub-area includes:
detecting the position of the target bristles in real time;
when the target bristles are detected to rotate out of the designated area or the designated sub-area, the target bristles are controlled to rotate to the designated area or the designated sub-area.
In specific implementation, as the cleaning robot moves, the target bristles randomly rotate along with the movement of the cleaning robot and extend out of the designated area or the designated sub-area, so that the positions of the target bristles can be detected in real time, whether the target bristles extend out of the designated area or the designated sub-area in the rotating process is detected, and when the target bristles are detected to rotate out of the designated area or the designated sub-area, the target bristles are controlled to rotate to the designated area or the designated sub-area in real time.
In order to achieve the purpose of accurately controlling the target bristles to rotate to the designated area or the designated sub-area, the embodiment of the invention further comprises a position detection sensor, and the controller is further configured to: and judging whether the target bristles of the side brush assembly rotate out of the designated area or the designated sub-area according to the sensing signals detected by the position detection sensor.
Optionally, the position detecting sensor may be specifically located near the side brush assembly, and directly detect the position of the target bristles, that is, determine whether the target bristles are sensed to enter or exit the sensing region thereof, and determine whether the bristles are limited to the designated region or the designated sub-region by determining that the target bristles enter or exit the sensing region thereof, for example, the sensing region of the position detecting sensor may be set at a position, when the position detecting sensor detects that the target bristles enter the sensing region thereof, it may be determined that the target bristles are not limited to the designated region or the designated sub-region, and further, the rotation of the bristles may be controlled, so that whether the target bristles are limited to the designated region or the designated sub-region may be detected in real time, and when the target bristles are not limited to the designated region or the designated sub-region, the target bristles may be controlled to rotate to the designated region or the designated sub-region in real time, so that the target bristles move in the cleaning robot, the designated subareas are not polluted or the appearance is not influenced.
Optionally, the cleaning robot further comprises a code wheel. One end of the output shaft is connected with the coding disc, and the other end of the output shaft is connected with the target bristles; the position detection sensor is arranged on one side, close to the coding disc, of the cleaning robot; the output shaft is used for driving the coding disc and the target bristles to rotate simultaneously;
in the aspect of determining whether the target bristles are rotated out of the designated region or the designated sub-region according to the sensing signal detected by the position detection sensor, the controller is specifically configured to:
in the process that the coding disc and the bristles rotate simultaneously, the position information of the coding disc entering or rotating out of the sensing area is determined according to the sensing signal detected by the position detection sensor;
and judging whether the target bristles are rotated out of the designated area or the designated sub-area according to the position information of the code disc entering or rotating out of the sensing area.
Specifically, the output shaft and the target bristles rotate simultaneously, the output shaft drives the coding disc and the target bristles to rotate, and the coding disc passes through a sensing area of the position detection sensor in the rotating process to interrupt signals of the position detection sensor; when the code wheel leaves the sensing area of the position detection sensor, the position detection sensor can detect the sensing signal. Therefore, the encoding disc can be determined to enter or roll out of the sensing area according to the sensing signal detected by the position detection sensor, the rotating angle of the encoding disc can be determined, the rotating angle can represent the position to which the encoding disc rotates, and the target bristles rotating simultaneously with the encoding disc are determined to rotate to which position relative to the robot main body or the driving wheel according to the fixing structure and the mounting position of the side brush assembly.
Optionally, the position detection sensor is a U-shaped sensor.
In the aspect of determining whether the target bristles are rotated out of the designated region or the designated sub-region according to the position information of the code wheel entering or rotating out of the sensing region, the controller is specifically configured to:
if the position information is that the coding disc enters the induction area, judging that the target bristles are rotated out of the designated area or the designated subarea; alternatively, the first and second electrodes may be,
and if the position information indicates that the coding disc is rotated out of the induction area, judging that the target bristles are rotated out of the designated area or the designated subarea.
Specifically, by setting the position of the U-shaped sensor, the two different schemes can be implemented. In one example, the position of the U-shaped sensor may be set, so that when the target bristles rotate to another region, the encoding disc rotates to the sensing region of the U-shaped sensor, so that if the position information determined by the sensing signal detected by the position detection sensor is entering the sensing region, it may be determined that the target bristles rotate to another region other than the designated region, and further, the brush may be controlled to rotate to the designated region or the designated sub-region, so that it may be detected in real time whether the target bristles rotate to another region along with the movement of the robot during the movement of the robot, and the target bristles transferred to another region may be adjusted to the designated region or the designated sub-region in real time.
In another example, the position of the U-shaped sensor may be set, so that when the target bristles rotate to another region, the encoding disc rotates out of the sensing region of the U-shaped sensor, so that if the position information determined by the sensing signal detected by the position detection sensor is the rotated-out sensing region, it may be determined that the target bristles rotate to another region in the rotatable space except the designated region, and further, the target bristles may be controlled to rotate to the designated region or the designated sub-region, so that it may be detected in real time whether the target bristles shake to another region along with the movement of the robot in the moving process of the robot, and the brushes transferred to the other region may be adjusted to the designated region or the designated sub-region in real time.
Therefore, the special structure of the U-shaped sensor is utilized, the difficulty in identifying the rotating position can be effectively reduced, the calculated amount is reduced, and the calculating efficiency and the accuracy are improved.
In practical applications, the position detecting sensor may be a ground-detecting sensor, a TOF (Time of Flight) sensor, a photoelectric sensor, or a hall sensor, which is not limited in this respect.
Optionally, the method further includes:
controlling the orientation of the target bristles to be not in accordance with the traveling direction of the cleaning robot.
When the target bristles are limited in the designated area or the designated sub-area in the air, if the direction of the target bristles is the traveling direction of the cleaning robot, the bristles may rub against the ground to damage the bristles, so that the direction of the target bristles may be controlled to be inconsistent with the traveling direction of the cleaning robot.
In specific implementation, the position of the target bristles can be controlled, so that the target bristles are limited in a limit area which is not consistent with the traveling direction in a designated area or a designated sub-area, for example, the target bristles can be controlled to rotate only in the limit area, or the target bristles are controlled to be fixed in the limit area and not to rotate; or, when the target bristles are detected to rotate to the advancing direction, the target bristles are controlled to rotate to the limiting area, so that the orientation of the target bristles is not consistent with the advancing direction of the cleaning robot on the premise that the target bristles are limited in the designated area, and therefore the bristles can be prevented from being damaged due to friction between the target bristles and the cleaning surface in the advancing process of the cleaning robot.
An embodiment of the present invention further provides a bristle control device, which is applied to any one of the above cleaning robots, wherein the cleaning robot includes an edge brush assembly, and the bristle control device includes:
the control unit is used for controlling the limit of the target bristles of the side brush component in a designated area;
the designated area is a projection area of the robot main body on a horizontal plane;
the target bristles are bristles with lengths exceeding a preset length threshold value, and the preset length threshold value is the minimum distance from the rotation center of the side brush to the edge of the robot body.
Based on the same conception, the embodiment of the invention provides a computer-readable storage medium, wherein at least one instruction is stored in the storage medium, and the instruction is loaded and executed by a processor to realize the brushing method provided by the embodiment of the invention.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (12)

1. A cleaning robot, characterized by comprising:
a robot main body;
the side brush assembly is arranged on the robot main body;
the controller is arranged on the robot main body and used for controlling the target bristles of the side brush assembly to be limited in a designated area;
the designated area is a projection area of the robot main body on a horizontal plane;
the target bristles are bristles with lengths exceeding a preset length threshold value, and the preset length threshold value is the minimum distance from the rotating center of the side brush to the edge of the robot main body.
2. The cleaning robot of claim 1, further comprising a mopping assembly, the designated area comprising a designated sub-area;
the designated sub-area is an area which is formed by the mopping assembly and is overlapped with the designated area, and the area between two tangent lines along the traveling direction of the cleaning robot is tangent to the mopping area.
3. A cleaning robot as claimed in claim 1 or 2, wherein the designated area comprises a designated sub-area, the controller being particularly adapted to, in respect of the control of the target bristles of the edge brush assembly to be confined to the designated area:
and controlling the target bristles to rotate or translate so that the target bristles are limited in the designated area or the designated sub-area.
4. A cleaning robot as claimed in claim 3, wherein the controller, in said controlling the target bristles to rotate so that the target bristles are confined to the designated area or the designated sub-area, is specifically configured to:
detecting the position of the target bristles in real time;
when the target bristles are detected to rotate out of the designated area or the designated sub-area, the target bristles are controlled to rotate to the designated area or the designated sub-area.
5. The cleaning robot of claim 4, further comprising a position detection sensor, the controller being further configured to:
and judging whether the target bristles rotate out of the designated area or the designated sub-area according to the sensing signals detected by the position detection sensor.
6. The cleaning robot as claimed in claim 5, further comprising an output shaft and a code wheel, wherein one end of the output shaft is connected to the code wheel, and the other end of the output shaft is connected to the target bristles; the position detection sensor is arranged on one side, close to the coding disc, of the cleaning robot; the output shaft is used for driving the coding disc and the target bristles to rotate simultaneously;
in the aspect of determining whether the target bristles are rotated out of the designated region or the designated sub-region according to the sensing signal detected by the position detection sensor, the controller is specifically configured to:
in the process that the coding disc and the target bristles rotate simultaneously, determining the position information of the coding disc entering or rotating out of the sensing area according to the sensing signal detected by the position detection sensor;
and judging whether the target bristles are rotated out of the designated area or the designated sub-area according to the position information of the code disc entering or rotating out of the sensing area.
7. The cleaning robot according to claim 6, wherein the position detection sensor is a U-shaped sensor; at the placeThe above-mentionedJudging whether the target bristles are rotated out of the designated area or the designated sub-area according to the position information of the code disc entering or rotating out of the sensing area, wherein the controller is specifically configured to:
if the position information is that the coding disc enters the induction area, judging that the target bristles are rotated out of the designated area or the designated subarea; alternatively, the first and second electrodes may be,
and if the position information indicates that the coding disc is rotated out of the induction area, judging that the target bristles are rotated out of the designated area or the designated subarea.
8. The cleaning robot according to claim 2, wherein the number of the target bristles is at least two, and a target included angle between two of the target bristles that are farthest apart is less than or equal to a reference angle threshold value;
the designated sub-region includes a first intersection point and a second intersection point, a distance between the first intersection point and the center of rotation of the side brush assembly and a distance between the second intersection point and the center of rotation of the side brush assembly are equal to the length of the target bristle, and the reference angle threshold is: an included angle between a first connecting line from the first intersection point to the rotation center and a second connecting line from the second intersection point to the rotation center; alternatively, the first and second electrodes may be,
the robot body includes a first contour point and a second contour point, a distance between the first contour point and a rotation center of the side brush assembly and a distance between the second contour point and the rotation center of the side brush assembly are equal to a length of the target bristle, and the reference angle threshold is: and an included angle is formed between a third connecting line from the first contour point to the rotation center and a fourth connecting line from the second contour point to the rotation center.
9. The cleaning robot of claim 1, wherein the controller is further configured to:
controlling the orientation of the target bristles to be not in accordance with the traveling direction of the cleaning robot.
10. A brush control method applied to a cleaning robot according to any one of claims 1 to 9, the cleaning robot including an edge brush assembly, the method comprising:
controlling the target bristles of the side brush component to be limited in a designated area;
the designated area is a projection area of the robot main body on a horizontal plane;
the target bristles are bristles with lengths exceeding a preset length threshold value, and the preset length threshold value is the minimum distance from the rotating center of the side brush to the edge of the robot main body.
11. A brush control device applied to a cleaning robot according to any one of claims 1 to 9, the cleaning robot including an edge brush assembly, the brush control device comprising:
the control unit is used for controlling the limit of the target bristles of the side brush component in a designated area;
the designated area is a projection area of the robot main body on a horizontal plane;
the target bristles are bristles with lengths exceeding a preset length threshold value, and the preset length threshold value is the minimum distance from the rotating center of the side brush to the edge of the robot main body.
12. A computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the bristle control method of claim 10.
CN202111116086.0A 2021-09-23 2021-09-23 Cleaning robot, bristle control method and device thereof, and computer storage medium Active CN113974505B (en)

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CN202111116086.0A CN113974505B (en) 2021-09-23 2021-09-23 Cleaning robot, bristle control method and device thereof, and computer storage medium
EP24164672.8A EP4368092A2 (en) 2021-09-23 2022-09-15 Cleaning robot, bristle control method and device, and computer storage medium
PCT/CN2022/119132 WO2023045832A1 (en) 2021-09-23 2022-09-15 Cleaning robot, bristle control method and device, and computer storage medium
EP22789834.3A EP4247227B1 (en) 2021-09-23 2022-09-15 Cleaning robot, bristle control method and device, and computer storage medium
US18/344,890 US11889971B2 (en) 2021-09-23 2023-06-30 Cleaning robot, bristle control method and device, and computer storage medium

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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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