CN105138015A - Intelligent flying robot having high-rise building cleaning function - Google Patents
Intelligent flying robot having high-rise building cleaning function Download PDFInfo
- Publication number
- CN105138015A CN105138015A CN201510643745.4A CN201510643745A CN105138015A CN 105138015 A CN105138015 A CN 105138015A CN 201510643745 A CN201510643745 A CN 201510643745A CN 105138015 A CN105138015 A CN 105138015A
- Authority
- CN
- China
- Prior art keywords
- main body
- cleaning
- clean
- robot
- module
- 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
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to the robot cleaning field, particularly to an intelligent flying robot having a high-rise building cleaning function. The intelligent flying robot comprises a host body and a monitoring terminal. The host body mainly consists of a sensing control module, a cleaning machine module, a flying machine system, and a wireless communication module; and the host body transmits information to a cloud server by the wireless communication module. An authorized computer or mobile phone can be used as monitoring terminal. After the monitoring terminal sets a target building, the rest of cleaning work is completed by the host body automatically. Because of the flying machine structure, cleaning work of complex surfaces like a window, a frame and an arc surface at any height can be completed basically. A camera is used by the robot to identify wall material information so as to complete the cleaning work by using an optimum cleaning way. According to the invention, the intelligence degree is high; the operation is convenient; and the flying robot can be used for replacing a worker like a spider man to complete dangerous work high above the work.
Description
Technical field
The present invention relates to robot cleaner field, be specifically related to a kind of Intelligent flight robot clean for high-rise building flooring.
Background technology
Current social high building stands in great numbers but how to clean these skyscraper is the problem allowing people have a headache all the time, present solution mainly manually cleans, namely complete so high-risk work by so-called " spider-man ", the accident caused the thus tragedy such as to fall down from the building also constantly is showed.Although also there is a small amount of cleaning glass machine people now but the following shortcoming of ubiquity cannot by large-scale application.Clean on the glass surface that existing clean robot mainly adopts the mode of negative-pressure vacuum sucker to be attached to high building, its shortcoming is that metope structure bad adaptability can only clean pure flat surface, and the coarse metope for non-glass material cannot adsorb thus cannot complete cleaning.As application number: the invention of 201220509775.8.Also have partial high-level building clean robot to adopt the form of stay cord or auxiliary support bar to allow robot complete cleaning in horizon range, also there is the problem that can not clean superelevation building in its shortcoming except cannot tackling the metope of border structure.As application number: the invention of 200910058652.X.Therefore existing clean robot exist be suitable for ability, complicated operation, efficiency lower, cannot the shortcomings such as cleaning be completed for the building as Dubai or mansion, international financial center.
Summary of the invention
For solving prior art Problems existing, the invention discloses a kind of high-altitude Intelligent cleaning robot adopting Flight Vehicle Structure, after setting by ground control centre the skyscraper needing to clean, automatic flight to target structures coordinates self-sensor device automatically to complete metope cleaning, automatically make a return voyage and await orders, simultaneously ground Surveillance center also can remote real-time monitoring clean robot, can assist cleaning for surface to be cleaned complicated especially by staff.The invention solves existing robot metope bad adaptability, obstacle climbing ability is limited, superelevation building cannot clean, operate the problems such as inconvenience.
Technical matters to be solved of the present invention is achieved by the following technical solution:
A kind of Intelligent flight robot with high-rise building cleaning function of the present invention, comprise main body and monitoring client, cleaner module, aerocraft system, wireless communication module that described main body mainly comprises sensing control module and is connected with sensing control module.Described sensing control module is mainly used in Intelligent Recognition target and cleans the clean track of face, automatically planning, controls cleaner module; Described cleaner module is used for cleaning workplace dirt; Described aerocraft system is used for load main body to workplace, performs the flight orders that sensing control module sends; Described wireless communication module is used for the state parameter information of main body as the image information of camera collection in co-ordinate position information, sensing control module is sent to Surveillance center.
Described monitoring client is for monitoring the duty of main body, and for main body setting needs clean target, when main body has emergency case, monitoring client artificially can manipulate main body, avoids main body to meet accident.The topological structure of monitoring client is versatile and flexible, can build according to actual needs.It can be the land station's monitoring host computer be directly connected with wireless communication module; Also can be server client framework, main body passes through wireless communication module transmission information to cloud server, through authorizing the computer of addressable described cloud server or mobile phone all can use as monitor terminal, greatly facilitate the monitoring to clean robot.
The present invention has following beneficial effect:
A kind of Intelligent flight robot with high-rise building cleaning function of the present invention, owing to adopting Flight Vehicle Structure substantially can realize cleaning any metope of arbitrary height, substitutes " spider-man " and completes high-altitude dangerous work.Compared with existing building wall surface cleaner device people, convenience: as long as Surveillance center determines the geographic coordinate in target building, remaining cleaning automatically completes.Clean scope: compare stay cord, establish the existing clean robots such as auxiliary support bar, the present invention is except completing shorter floor, the better simply floor in surface carries out outside cleaning, can also to superelevation building, and there is window on surface, has frame, has the complex surfaces such as cambered surface to clean.Cleaned surperficial adaptability: with can only the smooth surface such as cleaning glass vacuum adsorption type principle high-altitude robot compared with, these building clean robot almost can clean the metope of any material, best cleaning mode can be adopted further to complete cleaning by camera sensing device identification metope material information simultaneously.
Accompanying drawing explanation
Fig. 1 is that a kind of Intelligent flight robot specific embodiment one clean for high-rise building flooring of the present invention illustrates theory structure block diagram;
Fig. 2 is monitoring client of the present invention another kind of topological structure signal theory diagram;
Fig. 3 is the front elevation of a kind of example of main body of the present invention;
Fig. 4 is the side view of a kind of example of main body of the present invention;
Fig. 5 is the vertical view of a kind of example of main body of the present invention;
Fig. 6 is the schematic perspective view of a kind of example of main body of the present invention;
Fig. 7 is the camera identification target structures feature angle point schematic side view on main body of the present invention;
Fig. 8 is the camera identification target structures feature angle point front elevational schematic on main body of the present invention;
Fig. 9 is the navigational logic district schematic diagram of main body camera imaging panel of the present invention for vectored flight device;
Reference numeral:
1. sensing control module 2. aerocraft system 3. cleaner module 4. wireless communication module.
Embodiment
Below in conjunction with accompanying drawing, also by best embodiment, the present invention is described in detail.
Consult Fig. 1-Fig. 9, a kind of Intelligent flight robot with high-rise building cleaning function, comprise main body and monitoring client, cleaner module, aerocraft system, wireless communication module that described main body mainly comprises sensing control module and is connected with sensing control module.
Described sensing control module mainly comprises core controller, and be connected with core controller touch sensor and non-contacting sensor, and described non-contacting sensor can be camera sensing device, ultrasonic sensor.Described camera sensing device is used for image acquisition, the identification of cleaned Facing material and target structures feature corner recognition.Cleaned Facing material identification support expansion, in the inner building Facing material information that storage area is common of clean robot, when cleaning machine man-hour, after interior contrast analysis, judge that whether current material is consistent with the material identified by the image information of camera collection, if consistent, exported the signal of corresponding cleaning mode by core controller, if inconsistent, feedback information is to Surveillance center, set corresponding cleaning mode by operating personnel and stored in material Sample Storehouse, thus realize the expansion of cleaned Facing material identification.Target structures feature corner recognition for determining that surface to be cleaned needs the reference position starting at first to clean, for the wall covering surface in later stage is prepared by set path is clean.Detailed process is as follows: when clean flying robot arrives near target building, camera starts to scan surrounding environment, after matching target building, confirm position, target building and control aerocraft system to fly to correct position to obtain the profile information of target building one side, obtaining surface, building top left corner apex by image procossing is unique point, task be below exactly flight to this unique point be specifically cleaning and prepare below.Aerocraft system makes building unique point x be imaged onto in the X region in imaging panel navigational logic district of aircraft according to the output control attitude of flight vehicle of image procossing.Described navigational logic district can consult shown in Fig. 9 for ease of describing, when aerocraft system approaches to target building, if flight departs from, unique point x picture point corresponding in camera will be caused to exceed navigational logic district X scope, and picture point may go to A, B, C, D, E, F, G, H region.When picture point moves on to a-quadrant, core controller provides the signal that aerocraft system flies left, makes aircraft get back to correct position; When picture point moves on to B region, core controller provides the signal that aerocraft system upwards flies, and makes aircraft get back to correct position; When picture point moves on to F region, core controller provides the signal that aerocraft system flies to the upper left corner, makes aircraft get back to correct position; Similar, when picture point flies to other regions such as C, D, core controller provides corresponding control signal makes aircraft get back to correct position.Controlling clean robot flight by such closed-loop system prepares clean to flooring upper left corner unique point unlatching cleaner module.When clean robot press close to wall start cleaning operation time, described ultrasonic sensor is used for the distance accurately measured between the two, core controller accepts the signal that sensor transmits, and exports useful signal control aircraft and fly by the track of setting after inter-process.
As preferably, described aerocraft system can be that Multi-axis aircraft mainly comprises and flies control, electricity tune, motor, blade, frame.Described fly control inner integrated sensors as: three axis accelerometer, three-axis gyroscope, electronic compass, barometer etc., steadily normally work for controlling aircraft each motor coordination guarantee of work flight system.Core controller is controlled with flying in aerocraft system specifically and is connected, and provides flight attitude signal.
Described cleaner module, is characterized in that the clean required pressure perpendicular to cleaned surface is provided by the high speed propeller of in cleaner module, i.e. pressure self-balancing structure.Cleaner module is for different workplaces, and described screw propeller rotates with different rotating speeds thus produces different pressure, to reach best cleaning effect.Concrete, cleaner module mainly comprises: screw propeller, brushless electric machine, electricity tune, pressure transducer, burnisher; Described screw propeller is connected with brushless electric machine, and brushless electric machine and electric phase modulation connect, and electricity mediation pressure transducer is connected with core controller.After imageing sensor judges which kind of material work at present face is, core controller arranges pressure required when burnisher cleans, pressure transducer detects the pressure between current burnisher and workplace, when lower than required force value, core controller controls motor and revs up, to reach required pressure, thus realize pressure self-balancing and do not affect aerocraft system.As preferably, the combination that described burnisher can adopt rotating roller brush configuration and limit to brush.
As preferably, described wireless communication module can be that figure passes, number passes, the combination of the multi-form wireless telecommunications information transmission such as 3G network, the view data of working status parameter current for Intelligent cleaning robot and collection is mainly used in be sent to land station or cloud server with wireless form, monitor staff is facilitated to understand the parameter of clean on-the-spot situation and clean robot self, in clean clean face complicated especially or under having the unexpected situation of burst, operating personnel can participate in auxiliary assistance and control, ensure completing smoothly and the inherently safe of clean robot of cleaning.
Described monitoring client can realize with different topological structures as required in real work, in the implementation case, cloud server accepts the information that clean robot is transmitted by 3G network, ground monitoring center is networking or the computer plugging wireless network transceiver module, time within operating distance at radio receiving transmitting module of the distance of clean robot and described Surveillance center, the computer of Surveillance center directly by wireless network transceiver module monitoring clean robot, also can log in cloud server thus monitoring clean robot.Install the corresponding monitoring software of this clean robot in described computer, described monitoring software also has mobile phone mobile terminal version, can by installing the monitoring of described monitoring software realization to clean robot at mobile phone terminal.
Below the concrete using method of the present invention is elaborated.
Full-automatic clean for realizing, when needs clean a Zuo Xin building, need to complete operation to new building information input database through following 3 steps:
1. remote manual control is cleaned flying robot and is scanned building, and collect building appearance images information, this information will be used for when flying robot arrives near target building, and the identification of flying robot's Auto-matching needs the building cleaned;
2. above-mentioned building appearance images information also comprises building Facing material information, for the cleaning mode that new material needs setting corresponding, if building Facing material is that this step can be ignored stored in the common material in clean flying robot;
3. obtain building geographic coordinate information so that aircraft flies near destination automatically.
For the building of input database, only need in Surveillance center for clean flying robot selects specifically to clean target, clean robot flies target building automatically, with the upper left corner of building one side for point of penetration, open cleaner module and start cleaning operation, the simultaneously distance in the real-time sense aircraft of ultrasonic sensor and clean face, regardless of the structure of metope, how how uneven complexity is, and aerocraft system can keep aircraft and surface to be cleaned all the time in work safety distance threshold; The state information parameters of the image of working site surface to be cleaned and clean robot self is sent to Surveillance center by wireless network transmission module while cleaning operation.
The default movement path set in clean robot program as moving from top to bottom from the workplace upper left corner, during to workplace bottom boundary, fly to the top certain distance that then moves to right again and complete a period of motion, constantly what this cycle of circulation realize cleaning this workplace from.For reaching best cleaning effect, best cleaning path can be formulated according to the flexible structure on surface, building.Based on the Flight Vehicle Structure clean robot of image recognition, the pattern that the region that only exceedes certain threshold value to dirt is cleaned can be operated in, the clean robot of the clean flight formula structure strong for obstacle climbing ability in complicated face is no longer a difficult problem, and motion path pattern extensibility is strong.When after the cleaning that clean robot completes building, clean robot will make a return voyage automatically, gets back to Surveillance center and waits for next clean up task.
As can be seen from explanation above, the main body of a kind of Intelligent flight robot cleaned for high-rise building flooring of the present invention can complete the cleaning of superelevation building complex surface automatically, and to report field data to Surveillance center, efficiently solve the problem of the surface cleaning such as building, terrestrial reference, building sight spot.
The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every above embodiment is done according to the technology of the present invention essence any simple modification, change and equivalent structure change, all still belong in the protection domain of technical solution of the present invention.
Claims (8)
1. one kind has the Intelligent flight robot of high-rise building cleaning function, it is characterized in that, comprise: main body and monitoring client, cleaner module, aerocraft system, wireless communication module that described main body mainly comprises sensing control module and is connected with sensing control module; Described sensing control module is mainly used in Intelligent Recognition target and cleans face, automatically plans clean track, controls cleaner module, controls aerocraft system by path planning flight, to wireless communication module transmission information; Described cleaner module is used for cleaning workplace dirt; The flight orders that described aerocraft system sends for performing sensing control module, load main body is to workplace; Described wireless communication module is used for and monitoring client communication, accepts the instruction that monitoring client sends, by the state parameter information of main body as the image information of camera collection in present co-ordinate position information, sensing control module is sent to Surveillance center; Described monitoring client, for monitoring the duty of main body, is that main body setting needs clean target, and when main body has emergency case, monitoring client can artificial remote control main body, avoids main body to meet accident.
2., by clean robot main body according to claim 1, it is characterized in that, when cleaning clean face main body in the mode of flight at workplace obstacle detouring by set path automated cleaning.
3. by sensing control module according to claim 1, it is characterized in that, comprise: core controller and the camera sensing device, the ultrasonic sensor that are connected with core controller, described sensing control module can carry out image acquisition, the identification of cleaned Facing material, target structures feature angle point identification, guide main body to fly to feature angle point, main control system body and metope to remain in the distance threshold of setting, and automatically to fly by the movement locus set in core controller.
4. fly to feature angle point by sensing control module booting main body according to claim 3, it is characterized in that, a set of algorithm and camera sensing device is had to form closed-loop control system in core controller, main control system body makes the feature angle point in clean face be positioned at the navigational logic district center of described camera sensing device flying in clean region feature angle point process, thus realizes guiding.
5. can realize the identification of clean surface material by sensing control module according to claim 3, it is characterized in that, discernible material support expansion.
6. remain in the distance threshold of setting by main body described in claim 3 and metope, and automatically fly by the movement locus set in core controller, it is characterized in that, described movement locus support expansion, default motions schema code is deposited in core controller ROM.
7. by cleaner module according to claim 1, it is characterized in that, the clean required pressure perpendicular to cleaned surface is provided by the screw propeller of in cleaner module, i.e. pressure self-balancing structure.
8. by monitoring client according to claim 1, it is characterized in that, topological structure is versatile and flexible, can build according to actual needs, and multi-purpose computer and regular handset all can do monitor terminal and use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510643745.4A CN105138015A (en) | 2015-10-08 | 2015-10-08 | Intelligent flying robot having high-rise building cleaning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510643745.4A CN105138015A (en) | 2015-10-08 | 2015-10-08 | Intelligent flying robot having high-rise building cleaning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105138015A true CN105138015A (en) | 2015-12-09 |
Family
ID=54723389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510643745.4A Pending CN105138015A (en) | 2015-10-08 | 2015-10-08 | Intelligent flying robot having high-rise building cleaning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105138015A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094838A (en) * | 2016-08-09 | 2016-11-09 | 衣佳鑫 | Intelligent control method based on robot and system |
| CN106114857A (en) * | 2016-06-28 | 2016-11-16 | 深圳市元征科技股份有限公司 | Outside Wall Cleaning method based on unmanned plane and unmanned plane |
| CN106430027A (en) * | 2016-12-08 | 2017-02-22 | 于富强 | System and method for achieving high-place dangling operation by means of multi-rotor unmanned aerial vehicle |
| CN106423969A (en) * | 2016-10-25 | 2017-02-22 | 饶斯婷 | Robot for cleaning facade |
| CN106510567A (en) * | 2016-12-13 | 2017-03-22 | 内蒙古格润思贝思建筑维护有限公司 | Curtain wall scrubbing system based on flying robot |
| CN107007223A (en) * | 2017-05-03 | 2017-08-04 | 杨雪锋 | A kind of four rotor building body surface cleaning apparatus |
| CN107272708A (en) * | 2017-08-03 | 2017-10-20 | 佛山市盈智轩科技有限公司 | Home-use floor cleaning system and floor cleaning method |
| CN107616742A (en) * | 2016-07-14 | 2018-01-23 | 南京海益开电子科技有限公司 | A kind of unmanned cleaning engine control system of curtain wall |
| CN107902081A (en) * | 2017-10-26 | 2018-04-13 | 晏秋涛 | A kind of flying robot of intelligent maintenance building |
| CN108344625A (en) * | 2018-01-05 | 2018-07-31 | 中山大学 | A kind of During Geotechnical Tests intelligently level sensing control system |
| CN108814443A (en) * | 2018-06-29 | 2018-11-16 | 炬大科技有限公司 | A kind of sweeping robot social intercourse system and method |
| CN109002037A (en) * | 2018-06-27 | 2018-12-14 | 中国人民解放军国防科技大学 | Multi-robot collaborative path following method based on deep learning |
| CN109015663A (en) * | 2017-06-09 | 2018-12-18 | 河北卓达建材研究院有限公司 | A kind of automatic plane clean robot |
| CN109008841A (en) * | 2017-06-09 | 2018-12-18 | 河北卓达建材研究院有限公司 | A kind of metope repair robot by different level |
| CN109270935A (en) * | 2018-11-02 | 2019-01-25 | 江苏长虹机械设计院有限公司 | Automatic guide vehicle navigation system |
| CN109976177A (en) * | 2019-04-01 | 2019-07-05 | 广东职业技术学院 | Smart home security robot with face identification functions |
| WO2020237966A1 (en) * | 2019-05-30 | 2020-12-03 | 日立楼宇技术（广州）有限公司 | Building control method, apparatus, device, and system, and storage medium |
| CN114170463A (en) * | 2021-12-06 | 2022-03-11 | 上海坤扫环境科技股份有限公司 | Non-contact type wide outer wall cleaning method and system |
| CN117953607A (en) * | 2024-03-26 | 2024-04-30 | 成都车晓科技有限公司 | Picture anti-lost driving video equipment |
| CN117953607B (en) * | 2024-03-26 | 2024-05-31 | 成都车晓科技有限公司 | Picture anti-lost driving video equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1129382A (en) * | 1994-09-20 | 1996-08-21 | 富士通株式会社 | Tracking apparatus for tracking image in local region |
| US6419190B1 (en) * | 2000-10-10 | 2002-07-16 | Gino Francis Nguegang | Airborne cleaning and painting robot |
| CN104224062A (en) * | 2014-09-03 | 2014-12-24 | 深圳市大疆创新科技有限公司 | UAV (Unmanned Aerial Vehicle), method for cleaning wall body by UAV, and wall body system adopting UAV |
| CN104324913A (en) * | 2014-09-26 | 2015-02-04 | 安徽新迪机电科技有限责任公司 | Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof |
| CN204523631U (en) * | 2015-04-10 | 2015-08-05 | 三峡大学 | A kind of flight formula cleaner |
| CN205210689U (en) * | 2015-10-08 | 2016-05-04 | 安徽省极索智能科技有限公司 | Intelligence flying robot with clean function of high -rise building |
-
2015
- 2015-10-08 CN CN201510643745.4A patent/CN105138015A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1129382A (en) * | 1994-09-20 | 1996-08-21 | 富士通株式会社 | Tracking apparatus for tracking image in local region |
| US6419190B1 (en) * | 2000-10-10 | 2002-07-16 | Gino Francis Nguegang | Airborne cleaning and painting robot |
| CN104224062A (en) * | 2014-09-03 | 2014-12-24 | 深圳市大疆创新科技有限公司 | UAV (Unmanned Aerial Vehicle), method for cleaning wall body by UAV, and wall body system adopting UAV |
| CN104324913A (en) * | 2014-09-26 | 2015-02-04 | 安徽新迪机电科技有限责任公司 | Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof |
| CN204523631U (en) * | 2015-04-10 | 2015-08-05 | 三峡大学 | A kind of flight formula cleaner |
| CN205210689U (en) * | 2015-10-08 | 2016-05-04 | 安徽省极索智能科技有限公司 | Intelligence flying robot with clean function of high -rise building |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114857A (en) * | 2016-06-28 | 2016-11-16 | 深圳市元征科技股份有限公司 | Outside Wall Cleaning method based on unmanned plane and unmanned plane |
| WO2018000736A1 (en) * | 2016-06-28 | 2018-01-04 | 深圳市元征科技股份有限公司 | External wall cleaning method based on unmanned aerial vehicle, and unmanned aerial vehicle |
| CN107616742A (en) * | 2016-07-14 | 2018-01-23 | 南京海益开电子科技有限公司 | A kind of unmanned cleaning engine control system of curtain wall |
| CN107616742B (en) * | 2016-07-14 | 2020-09-15 | 南京海益开电子科技有限公司 | Curtain unmanned cleaning host control system |
| CN106094838A (en) * | 2016-08-09 | 2016-11-09 | 衣佳鑫 | Intelligent control method based on robot and system |
| CN106423969A (en) * | 2016-10-25 | 2017-02-22 | 饶斯婷 | Robot for cleaning facade |
| CN106430027A (en) * | 2016-12-08 | 2017-02-22 | 于富强 | System and method for achieving high-place dangling operation by means of multi-rotor unmanned aerial vehicle |
| CN106510567A (en) * | 2016-12-13 | 2017-03-22 | 内蒙古格润思贝思建筑维护有限公司 | Curtain wall scrubbing system based on flying robot |
| CN107007223A (en) * | 2017-05-03 | 2017-08-04 | 杨雪锋 | A kind of four rotor building body surface cleaning apparatus |
| CN107007223B (en) * | 2017-05-03 | 2018-03-23 | 晨龙飞机（荆门）有限公司 | A kind of four rotor building body surface cleaning apparatus |
| CN109015663A (en) * | 2017-06-09 | 2018-12-18 | 河北卓达建材研究院有限公司 | A kind of automatic plane clean robot |
| CN109008841A (en) * | 2017-06-09 | 2018-12-18 | 河北卓达建材研究院有限公司 | A kind of metope repair robot by different level |
| CN107272708A (en) * | 2017-08-03 | 2017-10-20 | 佛山市盈智轩科技有限公司 | Home-use floor cleaning system and floor cleaning method |
| CN107902081B (en) * | 2017-10-26 | 2023-12-26 | 晏秋涛 | Flying robot for intelligent maintenance building |
| CN107902081A (en) * | 2017-10-26 | 2018-04-13 | 晏秋涛 | A kind of flying robot of intelligent maintenance building |
| CN108344625A (en) * | 2018-01-05 | 2018-07-31 | 中山大学 | A kind of During Geotechnical Tests intelligently level sensing control system |
| CN109002037B (en) * | 2018-06-27 | 2021-03-23 | 中国人民解放军国防科技大学 | Multi-robot collaborative path following method based on deep learning |
| CN109002037A (en) * | 2018-06-27 | 2018-12-14 | 中国人民解放军国防科技大学 | Multi-robot collaborative path following method based on deep learning |
| CN108814443A (en) * | 2018-06-29 | 2018-11-16 | 炬大科技有限公司 | A kind of sweeping robot social intercourse system and method |
| CN109270935A (en) * | 2018-11-02 | 2019-01-25 | 江苏长虹机械设计院有限公司 | Automatic guide vehicle navigation system |
| CN109976177B (en) * | 2019-04-01 | 2022-05-27 | 广东职业技术学院 | Intelligent household security robot with face recognition function |
| CN109976177A (en) * | 2019-04-01 | 2019-07-05 | 广东职业技术学院 | Smart home security robot with face identification functions |
| WO2020237966A1 (en) * | 2019-05-30 | 2020-12-03 | 日立楼宇技术（广州）有限公司 | Building control method, apparatus, device, and system, and storage medium |
| CN114170463A (en) * | 2021-12-06 | 2022-03-11 | 上海坤扫环境科技股份有限公司 | Non-contact type wide outer wall cleaning method and system |
| CN117953607A (en) * | 2024-03-26 | 2024-04-30 | 成都车晓科技有限公司 | Picture anti-lost driving video equipment |
| CN117953607B (en) * | 2024-03-26 | 2024-05-31 | 成都车晓科技有限公司 | Picture anti-lost driving video equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105138015A (en) | Intelligent flying robot having high-rise building cleaning function | |
| CN205210689U (en) | Intelligence flying robot with clean function of high -rise building | |
| US11525270B2 (en) | Automated drywall planning system and method | |
| Asadi et al. | Pictobot: A cooperative painting robot for interior finishing of industrial developments | |
| EP3469974B1 (en) | Cooperative work system formed by mother robot and child robot, and operation method thereof | |
| TWI802465B (en) | Automated system for spraying wall of building | |
| CN101625573B (en) | Digital signal processor based inspection robot monocular vision navigation system | |
| US11891175B2 (en) | System for performing multiple possible complex tasks on work sites using unmanned aerial devices | |
| CN106979773B (en) | Surface mapping apparatus, 3D coordinate determination method, computer-readable storage medium | |
| CN108958250A (en) | Multisensor mobile platform and navigation and barrier-avoiding method based on known map | |
| EP3681798A1 (en) | Unmanned aerial vehicle and payload delivery system | |
| CN205942412U (en) | Mother and sons' machine is work systems in coordination | |
| JP2016082441A (en) | Controller, control method and computer program | |
| CN108589979A (en) | A kind of large space robot module separates furred ceiling decoration method and equipment | |
| JP2013132748A (en) | Moving device and method for recognizing position of the same | |
| CN109434826A (en) | A kind of hot line robot control system | |
| RU2716035C1 (en) | Collision avoidance assist system for movable working platforms | |
| KR102488369B1 (en) | Methods and devices for determining the color of safety helmets for workers in construction sites | |
| US20210038045A1 (en) | Exterior Wall Maintenance Apparatus | |
| CN113415728B (en) | Automatic planning method and system for lifting path of tower crane | |
| CN110088703B (en) | Method for navigating and self-positioning an autonomously traveling processing device | |
| CN114224226A (en) | Obstacle avoidance cleaning robot, robot mechanical arm obstacle avoidance planning system and method | |
| CN108390312A (en) | A kind of overhead distribution line circuit scanning test robot operational method | |
| CN107791250B (en) | Working at height robot system and its control method | |
| CN205894616U (en) | Intelligence machine people that plasters |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151209 |
|
| WD01 | Invention patent application deemed withdrawn after publication |