CN106214056A - A kind of Multifunctional cleaning robot - Google Patents
A kind of Multifunctional cleaning robot Download PDFInfo
- Publication number
- CN106214056A CN106214056A CN201610859604.0A CN201610859604A CN106214056A CN 106214056 A CN106214056 A CN 106214056A CN 201610859604 A CN201610859604 A CN 201610859604A CN 106214056 A CN106214056 A CN 106214056A
- Authority
- CN
- China
- Prior art keywords
- cleaning robot
- multifunctional cleaning
- multifunctional
- generating device
- main body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Multifunctional cleaning robot that can cross over gap, including: main body shell and the vacuum generating device being located at main body enclosure, baroceptor, movable collision, wireless signal obstacles detecting system, the driving wheel combination of the left and right sides, control system, power-supply system and be located at the wiper of main body outer casing bottom, when tilted interface works, wiper constitutes negative pressure cavity with the base of vacuum generating device and main body shell, baroceptor is by detecting the change value of pressure situation of negative pressure cavity, feed back to control system and judge whether Multifunctional cleaning robot is by gap or vacant state, provide follow-up action command；When mild working interface works, vacuum generating device and baroceptor all quit work, activity collision and wireless signal obstacles detecting system carry out disturbance in judgement with unsettled.Present invention achieves and cross over the gap being connected between interface, and the hard that its cleaning function is extended to the needs absorption that all inclinations connect without rib compared with smooth interface and need not the mild working interface adsorbed.
Description
Technical field
The present invention relates to a kind of household cleaning machine people field.
Background technology
Along with the raising of scientific and technological level, people increasingly tend to use Intelligent cleaning robot to replace being accomplished manually clearly
Clean work, window wiping robot is exactly the one of current Intelligent cleaning robot, but window wiping robot in the market is all
It is to clean one piece of window, that be connected together, there is apertured glass and can not clean, again owing to usually wiping the frequency of window
Rate is the highest so that the share that the market of window wiping robot occupies is minimum, and the use having limited to it greatly is promoted.
Therefore, design a can clean the glass that polylith links together, the most multi-function clean robot is
The technical problem that industry is urgently to be resolved hurrily.
Summary of the invention
The present invention is directed to above problems of the prior art provide and a kind of can clean divided glass, band wall brick
The more smooth tilted interface needing absorption of wall, hard and need not the Multifunctional cleaning machine of mild working interface of absorption
People.
The scheme that the present invention proposes is, devises a kind of Multifunctional cleaning robot, including: main body shell be located at master
Vacuum generating device within body fuselage, baroceptor, movable collision, wireless signal obstacles detecting system, the left and right sides
Driving wheel combination, control system, power-supply system and be located at the wiper of main body outer casing bottom.
There are two kinds of mode of operations in Multifunctional cleaning robot: wall cleaning mode and floor cleaning pattern:
Under wall cleaning mode, Multifunctional cleaning robot needs to adsorb on working interface, wiper and vacuum generating device
Constituting negative pressure cavity with the base of main body shell, baroceptor, by detecting the change value of pressure situation of negative pressure cavity, feeds back to
Control system also judges that whether Multifunctional cleaning robot is by gap or vacant state, and provides follow-up work and refer to
Order, judges whether to encounter rib obstacle with activity collision, and whole duty vacuum generating device is constantly in operating condition,
Wireless signal obstacles detecting system is constantly in off working state；
Under floor cleaning pattern, Multifunctional cleaning robot is operated on the working interface that need not absorption, and now vacuum is sent out
Generating apparatus and baroceptor all quit work, and wireless signal obstacles detecting system is now in duty, activity collide
Carry out disturbance in judgement with unsettled with wireless signal obstacles detecting system, and provide follow-up work instruction.
Present invention achieves and cross over the gap being connected between interface, and its cleaning function is extended to all inclinations without rib
The hard needing absorption connected compared with smooth interface and need not the mild working interface adsorbed.
The combination of described driving wheel includes being arranged at the symmetrical left driving wheel combination of both sides in the middle of bottom main frame and right driving
Wheel combination, the combination of described left driving wheel includes: left driving arm, is arranged at the driving motor of left driving arm sidepiece, is arranged at
Driving pulley that the internal one end of left driving arm is connected in motor shaft, be arranged at the internal other end of left driving arm from
Movable belt pulley, connection driven pulley and the axle of left driving arm, be embedded in and connect the bearing at driven pulley two ends, connection driving pulley
With the axle of left driving arm, be embedded in and connect the bearing of belt wheel one end, connect driving pulley and the Timing Belt of driven pulley, described
Left driving arm is sealed note constituted by left driving arm, driving arm lid, driving arm.
The combination of described right driving wheel is identical with left driving wheel composite configuration, symmetrical configuration.
Described vacuum generating device includes: blower motor, wind page, fan supporter, fan shroud, blower motor and control system
Connect.
Described baroceptor is connected with negative pressure cavity, and baroceptor is connected with control system.
Described movable collision includes being arranged at Multifunctional cleaning robot front end, including collision support, is arranged on collision
The directive wheel of two jiaos on frame, arrange and collide the collision wheel of front end and both sides on support.
Described movable collision includes also may be disposed at Multifunctional cleaning robot rear and front end and structure is identical.
Described wireless signal obstacles detecting system includes preceding object detection device and unsettled detection device, and wireless signal produces
Raw mode can be infrared ray, ultrasound wave etc. the most common can R-T unit.
Compared with prior art, the present invention is improved to, by cleaning one block of glass, the nothing that cleanable polylith links together
The glass that shelves limit is blocked, and by work planar interface more smooth for functions expanding to all of hard connected without rib.
Accompanying drawing explanation
Below in conjunction with embodiment and accompanying drawing, the present invention is described in detail, wherein:
Fig. 1 is the front schematic view of Multifunctional cleaning robot；
Fig. 2 is the bottom schematic view of Multifunctional cleaning robot；
Fig. 3 is the interior layout figure of Multifunctional cleaning robot；
Fig. 4 is the sectional view of Multifunctional cleaning robot；
Fig. 5 is the vacuum generating device sectional view of Multifunctional cleaning robot；
Fig. 6 is the left driving wheel combination schematic diagram of Multifunctional cleaning robot；
Fig. 7 is the left driving wheel assembled sectional view one of Multifunctional cleaning robot；
Fig. 8 is the left driving wheel assembled sectional view two of Multifunctional cleaning robot；
Fig. 9 is the right driving wheel combination schematic diagram of Multifunctional cleaning robot；
Figure 10 is the right driving wheel assembled sectional view one of Multifunctional cleaning robot；
Figure 11 is the right driving wheel assembled sectional view two of Multifunctional cleaning robot；
Figure 12 is that the wall of Multifunctional cleaning robot recharges schematic diagram.
Detailed description of the invention
As shown in Figure 1, 2, 3, the Multifunctional cleaning robot that can cross over gap that the present invention proposes, including: main body
Shell 1 and be located at the driving wheel combination 2 of main body enclosure, vacuum generating device 7, baroceptor 61, movable collision, nothing
Line signal obstacle detection system 4, control system, power-supply system and be located at the wiper 80 bottom main body shell 1.
As shown in Figure 1,3, described main body shell is constituted shell body, hands by cover 11, mesochite 12, base 13 from top to bottom
Handle 14 and handle 15 are embedded with in face-piece, and control panel combination 16 is also disposed on face-piece 11, on and off switch 17 and DC charging
Socket 18 is arranged at host housing body 1 sidepiece, and base 13 periphery againsts VELCRO 131.
As it is shown in figure 1, the demand of the actual working environment according to the present invention, the appearance design of the present invention is a rectangle shape
State.
As it is shown on figure 3, base 13 is provided with baroceptor 61, described baroceptor 61 is connected with negative pressure cavity 75, institute
State baroceptor 61 to be connected with control system.
Such as Fig. 2, shown in 5, wiper 80 constitutes negative pressure cavity 75 with vacuum generating device 7 and base 13；Through the interface that is connected
Between time, detected the change value of pressure situation of negative pressure cavity 75 by baroceptor 61, feed back to control system and judge many merits
Can cleaning robot be whether by gap or vacant state, and provide follow-up action command.
As in figure 2 it is shown, described driving wheel combination includes left driving wheel combination 20, right driving wheel combination 29；
As shown in Fig. 6,7,8, the combination of described left driving wheel 20 includes: left driving arm 22, drives motor 21, be connected to drive horse
Reach the driving pulley 25 on 21 axles, tape spool wheel 26, connect driven pulley 26 and the axle 27 of left driving arm 22, be embedded in connection from
The bearing 23 at movable belt pulley 26 two ends, connect belt wheel 25 and the axle 28 of left driving arm 22, be embedded in the axle connecting belt wheel 25 one end
Hold 23, connection driving pulley 25 and the Timing Belt 24 of driven pulley 26, drive motor 21 to be connected with control system；
Described left driving arm 22 is sealed note 223 constituted by left driving arm 221, driving arm lid 222, driving arm.
As shown in Fig. 9,10,11, described right driving wheel combination 201 includes: right driving arm 29, driving motor 21, connection
Drive the driving pulley 25 on motor 21 axle, tape spool wheel 26, connect driven pulley 26 and the axle 27 of right driving arm 29, embedded
Connect the bearing 23 at driven pulley 26 two ends, connection belt wheel 25 and the axle 28 of right driving arm 29, be embedded in connection belt wheel 25
The bearing 23 of one end, connection driving pulley 25 and the Timing Belt 24 of driven pulley 26, driving motor 21 are connected with control system；
Described right driving arm 29 is sealed note 223 constituted by left driving arm 291, driving arm lid 222, driving arm.
It is identical, symmetrical that 20 topology layouts are combined in described right driving wheel combination 201 with left driving wheel.
The present embodiment drive part uses toothed belt transmission mode to drive Multifunctional cleaning robot, but not
It is only limitted to use toothed belt transmission mode to drive, it would however also be possible to employ the actuation techniques of other maturation existing, such as crawler haulage skill
Art, gear transmission technology, belt transmission technology etc..
As it is shown in figure 5, described vacuum generating device includes: motor 71, motor bracket 72, motor bracket lid 73 and be assemblied in
Wind page 74 on motor 71 axle is constituted, and motor 71 is connected with control system.
As shown in Figure 3,4, the movable collision 4 described in the present embodiment, it is distributed in Multifunctional cleaning robot front and back end, knot
Structure is identical, including: collision support 41, be arranged on the directive wheel 44 of two jiaos on collision support, arrange and collide on support front end and
The collision wheel 42 of both sides.
As shown in Figure 2,3, preceding object detection device 5 is arranged on mesochite 12 and is distributed in rear and front end, unsettled detection
Device 3 is distributed on base 13.
As shown in Figure 3,4, control, on the base 13 inside the collision wheel 42 that PCB43 is arranged in movable collision 4, to control
PCB43 is connected with control system.
Such as Fig. 1, shown in 12, cradle 10 adsorbs or is fixed on working interface, supports and protects Multifunctional cleaning machine
Device people do not fall out in off working state, and is charged to Multifunctional cleaning robot.
Multifunctional cleaning robot rear and front end is respectively arranged with two charging columns 91, when clean robot returns to cradle 10,
Arbitrarily can contact cradle 10 and be charged by the charging column 91 of one end.
Such as Fig. 1, shown in 4, described control panel combination 16 comprises, display support 161, display PCB162, display panel 163,
Display PCB162 is connected with control system.
As it is shown on figure 3, described power-supply system includes: battery 90, charging column 91, working power 17, DC charging socket 18,
The most all it is connected with control system.
As shown in Figure 4, wiper 80 is attached in VELCRO 131, and wiper 80 constitutes negative with vacuum generating device 7 and base 13
Pressure chamber 75, wiper 80 is breathable, so the size of the pressure of negative pressure cavity 75 and wiper 80 and the contact surface of air has
Closing, the gas leakage of wiper 80 side is negligible, and after being attached on clean interface, wiper 80 is essentially with air contact surfaces
Zero, clean interface is air tight, and the most now force value is for reaching maximum pressure value, the absorption of Multifunctional cleaning robot is existed simultaneously
On clean interface, when crossing the gap between interface, owing to wiper 80 increases with air contact surfaces, the air leakage of wiper 80 adds
Greatly, force value produces and diminishes, and feeds back to control system, weighs seam by the change value of pressure formed after the gas leakage of wiper 80
The size of gap, it may be judged whether can cross gap, is judgment standard by default limit pressure, it is possible to judgement the most in the past
For gap, it is impossible to the judgement crossed is unsettled, and providing corresponding actions instruction, Multifunctional cleaning robot is carrying out wall cleaning
Time, adsorptive pressure whenever will ensure that Multifunctional cleaning robot can not drop from clean interface.
Operation principle, Multifunctional cleaning robot side working power 17 switch is opened, and first selects Multifunctional cleaning machine
The mode of operation of people:
When selecting wall cleaning mode, now vacuum generating device 7 starts running, and baroceptor 61 enters duty, then
By start key, left driving wheel combination 20, right driving wheel combination 29 are started working, and are carried out wall according to default path planning mode
Face cleaning, when barrier is encountered in Multifunctional cleaning robot movable collision 4, control PCB43, control are touched in movable collision 4
PCB43 processed conducting produces signal and feeds back to control system, and controls Multifunctional cleaning robot and carry out next step action, when many merits
Can the cleaning robot gap that needs to cross between wall or unsettled time, judge it is seam by negative pressure cavity 75 pressure changing
Gap or unsettled, feeds back to control system, and control system sends instruction, crosses gap or recession turns to, whole duty
Vacuum generating device 7 is constantly in operating condition, and wireless signal obstacles detecting system is constantly in off working state；
When selecting ground cleaning mode, vacuum generating device 7 and baroceptor 61 hinder all in off working state, wireless signal
Hinder detecting system to be now in duty, when Multifunctional cleaning robot ambulation, preceding object detection device 5 preferentially sentence
Whether disconnected front has obstacle, when preceding object detection device 5 cannot judge preceding object, by activity collision 4 collision front barrier
Hinder, and produce signal and feed back to control system, provide relevant work instruction, unsettled detection device 3 judge Multifunctional cleaning machine
Device people front of walking is the most unsettled, and produces signal and feed back to control system, and provides relevant work instruction.
Cradle 10 adsorbs or is fixed on working interface, when the complete working interface of Multifunctional cleaning robot cleaner or
In the case of battery electric power deficiency, Multifunctional cleaning robot returns in time on cradle 10 and charges, and cradle 10 supports
And protect Multifunctional cleaning robot will not fall down from working interface in off working state.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (8)
1. in a kind of Multifunctional cleaning robot that may span across gap, including main body shell and be located at main body enclosure
Vacuum generating device, baroceptor, movable collision, wireless signal obstacles detecting system, the driving wheel combination of the left and right sides, control
System processed, power-supply system and be located at the wiper of main body outer casing bottom, it is characterised in that: Multifunctional cleaning robot has two kinds
Mode of operation: wall cleaning mode and floor cleaning pattern.
2. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that: under described wall cleaning mode, wiper with
The base of vacuum generating device and main body shell constitutes negative pressure cavity.
3. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that: under described wall cleaning mode, air pressure transmission
Sensor, by detecting the change value of pressure situation of negative pressure cavity, feeds back to control system and judges that whether Multifunctional cleaning robot is
By gap or vacant state.
4. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that: under floor cleaning pattern, multifunctional wiping
Wiping robot to be operated on the working interface that need not absorption, now vacuum generating device and baroceptor all quit work,
Wireless signal obstacles detecting system is now in duty, activity collision and wireless signal obstacles detecting system judge barrier
Hinder with unsettled.
5. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that: cradle adsorbs or is fixed on work circle
On face, support and protect Multifunctional cleaning robot not fall out in off working state, and carrying out to Multifunctional cleaning robot
Charging.
6. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that: under wall cleaning mode, whole work
State vacuum generating device is constantly in operating condition, and wireless signal obstacles detecting system is constantly in off working state.
7. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that: under floor cleaning pattern, multifunctional wiping
Wiping robot to be operated on the working interface that need not absorption, now vacuum generating device and baroceptor all quit work,
Wireless signal obstacles detecting system is now in duty.
8. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that: profile is a rectangle form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610859604.0A CN106214056A (en) | 2016-09-29 | 2016-09-29 | A kind of Multifunctional cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610859604.0A CN106214056A (en) | 2016-09-29 | 2016-09-29 | A kind of Multifunctional cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106214056A true CN106214056A (en) | 2016-12-14 |
Family
ID=58075789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610859604.0A Pending CN106214056A (en) | 2016-09-29 | 2016-09-29 | A kind of Multifunctional cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106214056A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107028561A (en) * | 2017-05-03 | 2017-08-11 | 深圳市银星智能科技股份有限公司 | Cleaning equipment |
| CN109645905A (en) * | 2018-12-11 | 2019-04-19 | 安徽工程大学 | A kind of negative-pressure adsorption-type climbs wall sweeping robot |
| CN110384440A (en) * | 2018-04-19 | 2019-10-29 | 天佑电器（苏州）有限公司 | Clean robot |
| CN112971644A (en) * | 2021-02-01 | 2021-06-18 | 深圳乐居智能电子有限公司 | Cleaning method and device of sweeping robot, storage medium and sweeping robot |
| RU2776021C1 (en) * | 2020-07-13 | 2022-07-12 | Хобот Текнолоджи Инк. | Self-propelled apparatus (variants) |
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| US20080276407A1 (en) * | 2007-05-09 | 2008-11-13 | Irobot Corporation | Compact Autonomous Coverage Robot |
| CN101822513A (en) * | 2010-04-16 | 2010-09-08 | 东南大学 | Robot for cleaning wall surfaces |
| CN204995360U (en) * | 2015-09-17 | 2016-01-27 | 广州博斯特智能科技有限公司 | Clean service robot of intelligence |
| CN105581736A (en) * | 2014-10-23 | 2016-05-18 | 江苏美的清洁电器股份有限公司 | Cleaning robot and charging block thereof |
| CN105935272A (en) * | 2016-06-21 | 2016-09-14 | 深圳市博飞航空科技有限公司 | Climbing control method and system for wall climbing device |
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| US20080276407A1 (en) * | 2007-05-09 | 2008-11-13 | Irobot Corporation | Compact Autonomous Coverage Robot |
| CN101822513A (en) * | 2010-04-16 | 2010-09-08 | 东南大学 | Robot for cleaning wall surfaces |
| CN105581736A (en) * | 2014-10-23 | 2016-05-18 | 江苏美的清洁电器股份有限公司 | Cleaning robot and charging block thereof |
| CN204995360U (en) * | 2015-09-17 | 2016-01-27 | 广州博斯特智能科技有限公司 | Clean service robot of intelligence |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107028561A (en) * | 2017-05-03 | 2017-08-11 | 深圳市银星智能科技股份有限公司 | Cleaning equipment |
| CN110384440A (en) * | 2018-04-19 | 2019-10-29 | 天佑电器（苏州）有限公司 | Clean robot |
| CN109645905A (en) * | 2018-12-11 | 2019-04-19 | 安徽工程大学 | A kind of negative-pressure adsorption-type climbs wall sweeping robot |
| CN109645905B (en) * | 2018-12-11 | 2021-07-27 | 安徽工程大学 | Negative pressure adsorption type wall climbing cleaning robot |
| RU2776021C1 (en) * | 2020-07-13 | 2022-07-12 | Хобот Текнолоджи Инк. | Self-propelled apparatus (variants) |
| CN112971644A (en) * | 2021-02-01 | 2021-06-18 | 深圳乐居智能电子有限公司 | Cleaning method and device of sweeping robot, storage medium and sweeping robot |
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Application publication date: 20161214 |
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| RJ01 | Rejection of invention patent application after publication |