CN104095589B - Intellective dust collector - Google Patents

Intellective dust collector Download PDF

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Publication number
CN104095589B
CN104095589B CN201410339166.6A CN201410339166A CN104095589B CN 104095589 B CN104095589 B CN 104095589B CN 201410339166 A CN201410339166 A CN 201410339166A CN 104095589 B CN104095589 B CN 104095589B
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CN
China
Prior art keywords
lamp
signal
dust collector
receive
emission lamp
Prior art date
Application number
CN201410339166.6A
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Chinese (zh)
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CN104095589A (en
Inventor
蔡展
Original Assignee
深圳远欧智慧科技有限公司
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Priority to CN201410339166.6A priority Critical patent/CN104095589B/en
Publication of CN104095589A publication Critical patent/CN104095589A/en
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Publication of CN104095589B publication Critical patent/CN104095589B/en

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Abstract

A kind of intellective dust collector,Including body and cradle,Body is provided with ceiling light,Recharge signal and receive lamp,Drive device,Contact chip and controller,Ceiling light receives lamp relatively and interval setting with signal is recharged,Controller sends instructions to drive device to drive body to rotate or move along a straight line,Cradle is provided with the first signal emission lamp,Secondary signal emission lamp,Lamp bracket and charging spring lamination,First signal emission lamp and secondary signal emission lamp are fixedly arranged on the pcb board of lamp bracket,First signal emission lamp is parallel with secondary signal emission lamp and interval setting,First signal emission lamp and secondary signal emission lamp launch respectively different coding signal blocked through lamp bracket after form the first signal band and secondary signal band,Ceiling light receives the signal that lamp is used to receive the first signal band or/and secondary signal band with signal is recharged,When body moves to cradle to be charged,Contact chip and charging spring lamination are contacted,So as to realize carrying out automatic charging to body,Intelligence degree is high.

Description

Intellective dust collector
Technical field
The invention belongs to sanitation and hygiene technical field, more particularly to a kind of intellective dust collector.
Background technology
At present, as people's living standard is improved, intellective dust collector is because of the favor for obtaining people easy to use, market pair Intellective dust collector demand is continuously increased, and has attracted many manufacturers to enter the industry, but existing intellective dust collector intellectuality journey Degree is low, has as a drawback that:(1) after the electric energy of intellective dust collector runs low, it is impossible to carry out automatic charging;(2) intelligence is inhaled Dirt device cannot avoid being collided with barrier;(3) when on ground it is dirty than it is more serious when, intellective dust collector cannot be cleaned up;(4) Worked in scope needed for cannot intellective dust collector be limited to.
The content of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of intellective dust collector, its intelligent journey Degree is high, multiple functional, is easy to use.
The present invention is achieved in that a kind of intellective dust collector, including body and cradle, and the body is provided with top Lamp, first recharge signal and receive lamp, second recharge signal and receive lamp, drive device, contact chip and controller, and the ceiling light is located at The top of the body, described first recharges signal receives lamp and recharges signal with described second and receive that lamp is parallel and interval setting, The controller sends instructions to the drive device to drive the body to rotate or move along a straight line, and is set on the cradle There are the first signal emission lamp, secondary signal emission lamp, lamp bracket, charging spring lamination and identification lamp, the first signal emission lamp and institute State secondary signal emission lamp to be fixedly arranged on the pcb board of the lamp bracket, the first signal emission lamp and the secondary signal are launched Lamp is parallel and interval setting, and the first signal emission lamp and secondary signal emission lamp launch the signal of different coding through institute respectively State and the first signal band and secondary signal band formed after lamp bracket is blocked, the ceiling light is used to receive the signal that the identification lamp sends, Described first recharges signal receives lamp is used to receive the signal of the first signal band, and described second recharges signal receives lamp is used for The signal of the secondary signal band is received, when the body moves to the cradle to be charged, the contact chip and institute State charging spring lamination contact;
The outer body is connected with front component, and the front component is provided with electronic detection path components and machinery is detectd Path components are surveyed, the electronic detection path components include transmission signal lamp and receive signal lamp, the light of the transmission signal lamp The optical axis of axle and the reception signal lamp intersects, and the machinery detecting path components include front apron, preceding divider, torsion spring, push rod And mechanical switch, the front apron is located at the periphery of the front component, and the front is set up in the front apron inner side, described One end is connected with the preceding divider, and the torsion spring other end is connected with the push rod, the push rod and the mechanical switch Relative and interval setting.
Further, the body is provided with fan base, and involute cavity, the involute are offered on the fan base Turbofan is provided with cavity, the blade of the turbofan is involute blade.
Further, the lower end of the body to be provided with and step on sky lamp component for avoid pit or groove, described to step on sky lamp Component includes at least one set of emission lamp and at least one set of optical axis phase for receiving lamp, the optical axis of the emission lamp and the reception lamp Hand over.
Further, the body lower end is rotatably connected at least two sides brush, and suction is provided between side brush described in each two Dirt mouth, is provided with amount of dust detection part in the dust absorption nozzle, the amount of dust detection part includes being located at the dust absorption nozzle side The 3rd signal emission lamp and receive lamp, the 3rd signal emission lamp and institute positioned at the 4th signal of the dust absorption nozzle opposite side State the 4th signal to receive lamp coaxially and be oppositely arranged, the front end of the 3rd signal emission lamp and the 4th signal receive lamp Front end is respectively equipped with convex lens.
Further, there is the how many sensing of the dust for entering the dust absorption nozzle for detecting the dust absorption nozzle both sides respectively Device.
Further, the body is connected with the driving wheel for driving the body to advance or turn, the driving wheel The elastic construction for making the driving wheel protrude from the body lower part is provided between the body.
Further, the intellective dust collector also includes the virtual wall component for defining the body working range, institute State virtual wall component and include defining signal lamp and be arranged at and described define the convex lens before signal lamp.
Further, the intellective dust collector also include can be with the remote control of body described in wireless remote control.
Intellective dust collector provided by the present invention, automatic charging can be carried out using cradle to body;Detectd using electronics Path components and machinery detecting path components two ways is surveyed to avoid body from being collided with barrier;Detected using sensor into Enter dust-collecting box amount of dust number, such as detect that amount of dust is more, controller will improve the power output and rotating speed of turbofan, Detecting region carries out emphasis cleaning, and the common cleaning modes that recover again until dust detection limit tail off, intelligence degree is high;Utilize Be limited to intellective dust collector in required scope and work by virtual wall component.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, letter will be made to the accompanying drawing to be used needed for embodiment below Singly introduce, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for the common skill in this area For art personnel, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the body of intellective dust collector provided in an embodiment of the present invention and the schematic diagram of cradle;
Fig. 2 is the partial schematic diagram of the cradle of intellective dust collector provided in an embodiment of the present invention;
Fig. 3 is the sectional view in the A-A directions along Fig. 2;
Fig. 4 is the schematic diagram of the turbofan of intellective dust collector provided in an embodiment of the present invention;
Fig. 5 is the bottom schematic view of the body bottom portion of intellective dust collector provided in an embodiment of the present invention;
Fig. 6 is emission lamp in Fig. 5 at N and receives the detailed maps of lamp;
Fig. 7 is that the emission lamp on the body of intellective dust collector provided in an embodiment of the present invention shows with the operation principle for receiving lamp It is intended to;
Fig. 8 is the decomposing schematic representation of intellective dust collector provided in an embodiment of the present invention;
Fig. 9 is the schematic diagram of the front component of intellective dust collector provided in an embodiment of the present invention;
Figure 10 is the schematic diagram of the dust absorption nozzle of intellective dust collector provided in an embodiment of the present invention;
Figure 11 is the half-section diagram of Figure 10;
Figure 12 is the index path of the 3rd signal emission lamp of intellective dust collector provided in an embodiment of the present invention;
Figure 13 is the half-section diagram of the body of intellective dust collector provided in an embodiment of the present invention;
Figure 14 is the half-section diagram of the virtual wall component of intellective dust collector provided in an embodiment of the present invention;
Figure 15 is the index path for defining signal lamp of the virtual wall component of intellective dust collector provided in an embodiment of the present invention;
Figure 16 is the operation principle schematic diagram of the virtual wall component of intellective dust collector provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described.
As shown in Fig. 1,2,3,8, a kind of intellective dust collector provided in an embodiment of the present invention, including body 1 and cradle 2, Body 1 be provided with ceiling light 11, first recharge signal receive lamp 12, second recharge signal receive lamp 13, drive device (not shown), Contact chip 14 and controller 15, located at the top of body 1, first recharges signal receives lamp 12 and second and recharges signal and connect ceiling light 11 Receive that lamp 13 is parallel and interval setting, controller 15 sends instructions to drive device to drive body 1 to rotate or move along a straight line, fills Electric seat 2 is provided with the first signal emission lamp 21, secondary signal emission lamp 22, lamp bracket 23, charging spring lamination 24 and identification lamp 25, first Signal emission lamp 21 and secondary signal emission lamp 22 are fixedly arranged on the pcb board 24 of lamp bracket 23, the first signal emission lamp 21 and second Signal emission lamp 22 is parallel and interval setting, and the first signal emission lamp 21 and secondary signal emission lamp 22 launch different coding respectively Signal blocked through lamp bracket 23 after form the first signal band and secondary signal band, ceiling light 11 is used to receive the letter that identification lamp 25 sends Number, first recharges signal receives lamp 12 is used to receive the signal of the first signal band, and second recharges signal receives lamp 13 is used to receive The signal of secondary signal band, when body 1 moves to cradle 2 to be charged, contact chip 14 and charging spring lamination 24 are contacted.
The principle that recharges of body 1 is specially:After cradle 2 accesses power supply adaptor, the first signal emission lamp 21, second Signal emission lamp 22 launch respectively different coding signal blocked through lamp bracket 23 after form the first signal band and secondary signal band;When When intellective dust collector need to charge, into pattern is recharged, in the presence of drive device, body 1 often advances one section intellective dust collector Distance is just rotated by 360 °, and recharging signal reception lamp 12 and second by first with this recharges the signal reception searching cradle 2 of lamp 13 The first signal band and secondary signal band of transmitting, first recharges signal receives lamp 12 and finds the first signal band or second recharge signal Receive after lamp 13 finds secondary signal band, then recharge signal by first and receive lamp 12 or the second and recharge signal and receive lamp 13 and adjust The azimuth of the signal band of body 1 and first and secondary signal band, close control principle is:When only first recharge signal receive lamp 12 When receiving the signal of the first signal band, controller 15 controls body 1 to advance to secondary signal region, when only second recharges letter Number lamp 13 is received when receiving the signal of secondary signal band, the control body 1 of controller 15 advances to the first signal region, when the One recharge signal receive lamp 12 receive the first signal band signal, while second recharge signal receive lamp 13 receive the second letter During the signal of number band, the control body 1 of controller 15 is limited to the first signal band and second along straight ahead, the i.e. driving range of body 1 In the intersection range of signal band, guiding body 1 is travelled to cradle 2, and now contact chip 14 and charging spring lamination 24 are contacted, so that reality The purpose of the existing automatic charging of body 1, if this procedure failure body 1 will repeat said procedure, until body 1 is travelled to cradle 2 are charged.
In addition, the identification lamp 25 on cradle 2 is acted on the following two kinds:(1) when body 1 is in cleaning modes, this Body 1 can recognize the identification signal that sends of lamp 25, body 1 can not enter scope that the surrounding of cradle 2 set (such as radius as The scope of 30cm, concrete numerical value can arbitrarily set as needed), therefore when body 1 is in cleaning modes, identification lamp 25 can To prevent body 1 from being collided with cradle 2, prevent body 1 from cradle 2 is contacted in cleaning modes.(2) when body 1 is in When recharging pattern, when body 1 proceeds to the M points that the first signal band and secondary signal band intersect, because the region behind M points is letter Number blind area, now recognizes that lamp 25 can play a part of guiding body 1 and continue to march forward, until the He of contact chip 14 on body 1 Charging spring lamination 24 on cradle 2 is contacted.
As shown in figure 4, the body 1 is provided with fan base 31, involute cavity 32, involute are offered on fan base 31 Turbofan 33 is provided with cavity 32, the blade of turbofan 33 is involute blade.Involute cavity 32 is around turbofan 33 Cylindrical formation is formed the flow channel space of volume uniform increments by shown by arrow C directions with AB as starting point.With AB as starting point, The incremental amplitude that the scattered air blade quantity of turbofan 33 presses arrow C directions is identical with the incremental amplitude of runner volume.Turbine wind When fan 33 rotates, into flow channel space air capacity be incremented by with the number of blade, runner volume constant amplitude in the case of, the different positions in runner Pressure is equal, flow direction identical (i.e. the direction of rotation of turbofan 33) orderly steady air flow to put generation, so as to reduce wind The windage of fan leaf, fan hub, at utmost reduces back pressure, turbulent flow, improves the efficiency of turbofan 33, and reduce noise And battery power consumption.
As shown in Fig. 5,6,7, the lower end of the body 1 to be provided with and step on sky lamp component 4 for avoid pit or groove, steps on sky Lamp component 4 includes at least one set emission lamp 41 and at least one set of reception lamp 42, the optical axis of emission lamp 41 and the optical axis of reception lamp 42 Intersecting angulation is θ, and the distance between the center of emission lamp 41 and center of reception lamp 42 are L, the signal of emission lamp 41 Field angle and receive lamp 42 range of signal angle be β, definition signal feed back height H1 and H2, H1=(L/2) * [ctg θ/ 2-ctg (θ-β)/2], H2=(L/2) * ctg (θ-β)/2, wherein, the height of H1 arrives body 1 less than emission lamp 41 or reception lamp 42 The height of bottom surface, H2 is the limiting altitude that can receive signal;Emission lamp 41 and the reception composition feedback unit of lamp 42, emission lamp 41 In the range of AB clamps shown in Fig. 7, receiving lamp 42 can only receive letter in the range of the CD clamps of reflection height H1≤H2 to transmission signal Number;Under normal circumstances, apart from the height≤H2 on ground, receiving lamp 42 can persistently receive emission lamp 41 and send out and pass through emission lamp 41 The signal of ground return, but when pit or groove occurs in the front ground of body 1, emission lamp 41 is apart from pit or trench bottom surfaces Height >=H2 when, receive lamp 42 and do not receive reflected signal, controller 15 controls body 1 to halt simultaneously according to feedback command Again path planning avoids pit or groove, it is achieved thereby that body 1 avoids the purpose of pit or groove.
As shown in Figure 8,9, the outside of the body 1 is connected with front component 5, and front component 5 is provided with electronic detection path Part 51 and machinery detecting path components 52, electronic detection path components 51 include transmission signal lamp 511 and receive signal lamp 512, the optical axis of transmission signal lamp 511 and the optical axis of reception signal lamp 512 intersect, and machinery detecting path components 52 include front apron 521st, preceding divider 522, torsion spring 523, push rod 524 and mechanical switch 525, front apron 521 is located at the periphery of front component 5, front Frame 522 is connected located at the inner side of front apron 521, the one end of torsion spring 523 with preceding divider 522, and the other end of torsion spring 523 is connected with push rod 524, Push rod 524 is relative with mechanical switch 525 and interval setting, and push rod 524 can be touched with mechanical switch 525.
The operation principle of the front component 5 is:(1) when the direction of advance of body 1 has barrier, by transmission signal lamp 511 and receive signal lamp 512 partner lamp group feedback unit detection barrier, if receive signal lamp 512 in certain distance Inside it is successfully received the signal that transmission signal lamp 511 is sent, the control body 1 of controller 15 halts new planning road of laying equal stress on Footpath, so as to avoid body 1 from being collided with barrier;(2) when the signal of barrier reflection is very weak or there is the reasons such as signal interference When, receive signal lamp 512 and the signal that transmission signal lamp 511 is sent is not received in certain distance, cause outside front component 5 The front apron 521 for enclosing is collided with barrier, and now front apron 521 promotes push rod 524, push rod 524 to touch mechanical switch 525, machine Collision alarm is fed back into controller 15 after the closure of tool switch 525, the road of body 1 is planned after the reception signal of controller 15 again Footpath.
Front component 5 of the invention by electronic detection path components 51 and machinery detecting the two ways of path components 52 come Avoid body 1 from being collided with barrier, compared with single anticollision mode, improve detection reliability and efficiency, degree of intelligence is high.
As shown in Fig. 5,10,11,12,13, the lower end of the body 1 is rotatably connected at least two side brushes 61, each two side It is provided between brush 61 in dust absorption nozzle 62, dust absorption nozzle 62 and is provided with amount of dust detection part, the amount of dust detection part includes being located at is inhaled 3rd signal emission lamp 63 of the side of dirt mouth 62 and the 4th signal positioned at the opposite side of dust absorption nozzle 62 receive lamp 64, the 3rd signal hair The signal of shot-light 63 and the 4th receives lamp 64 coaxially and is oppositely arranged, and the front end of the 3rd signal emission lamp 63 and the 4th signal receive lamp 64 front end is respectively equipped with convex lens 65, parallel injection after the aggregation of light planoconvex lens 65 that the 3rd signal emission lamp 63 sends, The signal that reassociated after being received by the convex lens 65 of the other end after the cavity of dust absorption nozzle 62 receives lamp 64, the 4th to the 4th signal Signal receives the signal intensity that receives of lamp 64, purity and is greatly improved, and correspondingly increases detection sensitivity.The work of body 1 When making, dust is first swept to the central area of body 1 respectively by each side brush 61 of the lower end of body 1, turbofan 33 rotates at a high speed, Suction air stream (producing Negative Pressure Difference) is produced in dust absorption nozzle 62, side brush 61 is collected the dust for coming and is sucked by after dust absorption nozzle 62 Dust-collecting box 66, by being filtered through filter cotton 68 again after primary filter screen 67 tentatively filtering, the air after filtering is again through turbofan for dust 33 discharge from exhaust outlet 69.There is sensor (not shown) the both sides of dust absorption nozzle 62 respectively, and the sensor enters dust absorption nozzle for detection How much is 62 dusts, and in machine cleaning process, if detecting, amount of dust is more, the controller 15 of body 1 will improve turbofan 33 Power output and rotating speed, emphasis cleaning is carried out region is detected, until dust detection limit to tail off recover again commonly cleans mould Formula, intelligence degree is high.
As shown in Fig. 8,13, the body 1 is connected with the driving wheel 71 for driving the body 1 to advance or turn, main The elastic construction 72 for making driving wheel 71 protrude from the bottom of body 1 is provided between driving wheel 71 and body 1.Body 1 advances or turns Curved to be completed by driving wheel 71 and controller 15, driving wheel 71 is subject to spring tension, when machine is lifted, driving wheel 71 with gear-box Can eject the drain pan of body 1, such benefit be under abnormal operating state, as the drain pan of body 1 lands there is something special when (for example There are step, pit in face), driving wheel 71 can still be contacted with ground, and body 1 can be easily disengaged from obstacle.In normal operating conditions, it is main Driving wheel 71 and gear-box are subject to the Action of Gravity Field of body 1, and the major part of driving wheel 71 is hidden in body 1.
As shown in Fig. 8,14,15,16, the intellective dust collector includes the virtual wall group for defining the working range of body 1 Part 8, virtual wall component 8 includes defining signal lamp 81 and the convex lens 82 being arranged at before defining signal lamp 81.Using convex lens 82 To light-ray condensing principle, define it is parallel after signal (light) planoconvex lens 82 of signal lamp 81 send, parallel signal (light) phase Want high many for scattered signal orientation accuracy, extraordinary orientation is served to signal (light), it is right to substantially increase The precision that intellective dust collector working region divides.In addition, light is basic by parallel and narrow signal band that convex lens 82 are assembled It is straight line, even if will not also be scattered after remote, improves purging zone dividing precision, improves intellective dust collector cleaning Efficiency.When the body 1 in the A of working region is close defines parallel signal (light) that signal lamp 81 sends, body 1 pair defines letter The parallel signal (light) that signal lamp 81 is sent carries out Urine scent, and the control body 1 of controller 15 changes the direction of motion, so that can Body 1 is limited in the A of working region, without moving to working region B.
As shown in figure 8, the intellective dust collector also includes remote control 9, remote control 9 can be with wireless remote control body 1, and can be with It is positioned on cradle 2 and is charged.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as Protection scope of the present invention.

Claims (8)

1. a kind of intellective dust collector, including body and cradle, the body be provided with ceiling light, first recharge signal receive lamp, Second recharges signal receives lamp, drive device, contact chip and controller, the ceiling light located at the top of the body, described the One recharges signal receives lamp and recharges signal with described second and receive that lamp is parallel and interval setting, and the controller sends instructions to institute State drive device to drive the body to rotate or move along a straight line, the cradle is provided with the first signal emission lamp, second Signal emission lamp, lamp bracket, charging spring lamination and identification lamp, the first signal emission lamp and the secondary signal emission lamp are fixedly arranged on On the pcb board of the lamp bracket, the first signal emission lamp is parallel with the secondary signal emission lamp and interval setting, described One signal emission lamp and secondary signal emission lamp launch respectively different coding signal blocked through the lamp bracket after formed first believe Number band and secondary signal band, the ceiling light are used to receive the signal that the identification lamp sends, and described first recharges signal receives lamp Signal for receiving the first signal band, described second recharges signal receives lamp is used to receive the letter of the secondary signal band Number, when the body moves to the cradle to be charged, the contact chip and the charging spring lamination are contacted;
Characterized in that, the outer body is connected with front component, the front component is provided with electronic detection path components With machinery detecting path components, the electronic detection path components are including transmission signal lamp and receive signal lamp, the transmitting letter The optical axis of the optical axis of signal lamp and the reception signal lamp intersects, and the machinery detecting path components include front apron, preceding divider, torsion Spring, push rod and mechanical switch, the front apron are set up in the front apron located at the periphery of the front component, the front Side, the one end is connected with the preceding divider, and the torsion spring other end is connected with the push rod, the push rod and the machine Tool switchs relative and interval setting.
2. intellective dust collector according to claim 1, it is characterised in that the body is provided with fan base, the fan Involute cavity is offered on seat, turbofan is provided with the involute cavity, the blade of the turbofan is involute Blade.
3. intellective dust collector according to claim 1, it is characterised in that the lower end of the body is provided with for avoiding pit Or groove steps on sky lamp component, the sky lamp component of stepping on includes at least one set of emission lamp and at least one set of receives lamp, the transmitting The optical axis of the optical axis of lamp and the reception lamp intersects.
4. intellective dust collector according to claim 1, it is characterised in that the body lower end is rotatably connected at least two Side is brushed, and dust absorption nozzle is provided between side brush described in each two, and amount of dust detection part, the amount of dust inspection are provided with the dust absorption nozzle Surveying part includes being located at the 3rd signal emission lamp and the 4th signal positioned at the dust absorption nozzle opposite side of the dust absorption nozzle side Lamp is received, the 3rd signal emission lamp and the 4th signal receive lamp coaxially and be oppositely arranged, the 3rd signal transmitting The front end that the front end of lamp and the 4th signal receive lamp is respectively equipped with convex lens.
5. intellective dust collector according to claim 4, it is characterised in that the dust absorption nozzle both sides have respectively for detect into Enter the how many sensor of the dust of the dust absorption nozzle.
6. intellective dust collector according to claim 1, it is characterised in that the body is connected with for driving the body The driving wheel advanced or turn, is provided between the driving wheel and the body for making the driving wheel protrude from the body The elastic construction of bottom.
7. intellective dust collector according to claim 1, it is characterised in that the intellective dust collector is also included for defining institute State the virtual wall component of body working range, the virtual wall component includes defining signal lamp and is arranged at and described defines signal lamp Preceding convex lens.
8. intellective dust collector according to claim 1, it is characterised in that the intellective dust collector also includes can be with wireless remote Control the remote control of the body.
CN201410339166.6A 2014-07-17 2014-07-17 Intellective dust collector CN104095589B (en)

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CN105552995A (en) * 2015-12-21 2016-05-04 联想(北京)有限公司 Charging apparatus, electronic equipment, and control method and system
CN105511473A (en) * 2016-01-08 2016-04-20 莱克电气股份有限公司 Robot charging base and method for guiding robot to return and be chargedto charging
CN107661070A (en) * 2016-07-28 2018-02-06 九阳股份有限公司 A kind of clean robot and clean method with dust detection function
CN106235954A (en) * 2016-09-22 2016-12-21 蔡展 A kind of automatic cleaning machine people and charging system thereof
CN107348907A (en) * 2017-06-29 2017-11-17 宁波华宝海之创机器人科技有限公司 A kind of dust catcher and its charge control method
CN207785061U (en) * 2017-07-28 2018-08-31 广东宝乐机器人股份有限公司 Cradle and mobile robot

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CN204207674U (en) * 2014-07-17 2015-03-18 深圳远欧智慧科技有限公司 Intellective dust collector

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