CN104127157A - Wheel-leg type stair sweeping robot - Google Patents
Wheel-leg type stair sweeping robot Download PDFInfo
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- CN104127157A CN104127157A CN201410378458.0A CN201410378458A CN104127157A CN 104127157 A CN104127157 A CN 104127157A CN 201410378458 A CN201410378458 A CN 201410378458A CN 104127157 A CN104127157 A CN 104127157A
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Abstract
The invention discloses a multifunctional wheel-leg type stair sweeping robot which solves the problems that an existing robot is short of intelligence, instable in climbing, insufficient in climbing ability, low in sweeping efficiency and the like in a stair region with a complex environment. The robot comprises a machine body, a front walking wheel, a rear walking wheel, a sweeping module and a control system. The sweeping module comprises a power device, a rotary brush arranged on the front portion, a middle rolling brush arranged in the middle, a dust collector and a trash bin, wherein the dust collector and the trash bin are arranged behind the rolling brush, and the dust collector is communicated with the trash bin. The robot is also provided with a horizontal movement mechanism and a lifting mechanism, wherein the lifting mechanism is mounted on the machine body, the horizontal movement mechanism is mounted on the lifting mechanism, and a sweeping mechanism is mounted on the horizontal movement mechanism. The wheel-leg type stair sweeping robot is reasonable in structure, stable in climbing, high in climbing power, good in operating performance, high in sweeping efficiency, simple and practical.
Description
technical field:
The invention belongs to robot and automation field, particularly a kind of corridor sweeping robot that completes cleaning works in circumstance complication regions such as corridors.
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background technology:
Research for stair climbing robot has had quite long phase of history, and the stair climbing robot existing at present is mainly divided into following Four types: planet gear type, crawler type, leg foot formula and parallelogram lindage formula.
Planet gear type: meeting under certain landform adaptability prerequisite, can give full play to mobile robot and move flexibly, control the advantages such as simple, but because traditional planetary gear wheel group structure is unreasonable, while climbing building, efficiency is not high, and during operation, the whole stationarity of robot is difficult to be guaranteed.
Crawler type: track type climbing-building mechanism uses extensively, very welcome in all kinds of anti-riot robots make especially.Its main feature is: obstacle climbing ability is strong, and can adapt to different stair, in stair activity process center of gravity fluctuation little, move quite steady.When its maximum deficiency is level walking, resistance is larger, moves dumb, and energy consumption is high, and when stair climbing, if design improperly, crawler belt also easily damages stair ladders edge.In addition, just going downstairs a certain moment, whole mechanism can tilt suddenly.
Legged mobile robot: ground strong adaptability, stability is high, but mechanism and control are complicated, and speed of service cost low and that manufacture is also more expensive.
Parallelogram lindage formula: designed lifting and realized stair activity with the motion of flexible two frees degree, this robot architecture is reasonable, and service behaviour is better.But same stability is not good enough, and robot itself easily tumbles, more restive, and operational efficiency is not high.
Above four kinds of stair climbing robots are current modal types, and they have its feature separately, but also all not enough to some extent, this has also limited its application in wider scope to a great extent.And be roughly divided into several like this classes for the developmental research of sweeping robot: road-cleaning machine people, indoor floor-sweeping machine device people, wall glass curtain wall sweeping robot etc.
Road-cleaning machine people: two running wheels of robot are driven by a direct current generator respectively, running wheel and a brush sweeper are in transmission connection by chain, realize when walking in Shang Huo garden, Liao street and cleaning, and by refuse collection in a container.This robot has that energy consumption is low, good reliability, the advantage such as easy to operate.But its volume is huger, noise is large, flexibility is general, is not suitable for the cleaning in the corridor region of terrain environment complexity.
Indoor floor-sweeping machine device people: the household cleaning machine people of U.S. iRobot company research and development, smooth surface, rounded, rotating brushes combines with dust catcher.For guaranteeing that each corner in room is all cleaned, after collision obstacle, can move ahead along barrier, after moving a certain distance, can spend by automatic rotating 90, and constantly repeat process above, the carrying out of circulation, until cleaned, then quits work like this.This sweeping robot intelligence, flexibility are very high, and power consumption, noise are all less, but have, do not climb building function, are therefore not suitable for corridor cleaning works.
Wall glass curtain wall sweeping robot: robot is adsorbed in metope or glass surface, realizes cleaning works by the wriggling of robot, and this robot can clean the high-altitude wall area that manpower can not be swept into, light, practicality.But same, it is not also suitable for corridor cleaning works.
The units such as Harbin Institute of Technology, South China Science & Engineering University, Shanghai Communications University have also carried out a large amount of research and have obtained some achievements clean robot, as more in the research of the technology such as machine perception, robot navigation and location and path planning, robot control, power supply and power management, power drive to clean robot correlation technique, these are all that material base and technical foundation have been established in research and development and the popularization of clean robot.Harbin Institute of Technology has released stair clean robot and inspired by Principles of Gear Connection, utilizes involute type wheel to climb the method in building, and then has designed a kind of novel climbing machine, and has increased on this basis stair cleaning function.This robot clearing apparatus is too simple, exists cleaning function not remarkable, and cleaning mechanism designs irrational problem.The Zhang Lei of Nantong University, Tang Wenxue, the people such as Zhang Le, have invented a kind of elevating and telescopic type corridor sweeping robot, application number: 201210116810.4, publication number: CN 102631172 A.This elevating and telescopic type corridor cleaning robot, adopts parallelogram lindage, controls the lift telescopic of realizing four-bar mechanism convert by singlechip control chip, and robot completes the building work of climbing, and completes cleaning by the clearing apparatus being arranged on bottom machine simultaneously.This robot stabilization is poor, easily tumble and sweeping efficiency not high.
summary of the invention:
In order to solve existing sweeping robot, climb that building difficulty, sweeping efficiency are not high, less stable, cannot finely complete the problems such as corridor cleaning works, the invention provides the multi-functional corridor sweeping robot of wheel leg type, object is efficient, the stable corridor cleaning works that completes, and well realizes robot in circumstance complication region intelligence cleanings such as corridors.
The technical solution adopted for the present invention to solve the technical problems:
The multi-functional corridor sweeping robot of wheel leg type, comprises fuselage, forward and backward road wheel, cleaning module and control system, cleaning module comprises power set, is arranged on the rotating brushes in the place ahead, round brush in the middle of being arranged on, and the dust catcher and the dustbin that are arranged on round brush rear, dust catcher communicates with dustbin, and this robot is also provided with translation mechanism and elevating mechanism, and elevating mechanism is arranged on fuselage, translation mechanism is arranged on elevating mechanism, and cleaning agency is arranged on translation mechanism.
Elevating mechanism comprises lifting motor, riser guide, drive gear mechanism, the first gear, the first gear shaft and the first tooth bar vertically arranging; Translation mechanism is arranged on the first tooth bar, and translation mechanism comprises translation motor, translation guide rail, drive gear mechanism, the second gear, the second gear shaft and horizontally disposed the second tooth bar; Cleaning module is packed on the second tooth bar; Longitudinal rack is installed on riser guide, longitudinal rack and the first gear engagement being contained on the first gear shaft, the first gear shaft is connected with the first driving mechanism lifting motor by drive gear mechanism; Horizontal tooth bar is installed on translation guide rail, and laterally tooth bar meshes with the second gear being contained on the second gear shaft, and the second gear shaft is connected with the second driving mechanism translation motor by drive gear mechanism.The guide groove port additional travel switch of tooth bar, plays certain protective effect.
Control system comprises STM32 chip, power module, status displays and each sensor, and each Electric Machine Control end is connected with STM32 chip controls port respectively, and the signal output part of each sensor accesses respectively the signals collecting port of STM32 chip; Wherein, infrared remote control installation of sensors in STM32 chip place, stair judgements with keep away barrier sensor and be installed on respectively corner location, the ultrasonic distance-measuring sensor that forebody centre position, crash sensor be installed on vehicle body and be installed on respectively cleaning module bottom below and cleaning module two side positions.
Forward and backward road wheel adopts spoke chip wheels, and each wheel includes motor, medial and lateral spoke sheet, and installed thrust ball bearing in the rotating shaft of wheel, thrust bearing is connected with motor.Promote thrust ball bearing, spoke sheet outside front-wheel and trailing wheel is rotated.During speeling stairway, drive thrust ball bearing drive motors, outside spoke sheet overlaps with fixing inner side spoke sheet; During level walking, outside spoke sheet rotates, and forms a complete circle wheel with inner side spoke sheet, improves the stationarity of robot when level walking.
This robot is divided into forebody and rear body, and the two is connected by linkage, and forebody is provided with front wheels, drive motors and drive disk assembly thereof, master board, elevating mechanism, translation mechanism, clearing apparatus, each sensor component; Rear body is provided with rear wheels, drive motors and drive disk assembly thereof and sensor.
beneficial effect of the present invention:
The present invention has designed spoke chip wheels Climbing building device, has realized level road stair double-purpose function; Robot overall construction design the novel leg combiner structure of taking turns; Designed the integrated clearing apparatus of rotating brushes, round brush and dust catcher; Design liftable translation clearing apparatus, realized the flexible intelligence cleaning of sweeping robot; Designed the intelligence control system based on STM32, adopt several functions sensor, realize robot autonomous stair activity reliably, often climb up (or under) one deck, by the reciprocating motion of translation guide rail, can be autonomous by Software for Design complete step cleaning works, whole process, full automation, participates in without manpower.
Than traditional planet gear type, crawler type, leg formula, parallelogram lindage formula robot, have level road and climb building double-purpose function, greatly strengthened flexibility and the scope of application of robot, special wheel group structure makes the Pa of robot building stability have larger lifting; Novel wheel moves back formula structure, when speeling stairway, the existence of linkwork, before and after making, fuselage has one to relatively rotate the free degree, and the arbitrary side wheel leg mechanism of mmi machine body is climbed up after stair, motion along with robot, forebody tilts gradually, reaches after allowable angle of inclination, and inclination angle is decreased to again zero gradually, adopt the design of creeping of bionical thing, the ability of ascending and the stability of robot promote to some extent;
The integrated cleaning module of the present invention, it is convenient to control, and has well guaranteed efficiency and the quality of stair face cleaning; The clearing apparatus being arranged on translation mechanism is not interfered by the special construction of stair, and every upper (lower) complete one deck stair just can complete cleaning task at this layer flexibly;
The intelligence control system that the present invention is based on STM32 chip makes robot autonomousization, intellectuality, automation; This invention robot has that quality is little, compact conformation, flexibly, the feature such as obstacle climbing ability is strong, can fast and stable ground speeling stairway, and do not need it to carry out gait planning, properties compared to traditional Climbing building device all has larger lifting, low cost of manufacture, for ease of maintenaince, is applicable to volume production.
accompanying drawing explanation:
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1-1st, during level road shape of the present invention, the structural representation of spoke chip wheels.
Fig. 1-2 is the present invention while climbing building state, spoke chip wheel group structure schematic diagram.
Fig. 2 is corridor sweeping robot cleaning module structure figure of the present invention.
Fig. 3 is control system schematic diagram of the present invention.
Fig. 4 is general structure schematic diagram of the present invention.
In figure: 1, thrust ball bearing; 2, inner side spoke sheet; 3, outside spoke sheet; 4, dust sucting motor; 5, dust catcher; 6, dustbin; 7, rotating brushes motor; 8, rotating brushes; 9, round brush; 10, round brush motor; 11, lifting motor; 12, translation motor; 13, riser guide; 14, the first tooth bar; 15, translation guide rail; 16, the second tooth bar; 17, travel switch; 18, front and back wheel drive motors; 19, stair judge and keep away barrier sensor; 20, crash sensor; 21, ultrasonic distance-measuring sensor; 22, STM32 chip; 23, thrust ball bearing drive motors.
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The specific embodiment
As shown in Fig. 1-1 and Fig. 1-2, the multi-functional corridor sweeping robot of wheel leg type of the present invention's design, the spoke chip wheels that comprise level road He Pa building double-purpose; Designed wheel leg combiner structure; Integrated cleaning module is cleaned in the cleaning of design rotating brushes, round brush cleaning, dust suction; Designed for controlling clearing apparatus operation elevating mechanism, translation mechanism; Designed the control system based on STM32.Level road state He Pa building state variation state as shown in the figure.
In the present invention, the four wheels of spoke chip wheels is by ball bearing drive motors 23, two spoke sheets 2,3 and middle thrust ball bearing 1 form, by motor-driven, make the rotation of the outside spoke sheet 3 of front-wheel and trailing wheel, wheels can and be climbed building different operating requirement and carry out the switching of wheels form for level road.During speeling stairway, 23 runnings of ball bearing drive motors, outside spoke sheet 3 clockwise rotates 36 °, realizes and overlapping with inner side spoke sheet 2, and robot climbing, greatly improves robot and climbs building earth-grasping force; During level walking, outside spoke sheet 3 rotates counterclockwise 36 °, forms complete justifying take turns with inner side spoke sheet 2, improves the stationarity of robot when level walking.
Elevating mechanism comprises that the first tooth bar 14, the first translation mechanisms of lifting motor 11, riser guide 13, drive gear mechanism, the first gear, the first gear shaft, vertically setting are arranged on the first tooth bar 14; Translation mechanism comprises translation motor 12, translation guide rail 15, drive gear mechanism, the second gear, the second gear shaft, horizontally disposed the second tooth bar 16, and cleaning module is arranged on the second tooth bar.On elevating mechanism guide rail, longitudinal rack is installed, longitudinal rack and the first gear engagement being contained on the first gear shaft, the first gear shaft is connected with the first driving mechanism lifting motor 11 by drive gear mechanism; Horizontal tooth bar is installed on translation guide rail 15, and laterally tooth bar meshes with the second gear being contained on the second gear shaft, and the second gear shaft is connected with the second driving mechanism translation motor 12 by drive gear mechanism.
Control system comprises STM32 chip and power module thereof, status displays, the driving control system that the driving control port of STM32 chip and front and back wheel drive motors, lifting motor 11, translation motor 12, motor of dust collector, round brush motor, rotating brushes motor, thrust ball bearing drive motors 23 connect to form; The judgement of the signals collecting port of STM32 chip and infrared remote control sensor 24, stair and the feedback control system of keeping away barrier sensor 19, crash sensor 20 and ultrasonic distance-measuring sensor 21 and connecting to form.
The present invention adopts wheel leg combiner structure, by Robot Design, it is wheel leg combiner structure, be divided into two of forebody and rear bodies, by linkage, connected, the front wheels of robot, each drive motors and drive disk assembly, master board, clearing apparatus, elevating mechanism, translation mechanism and each sensor component are set on forebody; Rear wheels, drive motors and drive disk assembly thereof and each sensor are set on rear body.
Wheel leg combiner structure adopts Static Analysis Method to carry out stability analysis, and the robot of the present invention's design, when stair climbing, exists and around robot sideline, tumbles and situation that angle point is tumbled.In stair climbing process, there is a minimum unstability angle of gradient in robot, and when ramp slope angle is greater than robot around each tipping pitman and tumbles the minimum unstability angle of gradient of a little tumbling, robot will unstability occur on the slope and tumble.The minimum unstability angle of gradient is larger, and under various motion states, the stability of movable robot with wheel legs is better.Therefore at the critical piece that designs Shi Jiang robot, be arranged on forebody and reduce the center of gravity of robot simultaneously as far as possible, thereby greatly improve the stability that building is climbed by robot.
Cleaning module, has designed power set, rotating brushes, round brush and dust catcher integral structure, base plate front end dress rotating brushes, and in the middle of base plate, below arranges round brush, at the rear of round brush, dust catcher and dustbin is set; By STM32 chip controls system, control elevating translational mechanism, dust catcher, round brush and rotating brushes associated working.
Fig. 2, the present invention carries out rotating brushes motor 7 in cleaning task process and drives rotating brushes 8 cleaning ground, rubbish is swept in robot below zone line simultaneously, round brush motor 10 drives round brush 9 that rubbish is swept to dust catcher 5 belows, dust sucting motor 4 drives dust catcher 5 that dust-type rubbish is sucked to dustbin 6, has guaranteed the reliability of garbage-cleaning.
Whole control system can be divided into the task of following components substantially:
(1) control startup and the termination of rotating brushes motor 7, dust sucting motor 4, round brush motor 10, when needing clean robot to start cleaning works, 3 motors are worked simultaneously simultaneously; When stopping cleaning, 3 motors stop simultaneously.
(2) building is climbed in detection stair, decision-making: a stair judgement is installed respectively in centre position, fuselage front and back and keeps away barrier sensor 19, fuselage corner location is installation shock sensor 20 respectively, upstairs time, according to the united information of sensor, judge whether the place ahead is the upper level step of stair, if it is proceed to and climb building processing; In the time of downstairs, according to the united information of sensor, judge whether rear is the next stage step of stair, if it is proceed to downstairs and process.
(3) according to stair step width, planning cleaning path.In robot front of the car cleaning module, each side arrange a ultrasonic distance-measuring sensor 21, according to its signal, the tread run of judgement stairway step, determines the horizontal cleaning range of clearing apparatus, cleans.
According to stair judgement and the united information of keeping away barrier sensor 19, crash sensor 20 and ultrasonic distance-measuring sensor 21, judge whether robot arrives stair first order step place.If do not arrive, in each wheel, outside spoke sheet structure keeps circle shape, first, second driving mechanism of STM32 chip controls (being lifting motor 11, flexible motor 12), dust sucting motor 4, rotating brushes motor 7, round brush motor 7 complete cleaning works, in cleaning process, when stair judgements with keep away barrier sensor 19 barrier detected time, automatically make and the feedback action such as retreat, turn to, stop, realizing the barrier of keeping away of robot; When detecting arrival first order step forward position, by thrust ball bearing drive motors 23, provide power, making outside spoke sheet clockwise rotate 36 ° realizes and overlapping with the spoke sheet of inner side, be configured to five impellers and start to climb building, control lifting motor 11 simultaneously, make to clean module and rise to upper level step surface height and stop.According to stair judgement and the united information of keeping away barrier sensor 19, crash sensor 20, when place, robot cleaning module arrival upper level step forward position being detected, STM32 chip 22 is controlled front and back wheel drive motors 18 and is decommissioned; Control lifting motor 11, coordinate the feedback information of the ultrasonic distance-measuring sensor 21 of cleaning module bottom below, cleaning module stops at stair face top correct position; Control translation motor 12, the united information that coordinates crash sensor and be arranged on the ultrasonic distance-measuring sensor of cleaning module both sides, determines cleaning track and cleaning range, starts stair face to carry out intelligence cleaning; After the cleaning of one-level step, control lifting motor 11, cleaning module rises to upper level step surface height again, front and back wheel drive motors 18 operations simultaneously, cleaning module is avoided starting to climb building with the collision of step, according to stair judgement and the united information of keeping away barrier sensor 19, crash sensor 20 and ultrasonic distance-measuring sensor 21, repeat abovementioned steps, and then complete the intelligent cleaning works of whole corridor.
Claims (5)
1. the multi-functional corridor sweeping robot of wheel leg type, comprise fuselage, forward and backward road wheel, cleaning module and control system, cleaning module comprises power set, be arranged on the rotating brushes in the place ahead, round brush in the middle of being arranged on, and the dust catcher and the dustbin that are arranged on round brush rear, dust catcher communicates with dustbin, it is characterized in that: this robot is also provided with translation mechanism and elevating mechanism, and elevating mechanism is arranged on fuselage, translation mechanism is arranged on elevating mechanism, and cleaning agency is arranged on translation mechanism.
2. the multi-functional corridor sweeping robot of wheel leg type according to claim 1, is characterized in that: described elevating mechanism comprises lifting motor, riser guide, drive gear mechanism, the first gear, the first gear shaft and the first tooth bar vertically arranging; Translation mechanism is arranged on the first tooth bar, and translation mechanism comprises translation motor, translation guide rail, drive gear mechanism, the second gear, the second gear shaft and horizontally disposed the second tooth bar; Cleaning module is packed on the second tooth bar; Longitudinal rack is installed on riser guide, longitudinal rack and the first gear engagement being contained on the first gear shaft, the first gear shaft is connected with the first driving mechanism lifting motor by drive gear mechanism; Horizontal tooth bar is installed on translation guide rail, and laterally tooth bar meshes with the second gear being contained on the second gear shaft, and the second gear shaft is connected with the second driving mechanism translation motor by drive gear mechanism.
3. the multi-functional corridor sweeping robot of wheel leg type according to claim 1, it is characterized in that: described control system comprises STM32 chip, power module, status displays and each sensor, each Electric Machine Control end is connected with STM32 chip controls port respectively, and the signal output part of each sensor accesses respectively the signals collecting port of STM32 chip; Wherein, infrared remote control installation of sensors in STM32 chip place, stair judgements with keep away barrier sensor and be installed on respectively corner location, the ultrasonic distance-measuring sensor that forebody centre position, crash sensor be installed on vehicle body and be installed on respectively cleaning module bottom below and cleaning module two side positions.
4. the multi-functional corridor sweeping robot of wheel leg type according to claim 1, it is characterized in that: forward and backward road wheel adopts spoke chip wheels, and each wheel includes motor, medial and lateral spoke sheet, installed thrust ball bearing in the rotating shaft of wheel, thrust bearing is connected with motor.
5. the multi-functional corridor sweeping robot of wheel leg type according to claim 1, it is characterized in that: this robot is divided into forebody and rear body, the two is connected by linkage, and forebody is provided with front wheels, drive motors and drive disk assembly thereof, master board, elevating mechanism, translation mechanism, clearing apparatus, each sensor component; Rear body is provided with rear wheels, drive motors and drive disk assembly thereof and sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410378458.0A CN104127157A (en) | 2014-08-04 | 2014-08-04 | Wheel-leg type stair sweeping robot |
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| CN201410378458.0A CN104127157A (en) | 2014-08-04 | 2014-08-04 | Wheel-leg type stair sweeping robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973151A (en) * | 2015-07-20 | 2015-10-14 | 北京理工大学 | Microminiature robot capable of walking up and down stairs automatically |
| CN106175608A (en) * | 2016-08-26 | 2016-12-07 | 朱景元 | Intelligent stair sweeping robot and control method thereof and control system |
| CN106343927A (en) * | 2016-10-18 | 2017-01-25 | 安徽工程大学 | Automatic stairs climbing and stairs step sweeping device |
| CN106473666A (en) * | 2016-10-11 | 2017-03-08 | 哈尔滨理工大学 | A kind of automatic stari creeping formula cleans dolly |
| CN106610667A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Corridor cleaning robot control system and method based on RC controller |
| CN107157408A (en) * | 2017-06-23 | 2017-09-15 | 黄娉 | A kind of strong Intelligent sweeping machine device people of traveling ability based on Internet of Things |
| CN107981799A (en) * | 2017-11-26 | 2018-05-04 | 梁瑞城 | A kind of clean robot |
| CN108175336A (en) * | 2017-12-27 | 2018-06-19 | 彭乙轩 | Intelligent passageway cleaning device |
| CN108435734A (en) * | 2018-05-18 | 2018-08-24 | 芜湖华衍水务有限公司 | Overflow cell wall moss clears up robot and its method for cleaning |
| CN109549570A (en) * | 2019-01-15 | 2019-04-02 | 梧州学院 | A kind of stair cleaning machine |
| CN111248813A (en) * | 2020-03-30 | 2020-06-09 | 张梦尧 | Stair cleaning device capable of automatically crawling |
| CN111297267A (en) * | 2020-03-09 | 2020-06-19 | 盐城工学院 | Cleaning device for automatically cleaning stairs and ground |
| CN112568814A (en) * | 2019-09-29 | 2021-03-30 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and method for automatically cleaning operation surface |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973151A (en) * | 2015-07-20 | 2015-10-14 | 北京理工大学 | Microminiature robot capable of walking up and down stairs automatically |
| CN106610667A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Corridor cleaning robot control system and method based on RC controller |
| CN106175608A (en) * | 2016-08-26 | 2016-12-07 | 朱景元 | Intelligent stair sweeping robot and control method thereof and control system |
| CN106175608B (en) * | 2016-08-26 | 2019-01-25 | 朱景元 | Intelligent stair sweeping robot and its control method and control system |
| CN106473666A (en) * | 2016-10-11 | 2017-03-08 | 哈尔滨理工大学 | A kind of automatic stari creeping formula cleans dolly |
| CN106343927A (en) * | 2016-10-18 | 2017-01-25 | 安徽工程大学 | Automatic stairs climbing and stairs step sweeping device |
| CN106343927B (en) * | 2016-10-18 | 2021-11-23 | 安徽工程大学 | Device for automatically climbing stairs and cleaning stairs steps |
| CN107157408A (en) * | 2017-06-23 | 2017-09-15 | 黄娉 | A kind of strong Intelligent sweeping machine device people of traveling ability based on Internet of Things |
| CN107981799A (en) * | 2017-11-26 | 2018-05-04 | 梁瑞城 | A kind of clean robot |
| CN108175336B (en) * | 2017-12-27 | 2020-11-13 | 浙江数瑞科技有限公司 | Intelligent corridor cleaning device |
| CN108175336A (en) * | 2017-12-27 | 2018-06-19 | 彭乙轩 | Intelligent passageway cleaning device |
| CN108435734A (en) * | 2018-05-18 | 2018-08-24 | 芜湖华衍水务有限公司 | Overflow cell wall moss clears up robot and its method for cleaning |
| CN109549570A (en) * | 2019-01-15 | 2019-04-02 | 梧州学院 | A kind of stair cleaning machine |
| CN109549570B (en) * | 2019-01-15 | 2023-11-21 | 梧州学院 | Stair cleaning machine |
| CN112568814A (en) * | 2019-09-29 | 2021-03-30 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and method for automatically cleaning operation surface |
| CN112568814B (en) * | 2019-09-29 | 2023-10-27 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and method for automatically cleaning operation surface |
| CN111297267A (en) * | 2020-03-09 | 2020-06-19 | 盐城工学院 | Cleaning device for automatically cleaning stairs and ground |
| CN111248813A (en) * | 2020-03-30 | 2020-06-09 | 张梦尧 | Stair cleaning device capable of automatically crawling |
| CN111248813B (en) * | 2020-03-30 | 2021-11-30 | 浙江环艺电子科技有限公司 | Stair cleaning device capable of automatically crawling |
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Application publication date: 20141105 |