CN104921654B - Adsorb robot - Google Patents
Adsorb robot Download PDFInfo
- Publication number
- CN104921654B CN104921654B CN201410098482.9A CN201410098482A CN104921654B CN 104921654 B CN104921654 B CN 104921654B CN 201410098482 A CN201410098482 A CN 201410098482A CN 104921654 B CN104921654 B CN 104921654B
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- CN
- China
- Prior art keywords
- sucker
- attached
- main
- control unit
- robot
- 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.)
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2821—Pressure, vacuum level or airflow
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
Abstract
The invention discloses one kind to adsorb robot, including body（1）, control unit and sensor, the organism bottom be provided with main sucker（2）, the main sucker（2）Periphery is additionally provided with attached sucker（3）, the sensor detection attached sucker（3）Vacuum, and the information detected is sent to described control unit, control unit receives the information that the sensor is sent and analyzed and processed, and sends control instruction, controls the body（1）Action.The absorption robot of the present invention is that main sucker early warning detects more comprehensively using attached sucker, improves reliability.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of absorption robot.
Background technology
Absorption robot is can be adsorbed in vertical or inclined wall, and can perform a kind of particular kind of machine of certain function
People, such as glass-cleaning robot, wall surface cleaner device people.Absorbing unit is the very important part of absorption robot,
It provides absorption affinity for robot, robot absorption is worked accordingly on wall.Therefore, the reliability of absorbing unit
Directly influence machine human efficiency, performance and wall adaptability etc..Robot is adsorbed using sucker suction in working surface, so
And due to the uncertainty of working environment, working surface there will be likely some slight crack, projection, rimless border or small stair etc. because
The danger fallen be present in element, easily gas leakage when sucker passes through, absorption robot.
There is a kind of glass-cleaning robot with glass edge detection function in the prior art, the glass-cleaning robot is set
There is haptic element sensor, when glass edge is arrived in walking, the haptic element of haptic element sensor departs from glass surface and produces induced signal, from
Glass robot judges to arrive at glass edge and perform go to action, avoids falling from glass edge.But the angle sensor pair
The factor that some pasters, coating, gap etc. influence adsorbent equipment vacuum can not detect.
One kind can detect raised or crack and can detection glass edge on glass, and machine after abnormal signal is detected
The testing agency that there is people time enough to do corresponding avoiding action urgently occurs.
The content of the invention
The technical problems to be solved by the invention, the step of for prior art, there is provided one kind absorption robot, utilization are attached
It is that main sucker early warning detects more comprehensively to belong to sucker, improves reliability.
The technical problems to be solved by the invention are achieved by the following technical solution：
One kind absorption robot, including body, control unit, sensor and cleaning unit, the organism bottom are provided with master
Sucker and cleaning unit, the main sucker periphery are additionally provided with attached sucker, and the sensor detects the vacuum of the attached sucker
Degree, and the information detected is sent to described control unit, control unit receives the information that the sensor is sent and carried out
Analyzing and processing, and control instruction is sent, control the body to act.
When the sensor detects that the vacuum of the attached sucker declines, described control unit controls the body
Stop or turn to.
In order to preferably detect main sucker, there is gap between the attached sucker and the main sucker.
Preferably, the area of the attached sucker is less than the half of the area of the main sucker.
Preferably, the main sucker is arranged on the central region of organism bottom.
Preferably, the attached sucker is arranged on the edge of organism bottom.
In order to more firmly adsorb clean surface, the main sucker is double-round sucker, multi-turn sucker or multi-sucker structure, is made
Main sucker crosses over small convex type barrier.
In embodiment, the quantity of the attached sucker is 1, using the direct of travel of body before, the attached sucker
Located at the front side of the main sucker.
In another embodiment, the quantity at least two of the attached sucker, it is near using the direct of travel of body before
A few attached sucker is located at the front side of the main sucker, and removing is arranged on beyond the attached sucker on front side of the main sucker
Remaining attached sucker be arranged at left and right sides of the main sucker and/or rear side.
Preferably, the quantity of the attached sucker is 4, and one is respectively set in the side all around of the main sucker.
Specifically, using the direct of travel of body before, when the attached sucker is only on front side of the main sucker, if institute
State control unit and receive the signal that the attached sucker vacuum declines, described control unit is controlled described in walking unit drive
Body retreats；
When the attached sucker is located at the main sucker front side, the left and right sides and rear side, if described control unit receives
The signal that attached sucker vacuum declines on front side of to the main sucker, described control unit control walking unit drive the body
Retreat, it is described if described control unit receives the signal that the attached sucker vacuum on the left of the main sucker or right side declines
Control unit control walking unit drives the body to turn right or turn left；Otherwise, described control unit control walking unit drives
The body moves on.
The advantage of the invention is that：1st, attached sucker is identical with main sucker structure principle, all that main sucker can be caused to leak
The external factor of gas can influence attached sucker vacuum, the use of attached sucker be that main sucker early warning detects more comprehensively, reliability
It is higher；2nd, attached sucker volume can be set smaller, save machinery bed space；3rd, attached sucker may be provided at organism bottom
Edge, increase attached sucker and main sucker distance, robot has time enough when attached sucker detection vacuum reduces
Corresponding avoiding action is carried out, and causes the attached sucker that there is raised detection glass or crack simultaneously and detects glass edge
Function.
Brief description of the drawings
Fig. 1 is present invention absorption machine human organism's polycrystalline substance schematic diagram；
Fig. 2 is absorption machine human organism's polycrystalline substance schematic diagram of the embodiment of the present invention two；
Fig. 3 is absorption machine human organism's polycrystalline substance schematic diagram of the embodiment of the present invention three；
Fig. 4 is absorption machine human organism's polycrystalline substance schematic diagram of the embodiment of the present invention four；
Fig. 5 is that the absorption machine of the embodiment of the present invention four manually makees schematic diagram.
Embodiment
Fig. 1 adsorbs machine human organism's polycrystalline substance schematic diagram for the present invention is a kind of, as shown in figure 1, the suction in the present embodiment
Attached robot, including body 1, control unit（Not shown in figure）, sensor（Not shown in figure）, cleaning unit 4 and walking it is single
Member 5, the bottom of body 1 is provided with main sucker 2, cleaning unit 4 and walking unit 5, and the main periphery of sucker 2 is additionally provided with attached sucker 3, attached
There is gap between sucker 3 and main sucker 2.Preferably, it is attached as shown in figure 1, main sucker is arranged on the central region of body drain pan
Category sucker 3 is arranged on the periphery of main sucker 2.
Sensor detects the vacuum of attached sucker 3, when sensor detects that the vacuum of attached sucker 3 deteriorates to less than
Or during equal to preset value, the information detected is sent to control unit, control unit receives the information that sensor is sent and entered
Row analyzing and processing, and control instruction is sent, control body 1 operates.It is mainly main sucker early warning to set attached sucker.In order to save
Organism bottom space and the sensitivity for improving attached sucker, preferably, the area of attached sucker is less than or equal to main sucking disc area
1/2.The area of sucker in the present invention refers to the sealing area of sucker and working surface.When attached sucker vacuum declines,
In order to reserve enough obstacle avoidance spaces to robot, gap is provided between attached sucker 3 and main sucker 2.Below, with this reality
Illustrated exemplified by the attached sucker of example is applied on front side of main sucker.If robot acceleration is a, when v is that robot normally walks
Speed, attached sucker leading edge and main sucker leading edge distance are s, when attached sucker vacuum declines, control unit control machine
Body is decelerated to stopping, travel distance s '=v2/（2a）If s ＞ s ', robot stops before main sucker reaches obstacle, successfully advises
Obstacle avoidance；If s ＜ s ', main sucker moves to gas leakage at obstacle before robot stopping；If s=s ', when robot stops, main suction
Disk is in the edge of obstacle, therefore, to improve the safety coefficient of robot, on the premise of other conditions permits, attached sucker
It is the bigger the better with the distance s of main sucker.It is preferred that attached sucker is arranged on the edge of organism bottom.
Embodiment one
As shown in figure 1, in the present embodiment, the quantity of attached sucker 3 is 1, if before the direct of travel A of body 1 is, it is attached
Belong to the front side that sucker 3 is located at main sucker 2.
Operation principle：
When control unit receives the signal of the attached vacuum of sucker 3 decline, control unit controls walking unit 5 with motivation
Body 1 stops or turned to, wherein turning to includes retreating, turn left or turning right.
Embodiment two
Fig. 2 is absorption machine human organism's polycrystalline substance schematic diagram of the embodiment of the present invention two, as shown in Fig. 2 the present embodiment
In absorption robot and the structure in embodiment one it is basically identical, difference is：
The quantity at least two of attached sucker 3 in the present embodiment, will be at least one using the direct of travel A of body before
Attached sucker 3 is located at the front side of main sucker 2, removes remaining the attached sucker being arranged on beyond the attached sucker 3 of the main front side of sucker 2
3 are arranged on the main left and right sides of sucker 2 and/or rear side.
Operation principle：
If control unit receives the signal that the attached vacuum of sucker 3 in the main front side of sucker 2 declines, control unit control walking
Unit 5 drives body 1 to stop or retreat, if control unit is received under the vacuum of attached sucker 3 in the main left side of sucker 2 or right side
The signal of drop, control unit control walking unit 5 drive body 1 to turn right or turn left；Otherwise, control unit control walking unit 5
Body 1 is driven to move on.
Embodiment three
Fig. 3 is absorption machine human organism's polycrystalline substance schematic diagram of the embodiment of the present invention three, as shown in figure 3, the present embodiment
In absorption robot and the absorption robot architecture in embodiment two it is basically identical, difference is：
The quantity of attached sucker 3 in the present embodiment is 4, and one is respectively set in the side all around of main sucker 2.
Its operation principle is consistent with embodiment two, will not be repeated here.
Referring again to shown in Fig. 3, in the present embodiment, the main sucker 2 for adsorbing robot uses double-round sucker, and it is included
Interior sucker 21 and outer sucker 22, interior sucker 21 is arranged at the outer inner side of sucker 22, wherein the cavity of the inner side of interior sucker 21 passes through vacuum
Negative pressure chamber 23 in suction formation, the cavity of inside and outside interambulacrum, which passes through to be sucked by vacuum, forms outer negative pressure chamber 24.It is pointed out that
The present invention main sucker 2 be not limited to double-round sucker, can also use multi-turn sucker, the single sucking disc or multi-sucker in one kind or
Combination.Preferably, the area of main sucker is much larger than the area of attached sucker, absorption robot is essentially by main sucker suction in work
Make surface.Referring again to shown in Fig. 3, during normal operation, absorption robot is adsorbed by interior negative pressure chamber 23 and outer negative pressure chamber 24
In glass surface；When the small lugs class barrier that attached sucker 3 fails to detect reaches the main position of sucker 2 around attached sucker 3
When, outer sucker 22 initially encounters small lugs, and outer sucker 22 is jacked up, and outer negative pressure chamber 24 fails, now only in sucker 21 with it is clear
Clean face seal, absorption robot are adsorbed in clean surface by interior negative pressure chamber 23；Absorption robot continues to run with, when interior sucker
21 when running into the small lugs, and now outer sucker 22 has passed over the small lugs, and outer sucker 22 re-starts absorption work, that is,
Say that now outer negative pressure chamber 24 reseals with clean surface, interior sucker 21 is jacked up, and interior negative pressure chamber 23 is connected with outer negative pressure chamber 24
Logical to form big negative pressure chamber, absorption robot is adsorbed in clean surface by big negative pressure chamber, successfully cleared the jumps.
Example IV
Fig. 4 is absorption machine human organism's polycrystalline substance schematic diagram of the embodiment of the present invention four, as shown in figure 4, the present embodiment
Basically identical with the set-up mode of the attached sucker 3 of absorption robot in embodiment three, difference is：
To improve the cleaning effect of absorption robot, the present embodiment cleaning unit 4 is rotatably disposed within the periphery of body 1.
Operation principle：
As shown in figure 5, when absorption robot is by taking direction of travel A as an example, welt runs to corner on wall 6 to be cleaned
When needing to turn to, the wall remains stationary state relatively to be cleaned of cleaning unit 4, the relative clean unit 4 of body 1 rotates 90 ° of continuation
Walking, it is entirely avoided the presence at dead angle is cleaned, the clean robot of the present invention can also have other direction of travel certainly, this
Art personnel can voluntarily adjust the direction of travel of absorption robot as needed.
The present embodiment all around respectively sets an attached sucker 3 at the edge of body 1, with attached sucker 3 in embodiment three
Set-up mode is basically identical, and certainly, the present embodiment can equally use the setting of attached sucker 3 in embodiment one or embodiment two
Mode reaches identical technique effect.
The present invention is used using the main sucker 2 and the attached structure of sucker 3 for being engaged setting, main sucker 2 and may span across small projection
The double-round sucker of class obstacle, multi-turn sucker or one kind in multi-sucker or combination, for the main sucker such as crack, border or small stair
The obstacle that can not be crossed over, attached sucker 3 can in advance detect and to robot early warning, be evaded main sucker, for attached suction
The small convex type obstacle of disk missing inspection, main sucker are directly crossed over, and while robot security's performance is ensured, improve robot
Operating efficiency.
Claims (9)
1. one kind absorption robot, including body (1), control unit and sensor, the organism bottom are provided with main sucker (2),
Characterized in that, the absorption robot is adsorbed on the work surface by the main sucker (2), main sucker (2) periphery
Attached sucker (3) is additionally provided with, there is gap, and the main sucker between the attached sucker (3) and the main sucker (2)
(2) between the attached sucker (3) independently of each other；
Wherein, the sensor detects the vacuum of the attached sucker (3), and the information detected is sent into the control
Unit, control unit receives the information that the sensor is sent and analyzed and processed, and sends control instruction, controls the machine
Body (1) acts.
2. absorption robot as claimed in claim 1, it is characterised in that when the sensor detects the attached sucker
(3) when vacuum declines, described control unit controls the body to stop or turn to.
3. absorption robot as claimed in claim 1, it is characterised in that the area of the attached sucker (3) is less than the master
The half of the area of sucker (2).
4. absorption robot as claimed in claim 1, it is characterised in that the attached sucker (3) is arranged on body (1) bottom
Edge.
5. absorption robot as claimed in claim 1, it is characterised in that the main sucker (2) is double-round sucker, multi-turn sucker
Or multi-sucker structure, main sucker (2) is crossed over small convex type barrier.
6. absorption robot as claimed in claim 1, it is characterised in that the quantity of the attached sucker (3) is 1, with machine
Before the direct of travel of body (1) is, the attached sucker (3) is located at the front side of the main sucker (2).
7. absorption robot as claimed in claim 1, it is characterised in that the quantity at least two of the attached sucker (3), with
Before the direct of travel of body (1) is, at least one attached sucker (3) is located to the front side of the main sucker (2), removing is set
Put remaining attached sucker (3) beyond the attached sucker (3) on front side of the main sucker (2) and be arranged on main sucker (2) left side
Right both sides and/or rear side.
8. absorption robot as claimed in claim 7, it is characterised in that the quantity of the attached sucker (3) is 4, in institute
The side all around for stating main sucker (2) respectively sets one.
9. the absorption robot as described in claim any one of 1-8, it is characterised in that using the direct of travel of body (1) before,
When the attached sucker (3) is only on front side of the main sucker (2), if described control unit receives the attached suction
The signal that disk (3) vacuum declines, described control unit control walking unit (5) drive the body (1) to retreat；
When the attached sucker (3) is located at main sucker (2) front side, the left and right sides and rear side, if described control unit connects
Receive the signal that attached sucker (3) vacuum declines on front side of the main sucker (2), described control unit control walking unit (5)
The body (1) is driven to retreat, if described control unit receives the attached sucker (3) on the left of the main sucker (2) or right side
The signal that vacuum declines, described control unit control walking unit (5) drive the body (1) to turn right or turn left；Otherwise, institute
Stating control unit control walking unit (5) drives the body (1) to move on.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410098482.9A CN104921654B (en) | 2014-03-17 | 2014-03-17 | Adsorb robot |
| PCT/CN2015/074378 WO2015139607A1 (en) | 2014-03-17 | 2015-03-17 | Suction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410098482.9A CN104921654B (en) | 2014-03-17 | 2014-03-17 | Adsorb robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104921654A CN104921654A (en) | 2015-09-23 |
| CN104921654B true CN104921654B (en) | 2017-11-17 |
Family
ID=54109350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410098482.9A Active CN104921654B (en) | 2014-03-17 | 2014-03-17 | Adsorb robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104921654B (en) |
| WO (1) | WO2015139607A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI580387B (en) * | 2015-05-27 | 2017-05-01 | 趙志謀 | Robot |
| CN106264301B (en) * | 2015-06-04 | 2018-10-23 | 赵志谋 | Robot |
| CA2971033A1 (en) * | 2016-01-19 | 2017-07-19 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Window-cleaning robot and method for controlling the same |
| CN105935272B (en) * | 2016-06-21 | 2018-11-06 | 深圳市博飞航空科技有限公司 | A kind of creep control method and system for climbing wall device |
| CN105919503B (en) * | 2016-06-22 | 2018-07-03 | 洛阳圣瑞智能机器人有限公司 | A kind of intelligence glass-cleaning robot wheel suspension assembly and method |
| CN107697245B (en) * | 2016-07-04 | 2019-02-12 | 南通大学 | Underwater autonomous absorption robot information interaction system |
| CN106108766B (en) * | 2016-07-11 | 2019-06-18 | 江苏美的清洁电器股份有限公司 | Clean robot |
| CN109044181B (en) * | 2018-08-14 | 2021-07-20 | 广东宝乐机器人股份有限公司 | Walking control method and walking control device of window cleaning robot |
| CN109625113B (en) * | 2019-01-14 | 2023-04-18 | 中国长江电力股份有限公司 | Multi-cavity sealing crawler-type wall-climbing robot and using method thereof |
| CN110037610B (en) * | 2019-04-26 | 2021-04-27 | 安徽信息工程学院 | Intelligent window glass cleaning device and operating system |
| CN112426103B (en) * | 2020-11-19 | 2022-01-21 | 深圳市升阳升人居环境服务有限公司 | Obstacle-crossing robot with strong garbage cleaning function |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62201357A (en) * | 1986-02-28 | 1987-09-05 | Ishikawajima Harima Heavy Ind Co Ltd | Running device for ultrasonic flaw detecting machine or the like |
| JP3372434B2 (en) * | 1996-11-19 | 2003-02-04 | 三菱重工業株式会社 | Wall adsorption type moving device |
| CN2406781Y (en) * | 2000-01-27 | 2000-11-22 | 北京航空航天大学 | Cleaning robot |
| JP2004033628A (en) * | 2002-07-05 | 2004-02-05 | Toshiba Tec Corp | Vacuum cleaner |
| CN102591341B (en) * | 2011-01-05 | 2014-07-30 | 泰怡凯电器(苏州)有限公司 | Movement control method of glass-cleaning robot and control system thereof |
| KR20130027627A (en) * | 2011-06-21 | 2013-03-18 | 노영환 | Window cleaner |
| CN202669947U (en) * | 2012-04-05 | 2013-01-16 | 科沃斯机器人科技(苏州)有限公司 | Adsorption device and glass wiping device comprising the same |
| CN103359197B (en) * | 2012-04-05 | 2015-08-19 | 科沃斯机器人有限公司 | Glass cleaning device and ambulation control method thereof |
| CN103356120B (en) * | 2012-04-05 | 2015-08-19 | 科沃斯机器人有限公司 | There is the glass cleaning device of adsorbent equipment |
| CN204071930U (en) * | 2014-03-17 | 2015-01-07 | 科沃斯机器人科技(苏州)有限公司 | Absorption robot |
| CN203802384U (en) * | 2014-03-17 | 2014-09-03 | 科沃斯机器人科技(苏州)有限公司 | Automatic moving device |
-
2014
- 2014-03-17 CN CN201410098482.9A patent/CN104921654B/en active Active
-
2015
- 2015-03-17 WO PCT/CN2015/074378 patent/WO2015139607A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015139607A1 (en) | 2015-09-24 |
| CN104921654A (en) | 2015-09-23 |
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