CN106388711B - A kind of intelligent cleaner for smart home based on Internet of Things - Google Patents
A kind of intelligent cleaner for smart home based on Internet of Things Download PDFInfo
- Publication number
- CN106388711B CN106388711B CN201610842185.XA CN201610842185A CN106388711B CN 106388711 B CN106388711 B CN 106388711B CN 201610842185 A CN201610842185 A CN 201610842185A CN 106388711 B CN106388711 B CN 106388711B
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/10—Regulating voltage or current
- G05F1/46—Regulating voltage or current wherein the variable actually regulated by the final control device is dc
- G05F1/56—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
- G05F1/565—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices sensing a condition of the system or its load in addition to means responsive to deviations in the output of the system, e.g. current, voltage, power factor
- G05F1/569—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices sensing a condition of the system or its load in addition to means responsive to deviations in the output of the system, e.g. current, voltage, power factor for protection
-
- 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
Abstract
The present invention relates to a kind of intelligent cleaner for smart home based on Internet of Things, including ontology, setting signal transmitting and receiving window on the body, the mobile mechanism being arranged in below ontology and suction inlet；The mobile mechanism includes driving wheel and folding and unfolding component, and the folding and unfolding component and driving wheel are sequentially connected, and the folding and unfolding component includes fixed cell, driving unit and gear unit；The intelligent cleaner for smart home based on Internet of Things, when storage, cylinder operation on cross bar is set, control piston rod moves in the cylinder, the second drive rod and third drive rod can be pulled by piston rod at this time, the driving wheel connecting with drive rod is controlled, so that driving wheel is packed up, to improve the practicability of equipment；Moreover, high pressure resistant using field-effect tube and there is no the characteristics of second breakdown in motor-drive circuit, it ensure that the reliability of motor-drive circuit, improve the reliability of cleaner.
Description
Technical field
The present invention relates to a kind of intelligent cleaner for smart home based on Internet of Things.
Background technique
Intelligent cleaner can by oneself chip operation, MCU judgement processing and sensor identification induction, thus into
The new-generation household appliance of row automatic cleaning；In simple terms, it be exactly one be able to carry out automatic cleaning, intelligence recharge,
A series of life good assistant of intelligent functions such as dust induction identification.
Existing intelligence cleaner is moved by driving wheel, but since driving wheel does not have draw off gear to deposit equipment
Inconvenience is put, the practicability of equipment is reduced；Moreover, when driving driving wheel rotation, existing motor driven mould
Block is all to use triode as H bridge, and to control the positive and negative rotation of motor, the stress levels of such H bridge are with regard to low, to reduce
The reliability of cleaner.
Summary of the invention
The technical problem to be solved by the present invention is for overcome the deficiencies in the prior art, provide a kind of based on Internet of Things
Intelligent cleaner for smart home.
The technical solution adopted by the present invention to solve the technical problems is: a kind of to be used for smart home based on Internet of Things
Intelligent cleaner, including ontology, setting signal transmitting and receiving window on the body, the mobile mechanism being arranged in below ontology and suction
Dirt mouth；
The mobile mechanism includes driving wheel and folding and unfolding component, and the folding and unfolding component and driving wheel are sequentially connected, the receipts
Putting component includes fixed cell, driving unit and gear unit；
The fixed cell includes cross bar, the first column and the second column for being separately positioned on cross bar both ends；
The gear unit include the first drive rod, the second drive rod and third drive rod, the one of first drive rod
End is hinged with the bottom end of the first column, and the other end of first drive rod is connect with driving wheel, and the one of second drive rod
To hold hinged with the middle part of the first drive rod, one end of the other end and third drive rod of second drive rod is hinged, and described the
The other end of three drive rods and the bottom end of the second column are hinged；
The driving unit includes cylinder and piston rod, one section of close second column on one end of the cylinder and cross bar
Hingedly, the other end of the cylinder is hinged by the hinged place of piston rod and the second drive rod and third drive rod；
The hinged place of second drive rod and third drive rod is between the first column and the second column；
Described to be set inside the body motor drive module, the motor drive module is electrically connected with driving wheel, the electricity
Machine drive module includes motor-drive circuit, and the motor-drive circuit includes the first field-effect tube, the second field-effect tube, third
Field-effect tube, the 4th field-effect tube, first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th resistance, the 6th resistance,
The grid of 7th resistance and the 8th resistance, first field-effect tube is connect with first resistor, the grid of first field-effect tube
Pole is grounded by second resistance, and the grid of second field-effect tube is connect with 3rd resistor, the grid of second field-effect tube
Pole is connect by the 4th resistance eutral grounding, the grid of the third field-effect tube with the 5th resistance, the grid of the third field-effect tube
Pole is connect by the 6th resistance eutral grounding, the grid of the 4th field-effect tube with the 7th resistance, the grid of the 4th field-effect tube
Pole passes through the 8th resistance eutral grounding, the source electrode of first field-effect tube and the external 24V direct current of the source electrode of the second field-effect tube
Voltage source, the source electrode of the third field-effect tube and the source grounding of the 4th field-effect tube, the leakage of first field-effect tube
Pole is connect with the drain electrode of third field-effect tube, and the drain electrode of second field-effect tube is connect with the drain electrode of the 4th field-effect tube.
As preferential, in order to guarantee the practicability of equipment, operation and control interface and several state instructions are additionally provided on the ontology
Lamp.
As preferential, the high sensitivity of capacitive touch screen, so that the operability of equipment is improved, the operation and control interface
For capacitance touch liquid crystal display.
As preferential, in order to improve equipment state instruction diversification, the status indicator lamp includes three-colour light-emitting two
Pole pipe.
As preferential, in order to improve the cruising ability of equipment, the inside of the ontology is additionally provided with battery, the battery
For trifluoro lithium battery.
As preferential, in order to improve the security level of equipment, the flame retardant rating of the ontology is V-0.
As preferential, in order to guarantee that user carries out remote control to equipment, the inside of the ontology is additionally provided with wireless telecommunications
Module, the wireless communication module include bluetooth, and the signal transmitting and receiving window is electrically connected with wireless communication module.
As preferential, in order to guarantee the reliability of dust suction, the inside of the ontology is additionally provided with blower, and the blower passes through suction
Dirt mouth is connected to the external of ontology.
The invention has the advantages that the intelligent cleaner for smart home based on Internet of Things is somebody's turn to do, in storage
When, the cylinder operation on cross bar is set, and control piston rod moves in the cylinder, at this time the second drive rod and third drive rod
It can be pulled by piston rod, to control the driving wheel connecting with drive rod, so that driving wheel is packed up, to improve the practical of equipment
Property；Moreover, high pressure resistant using field-effect tube and there is no the characteristics of second breakdown in motor-drive circuit, it ensure that
The reliability of motor-drive circuit improves the reliability of cleaner.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the intelligent cleaner for smart home of the invention based on Internet of Things；
Fig. 2 is the structural schematic diagram of the intelligent cleaner for smart home of the invention based on Internet of Things；
Fig. 3 is that the structure of the mobile mechanism of the intelligent cleaner for smart home of the invention based on Internet of Things is shown
It is intended to；
Fig. 4 is the electricity of the motor-drive circuit of the intelligent cleaner for smart home of the invention based on Internet of Things
Road schematic diagram；
In figure: 1. ontologies, 2. signal transmitting and receiving windows, 3. driving wheels, 4. folding and unfolding components, 5. suction inlets, 6. operation and control interfaces, 7.
Status indicator lamp, 8. first drive rods, 9. first columns, 10. second drive rods, 11. cross bars, 12. second columns, 13. cylinders,
14. piston rod, 15. third drive rods, the first field-effect tube of Q1., the second field-effect tube of Q2., Q3. third field-effect tube, Q4.
Four field-effect tube, R1. first resistor, R2. second resistance, R3. 3rd resistor, the 4th resistance of R4., the 5th resistance of R5., R6.
Six resistance, the 7th resistance of R7., the 8th resistance of R8..
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As Figure 1-Figure 4, a kind of intelligent cleaner for smart home based on Internet of Things, including ontology 1, set
It sets in signal transmitting and receiving window 2, the mobile mechanism that is arranged in below ontology 1 and the suction inlet 5 on ontology 1；
The mobile mechanism includes driving wheel 3 and folding and unfolding component 4, and the folding and unfolding component 4 is sequentially connected with driving wheel 3, institute
Stating folding and unfolding component 4 includes fixed cell, driving unit and gear unit；
The fixed cell includes cross bar 11, the first column 9 and the second column 12 for being separately positioned on 11 both ends of cross bar；
The gear unit includes the first drive rod 8, the second drive rod 10 and third drive rod 15, first drive rod
8 one end and the bottom end of the first column 9 are hinged, and the other end of first drive rod 8 is connect with driving wheel 3, and described second passes
One end of lever 10 and the middle part of the first drive rod 8 are hinged, the other end and the third drive rod 15 of second drive rod 10
One end is hinged, and the other end of the third drive rod 15 and the bottom end of the second column 12 are hinged；
The driving unit includes cylinder 13 and piston rod 14, is stood on one end of the cylinder 13 and cross bar 11 close to second
One section of column 12 is hinged, and the other end of the cylinder 13 passes through the hinge of piston rod 14 and the second drive rod 10 and third drive rod 15
It is hinged to meet place；
The hinged place of second drive rod 10 and third drive rod 15 is between the first column 9 and the second column 12；
The inside of the ontology 1 is equipped with motor drive module, and the motor drive module is electrically connected with driving wheel 3, described
Motor drive module includes motor-drive circuit, and the motor-drive circuit includes the first field-effect tube Q1, the second field-effect tube
Q2, third field-effect tube Q3, the 4th field-effect tube Q4, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance R4,
5th resistance R5, the 6th resistance R6, the 7th resistance R7 and the 8th resistance R8, the grid of the first field-effect tube Q1 and the first electricity
R1 connection is hindered, the grid of the first field-effect tube Q1 is grounded by second resistance R2, the grid of the second field-effect tube Q2
It is connect with 3rd resistor R3, the grid of the second field-effect tube Q2 is grounded by the 4th resistance R4, the third field-effect tube
The grid of Q3 is connect with the 5th resistance R5, and the grid of the third field-effect tube Q3 is grounded by the 6th resistance R6, and the described 4th
The grid of field-effect tube Q4 is connect with the 7th resistance R7, and the grid of the 4th field-effect tube Q4 is grounded by the 8th resistance R8,
The source electrode of the first field-effect tube Q1 and the external 24V DC voltage power supply of the source electrode of the second field-effect tube Q2, the third
The source grounding of the source electrode of field-effect tube Q3 and the 4th field-effect tube Q4, the drain electrode of the first field-effect tube Q1 and third field
The drain electrode of effect pipe Q3 connects, and the drain electrode of the second field-effect tube Q2 is connect with the drain electrode of the 4th field-effect tube Q4.
As preferential, in order to guarantee the practicability of equipment, it be additionally provided with operation and control interface 6 on the ontology 1 and several states refer to
Show lamp 7.
As preferential, the high sensitivity of capacitive touch screen, so that the operability of equipment is improved, the operation and control interface
6 be capacitance touch liquid crystal display.
As preferential, in order to improve equipment state instruction diversification, the status indicator lamp 7 includes three-colour light-emitting two
Pole pipe.
As preferential, in order to improve the cruising ability of equipment, the inside of the ontology 1 is additionally provided with battery, the electric power storage
Pond is trifluoro lithium battery.
As preferential, in order to improve the security level of equipment, the flame retardant rating of the ontology 1 is V-0.
As preferential, in order to guarantee that user carries out remote control to equipment, the inside of the ontology 1 is additionally provided with wireless telecommunications
Module, the wireless communication module include bluetooth, and the signal transmitting and receiving window 2 is electrically connected with wireless communication module.
As preferential, in order to guarantee the reliability of dust suction, the inside of the ontology 1 is additionally provided with blower, and the blower passes through
Suction inlet 5 is connected to the external of ontology 1.
The intelligent cleaner for smart home based on Internet of Things is arranged on cross bar 11 when storage
Cylinder 13 work, control piston rod 14 moves in cylinder 13, piston rod 14 and the second drive rod 10 and third drive rod 15
Hinged place it is hinged, the second drive rod 10 and third drive rod 15 can be pulled by piston rod 14 at this time, while the second drive rod 10
The other end and the first drive rod 8 middle part it is hinged, to control the driving wheel 3 connecting with drive rod 8 so that driving wheel 3 is packed up,
Between the first column 9 and the second column 12.
The ontology 1 of the intelligent cleaner for smart home based on Internet of Things, operation and control interface 6, for guaranteeing
User can manipulate equipment, status indicator lamp 7, for equipment working condition carry out real-time display, ontology 1 it is interior
Portion is additionally provided with battery, and for improving the cruising ability of equipment, the inside of ontology 1 is additionally provided with wireless communication module, for guaranteeing
User carries out remote control to equipment.
In the intelligent cleaner for smart home based on Internet of Things, motor drive module, for driving driving
The reliable mobile of wheel 3.Wherein, in motor-drive circuit, by with the first field-effect tube Q1, the second field-effect tube Q2, third
H bridge based on field-effect tube Q3, the 4th field-effect tube Q4, to control the positive and negative rotation of driving wheel 3, wherein use field-effect tube
It is high pressure resistant and there is no the characteristics of second breakdown, it ensure that the reliability of motor-drive circuit, improve the reliability of cleaner.
Compared with prior art, it is somebody's turn to do the intelligent cleaner for smart home based on Internet of Things, when storage,
The cylinder 13 being arranged on cross bar 11 works, and control piston rod 14 moves in cylinder 13, at this time the second drive rod 10 and third
Drive rod 15 can be pulled by piston rod 14, to control the driving wheel 3 connecting with drive rod 8, so that driving wheel 3 is packed up, to mention
The high practicability of equipment；Moreover, in motor-drive circuit, use field-effect tube it is high pressure resistant and do not have second breakdown
The characteristics of, it ensure that the reliability of motor-drive circuit, improve the reliability of cleaner.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (8)
1. a kind of intelligent cleaner for smart home based on Internet of Things, which is characterized in that including ontology (1), setting
In mobile mechanism and suction inlet (5) of the signal transmitting and receiving window (2), setting on ontology (1) below ontology (1)；
The mobile mechanism includes driving wheel (3) and folding and unfolding component (4), and the folding and unfolding component (4) and driving wheel (3) transmission connect
It connects, the folding and unfolding component (4) includes fixed cell, driving unit and gear unit；
The fixed cell includes cross bar (11), the first column (9) and the second column for being separately positioned on cross bar (11) both ends
(12)；
The gear unit includes the first drive rod (8), the second drive rod (10) and third drive rod (15), first transmission
One end of bar (8) and the bottom end of the first column (9) are hinged, and the other end of first drive rod (8) is connect with driving wheel (3),
One end of second drive rod (10) and the middle part of the first drive rod (8) are hinged, the other end of second drive rod (10)
Hinged with one end of third drive rod (15), the other end of the third drive rod (15) and the bottom end of the second column (12) are cut with scissors
It connects；
The driving unit includes cylinder (13) and piston rod (14), close to the on one end and cross bar (11) of the cylinder (13)
One section of two columns (12) is hinged, and the other end of the cylinder (13) passes through piston rod (14) and the second drive rod (10) and third
The hinged place of drive rod (15) is hinged；
The hinged place of second drive rod (10) and third drive rod (15) be located at the first column (9) and the second column (12) it
Between；
The inside of the ontology (1) is equipped with motor drive module, and the motor drive module is electrically connected with driving wheel (3), described
Motor drive module includes motor-drive circuit, and the motor-drive circuit includes the first field-effect tube (Q1), the second field-effect
Manage (Q2), third field-effect tube (Q3), the 4th field-effect tube (Q4), first resistor (R1), second resistance (R2), 3rd resistor
(R3), the 4th resistance (R4), the 5th resistance (R5), the 6th resistance (R6), the 7th resistance (R7) and the 8th resistance (R8), described
The grid of one field-effect tube (Q1) is connect with first resistor (R1), and the grid of first field-effect tube (Q1) passes through second resistance
(R2) it is grounded, the grid of second field-effect tube (Q2) is connect with 3rd resistor (R3), second field-effect tube (Q2)
Grid is grounded by the 4th resistance (R4), and the grid of the third field-effect tube (Q3) connect with the 5th resistance (R5), and described the
The grid of three field-effect tube (Q3) is grounded by the 6th resistance (R6), the grid and the 7th resistance of the 4th field-effect tube (Q4)
(R7) it connects, the grid of the 4th field-effect tube (Q4) is grounded by the 8th resistance (R8), first field-effect tube (Q1)
Source electrode and the second field-effect tube (Q2) the external 24V DC voltage power supply of source electrode, the source of the third field-effect tube (Q3)
The source grounding of pole and the 4th field-effect tube (Q4), drain electrode and third field-effect tube (Q3) of first field-effect tube (Q1)
Drain electrode connection, the drain electrode of second field-effect tube (Q2) connect with the drain electrode of the 4th field-effect tube (Q4).
2. the intelligent cleaner for smart home based on Internet of Things as described in claim 1, which is characterized in that described
Operation and control interface (6) and several status indicator lamps (7) are additionally provided on ontology (1).
3. the intelligent cleaner for smart home based on Internet of Things as claimed in claim 2, which is characterized in that described
Operation and control interface (6) is capacitance touch liquid crystal display.
4. the intelligent cleaner for smart home based on Internet of Things as claimed in claim 2, which is characterized in that described
Status indicator lamp (7) includes Tricolor LED.
5. the intelligent cleaner for smart home based on Internet of Things as described in claim 1, which is characterized in that described
The inside of ontology (1) is additionally provided with battery, and the battery is trifluoro lithium battery.
6. the intelligent cleaner for smart home based on Internet of Things as described in claim 1, which is characterized in that described
The flame retardant rating of ontology (1) is V-0.
7. the intelligent cleaner for smart home based on Internet of Things as described in claim 1, which is characterized in that described
The inside of ontology (1) is additionally provided with wireless communication module, and the wireless communication module includes bluetooth, the signal transmitting and receiving window (2)
It is electrically connected with wireless communication module.
8. the intelligent cleaner for smart home based on Internet of Things as described in claim 1, which is characterized in that described
The inside of ontology (1) is additionally provided with blower, and the blower is connected to by suction inlet (5) with the external of ontology (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610842185.XA CN106388711B (en) | 2016-09-22 | 2016-09-22 | A kind of intelligent cleaner for smart home based on Internet of Things |
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| CN201610842185.XA CN106388711B (en) | 2016-09-22 | 2016-09-22 | A kind of intelligent cleaner for smart home based on Internet of Things |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106973337A (en) * | 2017-05-06 | 2017-07-21 | 安溪县智睿电子商务有限公司 | A kind of intelligent sound for smart home |
| CN107289538A (en) * | 2017-07-31 | 2017-10-24 | 泉州泉港灿鹏机械设备有限公司 | A kind of wider array of air purifier of purification scope based on Internet of Things |
| CN109008812A (en) * | 2018-07-20 | 2018-12-18 | 李兆勇 | A kind of old residential area stair step prosthetic appliance |
| CN113349684B (en) * | 2021-07-05 | 2022-10-21 | 武汉岂明芯科技有限公司 | Household intelligent cleaning device based on Internet of things and use method thereof |
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| Publication number | Publication date |
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| CN106388711A (en) | 2017-02-15 |
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