CN106426198B - Clean robot - Google Patents

Clean robot Download PDF

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Publication number
CN106426198B
CN106426198B CN201610882771.7A CN201610882771A CN106426198B CN 106426198 B CN106426198 B CN 106426198B CN 201610882771 A CN201610882771 A CN 201610882771A CN 106426198 B CN106426198 B CN 106426198B
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CN
China
Prior art keywords
cleaning
controller
car
sensor
mechanical arm
Prior art date
Application number
CN201610882771.7A
Other languages
Chinese (zh)
Other versions
CN106426198A (en
Inventor
朱由锋
崔静
班朋
Original Assignee
山东科技大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 山东科技大学 filed Critical 山东科技大学
Priority to CN201610882771.7A priority Critical patent/CN106426198B/en
Publication of CN106426198A publication Critical patent/CN106426198A/en
Application granted granted Critical
Publication of CN106426198B publication Critical patent/CN106426198B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • B25J11/0085Cleaning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Abstract

The present invention provides a kind of clean robot.The clean robot includes:Cleaning car and the mechanical arm being arranged on cleaning car;Wherein, clean on car and be additionally provided with infrared sensor and controller, light sensor and obstacle avoidance sensor are provided with mechanical arm;Controller is connected with infrared sensor, light sensor and obstacle avoidance sensor respectively;Controller is used for the motion of the signal control cleaning car detected according to infrared sensor, light sensor and obstacle avoidance sensor.Clean robot provided by the invention has higher flexibility, automaticity is higher, the signal that controller can be sent according to infrared sensor, light sensor and obstacle avoidance sensor, control the motion of clean robot, so as to collision free, it is relatively low to treat cleaning ambient requirement, is suitable for respective cleaning ambient.

Description

Clean robot

Technical field

The present invention relates to mechanical field, more particularly to a kind of clean robot.

Background technology

With the development of robot technology, increasing work starts to be completed by robot.Clean robot is a kind of Common robot application, after user opens clean robot control machine people movement cleaning is automatically performed by robot.

Existing cleaning machine artificially further reduces manpower and taken, and drive module is generally included, so as to drive machine People carries out cleaning according to the cleaning path of user preset.But existing clean robot cleaning when, to surrounding environment It is higher with the requirement of scene, it is necessary to smooth broad clear as far as possible, when running into special circumstances, it is impossible to be timely stopped Protection equipment, causes to be possible to the situation for occurring that clean effect is poor, existing clean robot automation and intelligentification degree compared with It is low, it is impossible to be adapted to a variety of cleaning environment.

The content of the invention

The present invention provides a kind of clean robot, relatively low for solving existing clean robot automation and intelligentification degree, The problem of a variety of cleaning environment can not be adapted to.

The present invention provides a kind of clean robot, including:Cleaning car and the mechanical arm being arranged on the cleaning car;

Infrared sensor and controller are additionally provided with the cleaning car, be provided with the mechanical arm light sensor and Obstacle avoidance sensor;

The controller is connected with the infrared sensor, the light sensor and the obstacle avoidance sensor respectively;

The controller is used to be detected according to the infrared sensor, the light sensor and the obstacle avoidance sensor Signal control it is described cleaning car motion.

Clean robot as described above, the controller are used for according to the infrared sensor and the light sensor The signal detected determines the motion state of the cleaning car;

The obstacle avoidance sensor be used for according to it is described cleaning car motion state, detect will collide when, hair Go out anti-collision warning information;

The controller is used for the motion according to the anti-collision warning information adjustment cleaning car with collision free.

Clean robot as described above, Clean Brush for cleaning is additionally provided with the mechanical arm;

Cleaning agent storehouse, water tank, cleaning sprayer, dust suction storehouse and dust catcher are additionally provided with the cleaning car;

The cleaning sprayer is connected with the controller and the water tank respectively, the dust catcher respectively with the controller Connected with the dust suction storehouse, the controller is also connected with the cleaning agent storehouse.

Clean robot as described above, the cleaning car bottom are additionally provided with 4 wheel seats, are provided with each wheel seat Roller.

Clean robot as described above, described clean is additionally provided with air purifier on car, in the air purifier It is provided with electrostatic dust-collecting device and anion generator.

Clean robot as described above, screen pack and sterilizer are provided with the dust suction storehouse.

Clean robot as described above, described clean are additionally provided with solar charging device on car.

Clean robot as described above, described clean are additionally provided with camera on car, the camera and the control Device connects.

Clean robot as described above, in addition to:Remote controllers, be provided with the remote controllers display, Direction controller and advance and retreat controller;

The remote controllers communicate to connect with the controller.

Clean robot as described above, it is described cleaning car on be additionally provided with roller motor, mechanical arm motor, Memory and transceiver;

The controller respectively with the roller motor, the mechanical arm motor, the memory and described Transceiver connects;

The roller motor is also connected with each roller, and the mechanical arm motor also connects with the mechanical arm Connect, the memory is also connected with the camera.

Clean robot provided by the invention, including cleaning car and the mechanical arm being arranged on cleaning car, are cleaned on car also Be provided with infrared sensor and controller, be provided with light sensor and obstacle avoidance sensor on mechanical arm, controller respectively with it is red Outer sensor, light sensor connect with obstacle avoidance sensor, and controller senses according to infrared sensor, light sensor and anticollision The motion for the signal control cleaning car that device detects.Clean robot provided by the invention, there is higher flexibility, automate Degree is higher, the signal that controller can be sent according to infrared sensor, light sensor and obstacle avoidance sensor, controls cleaning machine The motion of people, so as to collision free, it is relatively low to treat cleaning ambient requirement, is suitable for respective cleaning ambient.

Brief description of the drawings

In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, for ability For the those of ordinary skill of domain, without having to pay creative labor, it can also be obtained according to these accompanying drawings other Accompanying drawing.

Fig. 1 is the structural representation of clean robot embodiment one provided by the invention;

Fig. 2 is the structural representation of clean robot embodiment two provided by the invention;

Fig. 3 is the structural representation of clean robot embodiment three provided by the invention.

Reference:

1-cleaning car;2-mechanical arm;3-infrared sensor;

4-controller;5-light sensor;6-obstacle avoidance sensor;

7-Clean Brush for cleaning;8-cleaning agent storehouse;9-water tank;

10-cleaning sprayer;11-dust suction storehouse;12-dust catcher;

13-wheel seat;14-roller;15-air purifier;

16-electrostatic dust-collecting device;17-anion generator;18-screen pack;

19-sterilizer;20-solar charging device;21-camera;

22-remote controllers;23-display;24-direction controller;

25-advance and retreat controller;26-roller motor;27-mechanical arm motor;

28-memory;29-transceiver.

Embodiment

To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.

Fig. 1 is the structural representation of clean robot embodiment one provided by the invention, as shown in figure 1, clean robot Including:Cleaning car 1 and the mechanical arm 2 being arranged on cleaning car 1.

Infrared sensor 3 and controller 4 are additionally provided with cleaning car 1, light sensor 5 is provided with mechanical arm 2 and is prevented Hit sensor 6;

Controller 4 is connected with infrared sensor 3, light sensor 5 and obstacle avoidance sensor 6 respectively;

The signal that controller 4 is used to be detected according to infrared sensor 3, light sensor 5 and obstacle avoidance sensor 6 controls clear The motion of clean car 1.

Specifically, the robot that cleaning machine can artificially be automatically moved and cleaned, clean robot includes can be automatic The cleaning car 1 of operation and the mechanical arm 2 on cleaning car.Exemplary, clean and installed on the bottom and mechanical arm 2 of car 1 There is cleaning device, can be cleaned while cleaning car 1 and moving, by being set on the bottom of cleaning car 1 and mechanical arm 2 simultaneously Put cleaning device, it is possible to increase the cleaning area of clean robot.Exemplary, cleaning device can be dust catcher, cleaning cloth etc.. Further, to increase the flexibility of clean robot, mechanical arm 2 can be arranged on cleaning car 1 by mechanical elbow so that machine Tool arm 2 can rotate around mechanical elbow, increase the cleaning area of clean robot.

Existing cleaning car is cleaned generally according to the route of planning, or is changed direction simply when colliding and continued Cleaned, existing cleaning car treats that cleaning ambient requirement is higher, can not adapt to different cleaning ambients, it is impossible to collision free, When running into special circumstances, may cause to clean car damage.

To solve the above problems, infrared sensor 3 and controller 4 are additionally provided with cleaning car 1 provided by the invention, machinery Light sensor 5 and obstacle avoidance sensor 6 are provided with arm 2.Wherein, controller 4 respectively with infrared sensor 3, light sensor 5 Connected with obstacle avoidance sensor 6, controller 4 is used for what is detected according to infrared sensor 3, light sensor 5 and obstacle avoidance sensor 6 The motion of signal control cleaning car 1.

Infrared sensor 3 can realize the functions such as obstacle detection, the speed detection of cleaning car using infrared ray.Light sensor 5 convert optical signals to electric signal using light-sensitive element, and the functions such as obstacle detection, the rotating speed detection of mechanical arm 2 can be achieved.It is anti- Hit sensor 6 according to cleaning car 1 motion state, detect will collide when, send anti-collision warning information.

Specifically, controller 4 is used for by receiving the signal of infrared sensor 3, light sensor 5 and obstacle avoidance sensor 6 The motion of control cleaning car 1 or mechanical arm 2, so as to avoid colliding, play the purpose of protection clean robot so that this hair The clean robot of bright offer can adapt in a variety of environment.

Optionally, multiple infrared sensors 3 and multiple obstacle avoidance sensors 6 can be symmetrically arranged with cleaning car 1.

Specifically, clean robot as shown in Figure 1, in actual use, controller 4 is used for according to the He of infrared sensor 3 The signal that light sensor 4 detects determines the motion state of cleaning car 1, and obstacle avoidance sensor 6 is used for the motion according to cleaning car 1 State, detect will collide when, send anti-collision warning information, controller 4 is used to adjust according to anti-collision warning information The motion of car 1 is cleaned with collision free.

Clean robot provided by the invention, including cleaning car and the mechanical arm being arranged on cleaning car, are cleaned on car also Be provided with infrared sensor and controller, be provided with light sensor and obstacle avoidance sensor on mechanical arm, controller respectively with it is red Outer sensor, light sensor connect with obstacle avoidance sensor, and controller senses according to infrared sensor, light sensor and anticollision The motion for the signal control cleaning car that device detects.Clean robot provided by the invention, there is higher flexibility, automate Degree is higher, the signal that controller can be sent according to infrared sensor, light sensor and obstacle avoidance sensor, controls cleaning machine The motion of people, so as to collision free, it is relatively low to treat cleaning ambient requirement, is suitable for respective cleaning ambient.

With reference to embodiment illustrated in fig. 1, Fig. 2 is the structural representation of clean robot embodiment two provided by the invention, such as Shown in Fig. 2, Clean Brush for cleaning 7 is additionally provided with mechanical arm 2;

Cleaning agent storehouse 8, water tank 9, cleaning sprayer 10, dust suction storehouse 11 and dust catcher 12 are additionally provided with cleaning car 1;

Cleaning sprayer 10 is connected with controller 4 and water tank 9 respectively, and dust catcher 12 connects with controller 4 and dust suction storehouse 11 respectively Connect, controller 4 is also connected with cleaning agent storehouse 8.

Specifically, as shown in Fig. 2 being provided with Clean Brush for cleaning 7 on mechanical arm 2, mechanical arm 2 is arranged on the side of cleaning car 1, Clean Brush for cleaning 7 is allowd to clear up the opening positions such as metope, Clean Brush for cleaning 7 can be the other shapes such as circular or square, exemplary , Clean Brush for cleaning 7, which also can be replaced other, has the utensil of cleaning function, such as rag, chlorination equipment.Exemplary, cleaning The functional units such as dust suction, flushing are additionally provided with car 1.Cleaning car 1 bottom is provided with dust suction storehouse 11 and dust catcher 12, controller 4 It is connected with dust catcher 12, control dust catcher 12 is worked, and dust catcher 12 is connected with dust suction storehouse 11, and dust suction storehouse 11 is used to store dust catcher 12 dusts absorbed.The bottom of cleaning car 1 is additionally provided with cleaning agent storehouse 8, water tank 9, cleaning sprayer 10, and controller 4 sprays with cleaning First 10 connection, control cleaning sprayer 10 spray water beam, and cleaning sprayer 10 is connected with water tank 9, and water tank 9 is that cleaning sprayer 10 provides Water, exemplary, controller 4 is also connected with cleaning agent storehouse 8, and cleaning agent is injected in control cleaning agent storehouse 8 to water tank 9, or control is clearly Clean dose of storehouse 8 is to ground spray cleaning agent to be cleaned, to improve cleaning effect.

When clean robot is specifically used, controller 4 controls cleaning car 1 to be moved to region to be cleaned first, and control is inhaled Dirt device 12 works, and treats cleaning region and is tentatively cleaned, and spraying water Shu Jinhang in control cleaning sprayer 10 further cleans.

Optionally, clean the bottom of car 1 and be additionally provided with sopping rag, after spraying water beam in cleaning sprayer 10, clean Ground, the water on ground is wiped.

Optionally, as shown in Fig. 2 cleaning car 1 bottom is additionally provided with 4 wheel seats 13, roller 14 is provided with each wheel seat 13.

Exemplary, when controller 4 controls cleaning car 1 to move, multiple rollers 14 can conveniently realize the shifting of cleaning car 1 It is dynamic.When it is cylindric to clean car 1, multiple symmetrical wheel seats 13 can be also according to the actual requirements set, set on each wheel seat 13 Put roller 14.

Further, as shown in Fig. 2 being additionally provided with air purifier 15 on cleaning car 1, it is provided with air purifier 15 Electrostatic dust-collecting device 16 and anion generator 17.

To improve cleaning effect, air purifier 15 can be further set on cleaning car 1, set in air purifier 15 There are electrostatic dust-collecting device 16 and anion generator 17.Electrostatic dust-collecting device 16 is used to remove the dust in air, anion hair Raw device 17 is used to improve the anion concentration in the air in region to be cleaned, improves environmental degree of comfort.

When specifically used, when controller 4 control dust catcher 12 and cleaning sprayer 10 treat cleaning ambient carry out it is tentatively clear After clean, controller 4, which controls air purifier 15 to treat cleaning ambient, further to be improved, to improve the clear of clean robot Clean effect.

Optionally, as shown in Fig. 2 being provided with screen pack 18 and sterilizer 19 in dust suction storehouse 11.By increasing screen pack 18 The cleaning in dust suction storehouse 11 can be facilitated with sterilizer 19, improve security.

Optionally, as shown in Fig. 2 being additionally provided with solar charging device 20 on cleaning car 1.Solar charging device 20 can It is connected with controller 4, is powered for controller 4, directly can be also connected with cleaning the power supply module of car 1, electricity is provided for cleaning car 1 Source, to save the energy.

Optionally, as shown in Fig. 2 being additionally provided with camera 21 on cleaning car 1, camera 21 is connected with controller 4.

Specifically, camera 21 be used for shoot cleaning car 1 working environment, controller 4 control camera 21 unlatching and Shut-off, optionally, can also further adjust the shooting angle of camera 21.Controller 4 can shoot what is obtained according to camera 21 Image carries out the identification of environment to be cleaned, it is determined that cleaning strategy.User can also be when clean robot breaks down, according to shooting The image of first 21 shooting judges clean robot failure, the maintenance and nursing of robot convenient for cleaning.

Optionally, as shown in Fig. 2 clean robot also includes:Remote controllers 22, it is provided with remote controllers 22 aobvious Show device 23, direction controller 24 and advance and retreat controller 25;

Remote controllers 22 communicate to connect with controller 4.

Specifically, further to improve the flexibility of clean robot, remote controllers 22, remote controllers 22 can be increased Can be connected with controller 4 by cordless communication network, user can by the remote operation clean robot of remote controllers 22 so that Clean robot can be cleaned according to user's request, and so as to improve the flexibility ratio of clean robot, clean robot can root Cleaned according to user's instruction, improve cleaning effect.

Exemplary, there are display 23, direction controller 24 and advance and retreat controller 25, display 23 on remote controllers 22 For showing that camera 21 shoots the image in obtained region to be cleaned, the image that user can obtain according to shooting determines cleaning plan Slightly.Direction controller 24 is specifically as follows steering wheel, facilitates the rotation direction of user's control cleaning car 1, and advance and retreat controller 25 is used In the advance or retrogressing of control cleaning car 1.

Optionally, with reference to Fig. 1 or embodiment illustrated in fig. 2, Fig. 3 is the knot of clean robot embodiment three provided by the invention Structure schematic diagram.As shown in figure 3, it is additionally provided with roller motor 26, mechanical arm motor 27, memory 28 on cleaning car 1 With transceiver 29;

Controller 28 is connected with roller motor 26, mechanical arm motor 27, memory 28 and transceiver 29 respectively;

Roller motor 26 is also connected with each roller 14, and mechanical arm motor 27 is also connected with mechanical arm 2, memory 28 are also connected with camera 21.

Specifically, as shown in figure 3, it is additionally provided with roller motor 26, mechanical arm motor 27 on cleaning car 1, deposits Reservoir 28 and transceiver 29.Wherein, roller motor 26 is connected with roller 14, and the change of current is provided with roller motor 26 Device, by changing the sense of current in roller motor 26, the control of the advance and retreat of cleaning car 1 can be achieved.Mechanical arm driving electricity Machine 27 is also connected with mechanical arm 2, drives the motion of mechanical arm 2, to control Clean Brush for cleaning 7 to realize cleaning.Memory 28 is also with taking the photograph As first 21 connections, obtained video is shot for storing camera 21.Transceiver 29 is used to realize controller 4 and remote controllers 22 communication.

Clean robot provided by the invention is compact-sized, and design principle is simple, can well adapt in different work Environment, rising wall face can be cleaned well, improve air quality, reduced environmental pollution by using solar energy.

In practical application, clean robot can be used for air channel is implemented to clean, and the dirt cleaned is collected, simultaneously The process of cleaning and effect are shot to user by real-time photography head and fed back.The moving machine included in clean robot Structure, cleaning mechanism, detection and chlorination equipment, the institutional operation cleaned, detected and sterilized to air channel is realized, there is work( Can be complete, motion is flexible, easy to operate the characteristics of.

Finally it should be noted that:Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations;To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that:Its according to The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered Row equivalent substitution;And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims (6)

1. a kind of clean robot, including:Cleaning car and the mechanical arm being arranged on the cleaning car;Also set on the cleaning car Infrared sensor and controller are equipped with, light sensor and obstacle avoidance sensor are provided with the mechanical arm;The controller point It is not connected with the infrared sensor, the light sensor and the obstacle avoidance sensor;The controller is used for according to The motion for the signal control cleaning car that infrared sensor, the light sensor and the obstacle avoidance sensor detect;Its It is characterised by,
The signal that the controller is used to be detected according to the infrared sensor and the light sensor determines the cleaning The motion state of car;
The infrared sensor is used for obstacle detection, the speed detection of cleaning car;The light sensor be used for obstacle detection, The rotating speed detection of mechanical arm;The obstacle avoidance sensor is used for the motion state according to the cleaning car, will occur detecting During collision, anti-collision warning information is sent;
The controller is used for the motion according to the anti-collision warning information adjustment cleaning car with collision free;
Air purifier is additionally provided with the cleaning car, electrostatic dust-collecting device and anion are provided with the air purifier Generator;
Solar charging device is additionally provided with the cleaning car;
Also include:Remote controllers, display, direction controller and advance and retreat controller are provided with the remote controllers;
The remote controllers communicate to connect with the controller.
2. clean robot according to claim 1, it is characterised in that be additionally provided with Clean Brush for cleaning on the mechanical arm;
Cleaning agent storehouse, water tank, cleaning sprayer, dust suction storehouse and dust catcher are additionally provided with the cleaning car;
The cleaning sprayer is connected with the controller and the water tank respectively, the dust catcher respectively with the controller and institute The connection of dust suction storehouse is stated, the controller is also connected with the cleaning agent storehouse.
3. clean robot according to claim 2, it is characterised in that the cleaning car bottom is additionally provided with 4 wheel seats, Roller is provided with each wheel seat.
4. clean robot according to claim 3, it is characterised in that be provided with screen pack and sterilization in the dust suction storehouse Device.
5. clean robot according to claim 4, it is characterised in that be additionally provided with camera on the cleaning car, institute Camera is stated to be connected with the controller.
6. clean robot according to claim 5, it is characterised in that roller driving electricity is additionally provided with the cleaning car Machine, mechanical arm motor, memory and transceiver;
The controller respectively with the roller motor, the mechanical arm motor, the memory and the transmitting-receiving Device connects;
The roller motor is also connected with each roller, and the mechanical arm motor is also connected with the mechanical arm, The memory is also connected with the camera.
CN201610882771.7A 2016-10-10 2016-10-10 Clean robot CN106426198B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610882771.7A CN106426198B (en) 2016-10-10 2016-10-10 Clean robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610882771.7A CN106426198B (en) 2016-10-10 2016-10-10 Clean robot

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Publication Number Publication Date
CN106426198A CN106426198A (en) 2017-02-22
CN106426198B true CN106426198B (en) 2017-12-05

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Application Number Title Priority Date Filing Date
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Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106909156B (en) * 2017-03-30 2020-03-17 北京小米移动软件有限公司 Air purification method and device
CN106930569A (en) * 2017-04-18 2017-07-07 侨银环保科技股份有限公司 A kind of silt displacement device
CN107414624A (en) * 2017-08-28 2017-12-01 东营小宇研磨有限公司 Automate the concrete polished system of terrace robot
CN110664324A (en) * 2018-07-02 2020-01-10 凌昕 Robot for cleaning toilet
CN108784541A (en) * 2018-07-05 2018-11-13 池州市若水软件开发有限公司 A kind of sweeping robot
CN110075332A (en) * 2019-05-13 2019-08-02 刘峰 A kind of hospital automation sterilizing equipment decontaminating apparatus

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CN201905823U (en) * 2010-12-31 2011-07-27 桂林电子科技大学 Monocular household cleaning robot
CN102849374A (en) * 2011-06-29 2013-01-02 上海市第一师范学校附属小学 Infrared environment-friendly trash can
KR102071947B1 (en) * 2013-05-10 2020-01-31 삼성전자주식회사 Cleaning robot and controlling method thereof
CN204036455U (en) * 2014-06-12 2014-12-24 安徽理工大学 A kind of cleaning machine intelligent control system
CN204541962U (en) * 2015-01-05 2015-08-12 张健 A kind of automatic cleaning machine people
CN204839367U (en) * 2015-07-23 2015-12-09 深圳市智宝人工智能科技有限公司 Floor sweeper

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