CN108107896B - Control method for cleaning gaps of tiles based on single chip microcomputer - Google Patents
Control method for cleaning gaps of tiles based on single chip microcomputer Download PDFInfo
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- CN108107896B CN108107896B CN201711478102.4A CN201711478102A CN108107896B CN 108107896 B CN108107896 B CN 108107896B CN 201711478102 A CN201711478102 A CN 201711478102A CN 108107896 B CN108107896 B CN 108107896B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 144
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 141
- 239000000919 ceramic Substances 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 239000011449 brick Substances 0.000 claims description 20
- 239000000428 dust Substances 0.000 claims description 20
- 238000001914 filtration Methods 0.000 claims description 7
- 238000010408 sweeping Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention provides a control method for cleaning tile gaps based on a singlechip, which is used for controlling a cleaning device in a trolley form with a tracing mechanism to clean the tile gaps paved with regular tiles into the ground, wherein the tracing mechanism of the cleaning device in the trolley form with the tracing mechanism is a tile gap detection device connected with a trolley built-in control module, the control module is internally provided with a computing chip comprising the singlechip, and when the cleaning device works, the computing chip takes the initial position of the cleaning device as an origin, takes received tile gap sensing information as scales and records the walking track of the cleaning device; the walking track is used for calculating the working area of the cleaning device and judging the steering at the intersection of the tile gaps so as to avoid repeating the previous path; the invention can automatically find and clean gaps among ceramic tiles, and can automatically control the position of the brush disc to match with the walking action of equipment.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a control method for cleaning gaps of ceramic tiles based on a single chip microcomputer.
Background
The gap between the tiles needs to be cleaned before the tiles are filled, the hairbrush disc needs to be penetrated into the tile gaps to be cleaned, if the hairbrush disc can be used for working with automatic cleaning equipment, the cleaning efficiency can be obviously improved, the tile gaps need to be accurately positioned in the working process, the cleaning equipment needs to be used for working automatically along the tile gaps, and the study direction is how to design the equipment.
Disclosure of Invention
The invention provides a control method for cleaning tile gaps based on a singlechip, which can enable automatic cleaning equipment to accurately position the tile gaps when cleaning the tile gaps and can automatically perform operation along the tile gaps.
The invention adopts the following technical scheme.
The method is used for controlling a trolley-shaped cleaning device with a trace finding mechanism to clean the tile seams paved on the ground by regular tiles, the trace finding mechanism is a tile seam detection device connected with a trolley built-in control module, a calculating chip comprising a single chip microcomputer is arranged in the control module, when the cleaning device works, the calculating chip takes the initial position of the cleaning device as an origin, the received tile seam sensing information as scales, and the walking track of the cleaning device is recorded; the walking track is used for calculating the working area of the cleaning device and judging the steering at the intersection of the tile gaps so as to avoid repeating the previous path.
The trace searching mechanism comprises four pairs of laser sensors, is arranged at the front end and the rear end of the chassis to form a front-rear sensing mechanism, and is also arranged at the left side and the right side of the chassis to form a left-right sensing mechanism; the brush disc is positioned on a vertical plane where the central axis symmetry line of the laser sensor distribution areas at the front end and the rear end of the chassis is positioned; the initial position of the cleaning device for starting to work is the intersection point of the tile seams, and when the cleaning device is positioned at the initial position, each pair of light rays of the trace searching mechanism take the center of the tile seams as symmetrical lines.
The front part of the cleaning device is provided with an obstacle sensor, and when a wall body or an obstacle is arranged in front of the running path of the cleaning device, the obstacle sensor sends a collision alarm to the control module, so that the control module controls the running mechanism to stop or turn.
The control method specifically and sequentially comprises the following steps of;
a1, determining a work starting position and taking the work starting position as a coordinate origin;
a2, moving the cleaning device to the origin of coordinates, and enabling the light rays of a pair of laser sensors of the front-rear sensing mechanism to take the center of a tile gap in the front-rear direction of the chassis as a symmetrical line, and the light rays of a pair of laser sensors of the left-right sensing mechanism take the center of the tile gap in the left-right direction of the chassis as a symmetrical line;
a3, starting the cleaning device, and when the laser beams of the front and rear sensing mechanisms are inconsistent in beam reflection state due to sweeping to gaps of the ceramic tiles in the advancing process of the cleaning device, transmitting yaw sensing information to the control module by the front and rear sensing mechanisms, and controlling the traveling mechanism by the control module to enable the advancing direction of the cleaning device to be restored to be the same as the directions of the gaps of the front and rear ceramic tiles;
a4, in the advancing process of the cleaning device, when laser sensor rays of the left and right sensing mechanisms sweep across the gaps of the ceramic tiles, the left and right sensing mechanisms send tile gap sensing information to the control module;
a5, when a wall or an obstacle exists in front of the running path of the cleaning device, the obstacle sensor at the front of the cleaning device sends a collision alarm to the control module, so that the control module controls the running mechanism to stop or turn;
a6, when the cleaning device turns, the cleaning device tracking mechanism scans the tile gap on the ground by using laser beams, and controls the turning action of the travelling mechanism by using the laser beams, so that the light rays of a pair of laser sensors of the front-rear sensing mechanism of the cleaning device after turning take the center of the tile gap in the front-rear direction of the chassis as a symmetrical line, and the light rays of a pair of laser sensors of the left-right sensing mechanism take the center of the tile gap in the left-right direction of the chassis as a symmetrical line;
a7, the computing chip takes the initial position of the cleaning device as an origin, takes the received brick joint sensing information as scales, takes the length and width dimensions of each ceramic tile as the length of each scale, and records the walking track of the cleaning device; the walking track is used for calculating the working area of the cleaning device and judging the steering at the intersection of the tile gaps so as to avoid repeating the previous path.
The cleaning device comprises a control module, a chassis, a travelling mechanism, a tracking mechanism and a gap cleaning mechanism; the control module is connected with the travelling mechanism, the trace searching mechanism and the gap cleaning mechanism and controls the travelling mechanism, the trace searching mechanism and the gap cleaning mechanism; the chassis keeps a horizontal state during operation; the gap cleaning mechanism comprises a lifting unit and a vertically arranged brush disc, and the lifting unit is connected with the brush disc; the track searching mechanism comprises a front-back sensing mechanism and a left-right sensing mechanism, and the front-back sensing mechanism comprises laser sensors arranged at the front part and the rear part of the chassis; the left-right sensing mechanism comprises a laser sensor arranged at the side part of the chassis; the travelling mechanism adjusts the travelling route of the travelling mechanism according to the brick joint trend and the brick joint crossing position sensed by the trace searching mechanism so that the brush disc aims at the brick joint for cleaning; when the travelling mechanism turns, backs up or pauses, the lifting unit lifts the brush plate away from the brick joint to avoid damage;
the travelling mechanism is arranged at the rear part of the chassis and drives the rear wheels to travel by two independent rear wheel driving motors; when the control module changes the rotating speed and the steering of the two rear wheel motors, the cleaning device turns, turns around or backs up.
When the cleaning device is positioned at the initial position, the laser sensor rays of the front-rear sensing mechanism take the center of the tile gap in the front-rear direction of the chassis as a symmetrical line, and the laser sensor rays of the left-right sensing mechanism take the center of the tile gap in the left-right direction of the chassis as a symmetrical line;
in the advancing process of the cleaning device, when laser sensor rays of the left and right sensing mechanisms sweep across the gaps of the tiles, the left and right sensing mechanisms send tile gap sensing information to the control module;
in the advancing process of the cleaning device, when the light beam reflection states of a pair of laser beams of the front and rear sensing mechanisms are inconsistent due to the fact that the laser beams sweep into a ceramic tile gap, the front and rear sensing mechanisms send yaw sensing information to the control module.
The cleaning device is provided with a display screen and a USB interface so as to be convenient for reading/extracting working data; the cleaning device is operated in an automatic mode or is operated in a manual control mode in a remote control mode.
The cleaning device also comprises a dust collecting device, wherein the dust collecting device comprises an air inlet, a fan blade, a dust filtering device and an air outlet; the dust collecting device can automatically detect the weight of the collected dust and send out warning information; the air inlet surface of the air inlet faces the hairbrush disc; the fan blade is arranged at the air inlet, and the dust filtering device is arranged at the air outlet.
The invention creatively designs the tile gap cleaning device into a trolley shape, and arranges the laser sensors around the trolley to scan the tile gaps on the ground, and uses the characteristics of regular size of the tile with the tile gaps being well-formed, horizontal, vertical and similar to a coordinate system to clean the ground as coordinates, thereby avoiding the complicated steps of path planning and path learning of the traditional automatic cleaning device, and enabling cleaning equipment to quickly clean the ground after reaching the site, thereby greatly improving the cleaning efficiency.
The cleaning device disclosed by the invention uses the brick joints of the ceramic tiles as a path basis in walking, and can automatically lift the brush wheel of the brush disc out of the brick joints when the vehicle turns, backs up, pauses and other non-cleaning works occur, so that the damage of the brush wheel of the brush disc can be avoided, and the walking of the cleaning device can be more stable.
According to the invention, the brush wheels of the brush disc are vertically arranged on the central symmetry line of the front pair of laser sensor beams, so that the brush disc is automatically positioned at the brick joint when the cleaning device walks, thereby greatly simplifying the mechanism of working and positioning the brush disc, simplifying the structure of the cleaning device, and being beneficial to saving the cost.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic illustration of the present invention;
FIG. 2 is another schematic illustration of the present invention;
FIG. 3 is a schematic flow chart of the present invention;
FIG. 4 is a schematic view of a tile floor to be cleaned by the cleaning apparatus of the present invention;
FIG. 5 is a schematic view of a dust collecting device of the present invention;
in the figure: 1-a travelling mechanism; 2-a laser sensor; 3-rear wheels; 4-a lifting unit; 5-obstacle sensors; 6-a brush plate; 7-a rear wheel drive motor; 8-ceramic tiles; 9-tile seams; 10-wall; 11-chassis; 12-fan blades; 13-a dust filtering device; 14-an air inlet; 15-an air outlet.
Detailed Description
As shown in fig. 1-5, a control method for cleaning tile gaps based on a single chip microcomputer is used for controlling a cleaning device in a trolley form with a tracing mechanism to clean tile gaps 9 paved with regular-sized tiles 8 on the ground, the tracing mechanism of the cleaning device in the trolley form with the tracing mechanism is a tile gap detection device connected with a trolley built-in control module, a computing chip comprising the single chip microcomputer is built in the control module, when the cleaning device works, the computing chip takes the initial position of the cleaning device as an origin point, the received tile gap sensing information as scales, and the walking track of the cleaning device is recorded; the walking track is used for calculating the working area of the cleaning device and judging the steering at the intersection of the tile gaps 9 so as not to repeat the previous path.
The tracking mechanism comprises four pairs of laser sensors 2, is arranged at the front end and the rear end of the chassis 11 to form a front-rear sensing mechanism, and is also arranged at the left side and the right side of the chassis 11 to form a left-right sensing mechanism; the brush disc 6 is positioned on a vertical plane where the central axis symmetry line of the laser sensor distribution areas at the front end and the rear end of the chassis is positioned; the initial position of the cleaning device starting to work is the intersection point of the tile seams, and when the cleaning device is positioned at the initial position, each pair of light rays of the trace searching mechanism take the center of the tile seams 9 as symmetrical lines.
The front part of the cleaning device is provided with an obstacle sensor, and when the wall body 10 or an obstacle is arranged in front of the running path of the cleaning device, the obstacle sensor sends a collision alarm to the control module, so that the control module controls the running mechanism to stop or turn.
The control method specifically and sequentially comprises the following steps of;
a1, determining a work starting position and taking the work starting position as a coordinate origin;
a2, moving the cleaning device to the origin of coordinates, and enabling the light rays of a pair of laser sensors of the front-rear sensing mechanism to take the center of a tile gap in the front-rear direction of the chassis as a symmetrical line, and the light rays of a pair of laser sensors of the left-right sensing mechanism take the center of the tile gap in the left-right direction of the chassis as a symmetrical line;
a3, starting the cleaning device, and when the laser beams of the front and rear sensing mechanisms are inconsistent in beam reflection state due to sweeping to gaps of the ceramic tiles in the advancing process of the cleaning device, transmitting yaw sensing information to the control module by the front and rear sensing mechanisms, and controlling the traveling mechanism by the control module to enable the advancing direction of the cleaning device to be restored to be the same as the directions of the gaps of the front and rear ceramic tiles;
a4, in the advancing process of the cleaning device, when laser sensor rays of the left and right sensing mechanisms sweep across the gaps of the ceramic tiles, the left and right sensing mechanisms send tile gap sensing information to the control module;
a5, when a wall or an obstacle exists in front of the running path of the cleaning device, the obstacle sensor at the front of the cleaning device sends a collision alarm to the control module, so that the control module controls the running mechanism to stop or turn;
a6, when the cleaning device turns, the cleaning device tracking mechanism scans the tile gap on the ground by using laser beams, and controls the turning action of the travelling mechanism by using the laser beams, so that the light rays of a pair of laser sensors of the front-rear sensing mechanism of the cleaning device after turning take the center of the tile gap in the front-rear direction of the chassis as a symmetrical line, and the light rays of a pair of laser sensors of the left-right sensing mechanism take the center of the tile gap in the left-right direction of the chassis as a symmetrical line;
a7, the computing chip takes the initial position of the cleaning device as an origin, takes the received brick joint sensing information as scales, takes the length and width dimensions of each ceramic tile as the length of each scale, and records the walking track of the cleaning device; the walking track is used for calculating the working area of the cleaning device and judging the steering at the intersection of the tile gaps so as to avoid repeating the previous path.
The cleaning device comprises a control module, a chassis 11, a travelling mechanism 1, a tracking mechanism and a gap cleaning mechanism; the control module is connected with the travelling mechanism, the trace searching mechanism and the gap cleaning mechanism and controls the travelling mechanism, the trace searching mechanism and the gap cleaning mechanism; the chassis 11 is kept in a horizontal state during operation; the gap cleaning mechanism comprises a lifting unit 4 and a vertically arranged brush plate 6, and the lifting unit is connected with the brush plate; the track searching mechanism comprises a front-back sensing mechanism and a left-right sensing mechanism, and the front-back sensing mechanism comprises laser sensors 2 arranged at the front part and the rear part of the chassis; the left-right sensing mechanism comprises a laser sensor arranged at the side part of the chassis; the travelling mechanism adjusts the travelling route of the travelling mechanism according to the brick joint trend and the brick joint crossing position sensed by the trace searching mechanism so that the brush disc aims at the brick joint for cleaning; when the travelling mechanism turns, backs up or pauses, the lifting unit lifts the brush plate away from the brick joint to avoid damage;
the travelling mechanism 1 is arranged at the rear part of the chassis, and drives the rear wheels 3 to travel by two independent rear wheel driving motors 7; when the control module changes the rotating speed and the steering of the two rear wheel motors, the cleaning device turns, turns around or backs up.
When the cleaning device is positioned at the initial position, the laser sensor rays of the front-rear sensing mechanism take the center of the tile gap in the front-rear direction of the chassis as a symmetrical line, and the laser sensor rays of the left-right sensing mechanism take the center of the tile gap in the left-right direction of the chassis as a symmetrical line;
in the advancing process of the cleaning device, when laser sensor rays of the left and right sensing mechanisms sweep across the gaps of the tiles, the left and right sensing mechanisms send tile gap sensing information to the control module;
in the advancing process of the cleaning device, when the light beam reflection states of a pair of laser beams of the front and rear sensing mechanisms are inconsistent due to the fact that the laser beams sweep into a ceramic tile gap, the front and rear sensing mechanisms send yaw sensing information to the control module.
The cleaning device is provided with a display screen and a USB interface so as to be convenient for reading/extracting working data; the cleaning device is operated in an automatic mode or is operated in a manual control mode in a remote control mode.
The cleaning device also comprises a dust collecting device, wherein the dust collecting device comprises an air inlet 14, a fan blade 12, a dust filtering device 13 and an air outlet 15; the dust collecting device can automatically detect the weight of the collected dust and send out warning information; the air inlet surface of the air inlet faces the hairbrush disc; the fan blade is arranged at the air inlet, and the dust filtering device is arranged at the air outlet.
In the example, the initial position of the cleaning device starting to work is the intersection point of the tile seams, and when in cleaning operation, the cleaning device in the trolley form takes the tile seams as paths to travel, the brush wheel edge enters the tile seams, and the brush wheel rotates to clean the tile seams.
Claims (6)
1. A control method for cleaning tile gaps based on a singlechip is used for controlling a cleaning device in a trolley form with a track finding mechanism to clean tile gaps paved with regular-size tiles into the ground, and is characterized in that: the cleaning device is characterized in that the tracking mechanism is a brick joint detection device connected with a built-in control module of the trolley, a calculating chip comprising a singlechip is arranged in the control module, when the cleaning device works, the calculating chip takes the initial position of the cleaning device as an origin, and the received brick joint sensing information as a scale, so that the walking track of the cleaning device is recorded; the walking track is used for calculating the working area of the cleaning device and judging the steering at the intersection of the tile gaps so as to avoid repeating the previous path;
the trace searching mechanism comprises four pairs of laser sensors, is arranged at the front end and the rear end of the chassis to form a front-rear sensing mechanism, and is also arranged at the left side and the right side of the chassis to form a left-right sensing mechanism; the brush disc is positioned on a vertical plane where the central axis symmetry line of the laser sensor distribution areas at the front end and the rear end of the chassis is positioned; the initial position of the cleaning device for starting to work is the intersection point of the tile seams, and when the cleaning device is positioned at the initial position, each pair of light rays of the trace searching mechanism take the center of the tile seams as symmetrical lines;
an obstacle sensor is arranged at the front part of the cleaning device, and when a wall body or an obstacle is arranged in front of a running path of the cleaning device, the obstacle sensor sends a collision alarm to the control module so that the control module controls the running mechanism to stop or turn;
the control method specifically and sequentially comprises the following steps of;
a1, determining a work starting position and taking the work starting position as a coordinate origin;
a2, moving the cleaning device to the origin of coordinates, and enabling the light rays of a pair of laser sensors of the front-rear sensing mechanism to take the center of a tile gap in the front-rear direction of the chassis as a symmetrical line, and the light rays of a pair of laser sensors of the left-right sensing mechanism take the center of the tile gap in the left-right direction of the chassis as a symmetrical line;
a3, starting the cleaning device, and when the laser beams of the front and rear sensing mechanisms are inconsistent in beam reflection state due to sweeping to gaps of the ceramic tiles in the advancing process of the cleaning device, transmitting yaw sensing information to the control module by the front and rear sensing mechanisms, and controlling the traveling mechanism by the control module to enable the advancing direction of the cleaning device to be restored to be the same as the directions of the gaps of the front and rear ceramic tiles;
a4, in the advancing process of the cleaning device, when laser sensor rays of the left and right sensing mechanisms sweep across the gaps of the ceramic tiles, the left and right sensing mechanisms send tile gap sensing information to the control module;
a5, when a wall or an obstacle exists in front of the running path of the cleaning device, the obstacle sensor at the front of the cleaning device sends a collision alarm to the control module, so that the control module controls the running mechanism to stop or turn;
a6, when the cleaning device turns, the cleaning device tracking mechanism scans the tile gap on the ground by using laser beams, and controls the turning action of the travelling mechanism by using the laser beams, so that the light rays of a pair of laser sensors of the front-rear sensing mechanism of the cleaning device after turning take the center of the tile gap in the front-rear direction of the chassis as a symmetrical line, and the light rays of a pair of laser sensors of the left-right sensing mechanism take the center of the tile gap in the left-right direction of the chassis as a symmetrical line;
a7, the computing chip takes the initial position of the cleaning device as an origin, takes the received brick joint sensing information as scales, takes the length and width dimensions of each ceramic tile as the length of each scale, and records the walking track of the cleaning device; the walking track is used for calculating the working area of the cleaning device and judging the steering at the intersection of the tile gaps so as to avoid repeating the previous path.
2. The control method for cleaning the gaps of the ceramic tiles based on the single chip microcomputer according to claim 1, wherein the control method comprises the following steps: the cleaning device comprises a control module, a chassis, a travelling mechanism, a tracking mechanism and a gap cleaning mechanism; the control module is connected with the travelling mechanism, the trace searching mechanism and the gap cleaning mechanism and controls the travelling mechanism, the trace searching mechanism and the gap cleaning mechanism; the chassis keeps a horizontal state during operation; the gap cleaning mechanism comprises a lifting unit and a vertically arranged brush disc, and the lifting unit is connected with the brush disc; the track searching mechanism comprises a front-back sensing mechanism and a left-right sensing mechanism, and the front-back sensing mechanism comprises laser sensors arranged at the front part and the rear part of the chassis; the left-right sensing mechanism comprises a laser sensor arranged at the side part of the chassis; the travelling mechanism adjusts the travelling route of the travelling mechanism according to the brick joint trend and the brick joint crossing position sensed by the trace searching mechanism so that the brush disc aims at the brick joint for cleaning; when the travelling mechanism turns, backs up or pauses, the lifting unit lifts the brush plate away from the brick joint to avoid damage.
3. The control method for cleaning the gaps of the ceramic tiles based on the single chip microcomputer as set forth in claim 2, wherein the control method comprises the following steps: the travelling mechanism is arranged at the rear part of the chassis and drives the rear wheels to travel by two independent rear wheel driving motors; when the control module changes the rotating speed and the steering of the two rear wheel motors, the cleaning device turns, turns around or backs up.
4. The control method for cleaning the gaps of the ceramic tiles based on the single chip microcomputer according to claim 1, wherein the control method comprises the following steps: when the cleaning device is positioned at the initial position, the laser sensor rays of the front-rear sensing mechanism take the center of the tile gap in the front-rear direction of the chassis as a symmetrical line, and the laser sensor rays of the left-right sensing mechanism take the center of the tile gap in the left-right direction of the chassis as a symmetrical line;
in the advancing process of the cleaning device, when laser sensor rays of the left and right sensing mechanisms sweep across the gaps of the tiles, the left and right sensing mechanisms send tile gap sensing information to the control module;
in the advancing process of the cleaning device, when the light beam reflection states of a pair of laser beams of the front and rear sensing mechanisms are inconsistent due to the fact that the laser beams sweep into a ceramic tile gap, the front and rear sensing mechanisms send yaw sensing information to the control module.
5. The control method for cleaning the gaps of the ceramic tiles based on the single chip microcomputer according to claim 1, wherein the control method comprises the following steps: the cleaning device is provided with a display screen and a USB interface so as to be convenient for reading/extracting working data; the cleaning device is operated in an automatic mode or is operated in a manual control mode in a remote control mode.
6. The control method for cleaning the gaps of the ceramic tiles based on the single chip microcomputer as set forth in claim 2, wherein the control method comprises the following steps: the cleaning device also comprises a dust collecting device, wherein the dust collecting device comprises an air inlet, a fan blade, a dust filtering device and an air outlet; the dust collecting device can automatically detect the weight of the collected dust and send out warning information; the air inlet surface of the air inlet faces the hairbrush disc; the fan blade is arranged at the air inlet, and the dust filtering device is arranged at the air outlet.
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| CN201711478102.4A CN108107896B (en) | 2017-12-29 | 2017-12-29 | Control method for cleaning gaps of tiles based on single chip microcomputer |
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| CN201711478102.4A CN108107896B (en) | 2017-12-29 | 2017-12-29 | Control method for cleaning gaps of tiles based on single chip microcomputer |
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| JPH07124080A (en) * | 1993-06-15 | 1995-05-16 | Nippon Yusoki Co Ltd | Automatic cleaner |
| CN202537420U (en) * | 2012-04-04 | 2012-11-21 | 方卓然 | Automatic floor tile gap cleaning machine |
| JP2015070922A (en) * | 2013-10-02 | 2015-04-16 | 株式会社ダスキン | Cleaning robot and cleaning robot system |
| CN106437097A (en) * | 2016-12-01 | 2017-02-22 | 衢州市依科达节能技术有限公司 | Trolley type ceramic tile gap sweeper |
| CN106886221A (en) * | 2017-03-28 | 2017-06-23 | 武汉理工大学 | A kind of trace follow control device for being applied to photovoltaic module cleaning apparatus for self |
| CN106930515A (en) * | 2017-03-29 | 2017-07-07 | 哈尔滨理工大学 | Automatic tracking Mei Feng joint fillings robot |
| CN106988513A (en) * | 2017-05-24 | 2017-07-28 | 钦州学院 | The robot of ceramic tile U.S. seam |
-
2017
- 2017-12-29 CN CN201711478102.4A patent/CN108107896B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07124080A (en) * | 1993-06-15 | 1995-05-16 | Nippon Yusoki Co Ltd | Automatic cleaner |
| CN202537420U (en) * | 2012-04-04 | 2012-11-21 | 方卓然 | Automatic floor tile gap cleaning machine |
| JP2015070922A (en) * | 2013-10-02 | 2015-04-16 | 株式会社ダスキン | Cleaning robot and cleaning robot system |
| CN106437097A (en) * | 2016-12-01 | 2017-02-22 | 衢州市依科达节能技术有限公司 | Trolley type ceramic tile gap sweeper |
| CN106886221A (en) * | 2017-03-28 | 2017-06-23 | 武汉理工大学 | A kind of trace follow control device for being applied to photovoltaic module cleaning apparatus for self |
| CN106930515A (en) * | 2017-03-29 | 2017-07-07 | 哈尔滨理工大学 | Automatic tracking Mei Feng joint fillings robot |
| CN106988513A (en) * | 2017-05-24 | 2017-07-28 | 钦州学院 | The robot of ceramic tile U.S. seam |
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|---|---|
| CN108107896A (en) | 2018-06-01 |
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