CN108685526A - Self-navigation sweeping robot - Google Patents
Self-navigation sweeping robot Download PDFInfo
- Publication number
- CN108685526A CN108685526A CN201710247552.6A CN201710247552A CN108685526A CN 108685526 A CN108685526 A CN 108685526A CN 201710247552 A CN201710247552 A CN 201710247552A CN 108685526 A CN108685526 A CN 108685526A
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- CN
- China
- Prior art keywords
- navigation
- self
- sweeping robot
- rack
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 42
- 238000004140 cleaning Methods 0.000 claims abstract description 40
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 9
- 239000002351 wastewater Substances 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 6
- 239000010865 sewage Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- -1 for example Substances 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to Intelligent life technical field of electric appliances, disclose a kind of self-navigation sweeping robot.It includes:Rack(10), control system(40)With the cleaning agency being arranged in the rack(100), walking mechanism(200)And collecting mechanism(300), which is characterized in that the self-navigation sweeping robot further includes navigation sector(400), the control system of the navigation sector and robot(40)Connection, for controlling the walking mechanism(200)Movement locus.The present invention self-navigation sweeping robot, by be arranged navigation system can more flexible ground avoiding obstacles, improve sweeping efficiency.
Description
Technical field
The present invention relates to Intelligent life technical field of electric appliances, more particularly to a kind of self-navigation sweeping robot.
Background technology
Sweeping robot is also known as automatic to sweep machine, is one kind of controlling intelligent household appliances.Sweeping robot can be in controller
The lower automatic completion floor cleaning work in the room of control.Specifically, sweeping robot is generally swept and vacuum mode using brush, will
Ground sundries cleans and receives the rubbish storage box into itself, to complete the function of land clearing.
The lid that the structure of existing sweeping robot generally comprises shell and is installed on shell, shell and lid it
Between form installation cavity.It is equipped with the clearing apparatus controlled by controller in installation cavity and driving device, clearing apparatus are set to shell
Rear side, and driving device is set to the both sides of the bottom surface of shell.Driving device independently drives there are two wheels to be run with mobile robot.
In the front side of shell, there are one deflecting rollers, the side of deflecting roller, and a rotor for carrying brush, rotor rotation can also be arranged for setting
When Electric brush sweep the floor.As it can be seen that current sweeping robot mainly has cleaning function.However, when there is obstinate oil stain in ground
Or the dirt that should not be cleaned, when needing to wash with water, existing sweeping robot can not use.In addition, existing sweeper
Device people can not flexibly turn round in the case where encountering barrier with timely avoiding obstacles.
Therefore, it is necessary to a kind of novel sweeping robots preferably to meet the requirement of user.
Invention content
In order to solve above-mentioned part or all of technical problem, the present invention provides a kind of self-navigation sweeping robot,
The self-navigation sweeping robot includes:Rack, control system and the cleaning agency being arranged in the rack, walking mechanism with
And collecting mechanism, wherein the self-navigation sweeping robot further includes navigation sector, the control of the navigation sector and robot
System connects, the movement locus for controlling the walking mechanism.
Preferably, the navigation sector includes the infrared detection device being arranged in the rack and/or acoustic detection dress
It sets.
Preferably, the walking mechanism includes at least a pair of of the drive being set at left and right sides of the bottom of the frame intermediate region
Driving wheel.
Preferably, the walking mechanism further includes being set in the driving wheel shaft to drive each drive for independent
The motor of wheel rotation.
Preferably, the motor is connect with control system, the letter for receiving the navigation system in the control system
After breath, drive the driving wheel asynchronous differential.
Preferably, the cleaning agency is set to the front end of the rack, including can be along the axis side perpendicular to ground
Cleaning head to rotation and the clear water tanks that are connect with the main part of the cleaning agency.
Preferably, the cleaning agency further includes the ontology for being formed with internal cavity, multiple cleaning head intervals and hang down
The direct-connected lower section for being connected on the ontology is formed with the water inlet being connected to the clear water tanks on the body, the ontology
Bottom is formed with water outlet.
Preferably, the cleaning head is to be connected to the body bottom portion two rows ofly and interlaced, and the water outlet is formed
Between two adjacent cleaning heads of the fringe region of the bottom end face of the ontology.
Preferably, the collecting mechanism is set to the rear end of the rack, including can close proximity to ground to adsorb cleaning machine
The suction of dirt on structure path is lain prone device and lies prone the waste water tank that device connect with the suction.
Preferably, the body part for inhaling device of lying prone, which is set as bottom, has the arc cavity of opening.
Preferably, the device of lying prone of inhaling includes roof, madial wall and lateral wall;The roof intermediate region is formed with and inhales
The suction hole of water pump connection;The bottom edge region interval of the madial wall is formed with multiple inlet openings being connected to waste water tank.
Preferably, the upper part of the madial wall is made of rigid material, and the lower part of the madial wall is by rubber system
At the inlet opening is formed on rubber.
The present invention self-navigation sweeping robot, by be arranged navigation system can more flexible ground avoiding obstacles,
Improve sweeping efficiency.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the dimensional structure diagram of the self-navigation sweeping robot of one embodiment of the present invention;
Fig. 2 is the upward view of the self-navigation sweeping robot in Fig. 1;
Fig. 3 is the configuration schematic diagram of the component part of the self-navigation sweeping robot of one embodiment of the present invention;
Fig. 4 is that the suction of one embodiment of the present invention is lain prone the structural schematic diagram of device;
Fig. 5 is that suction in Fig. 4 is lain prone the cross-sectional view of device.
Reference sign
10 rack, 20 clear water tanks
30 waste water tank, 40 control system
100 cleaning agency, 200 walking mechanism
300 collecting mechanism, 400 navigation sector
101 cleaning head, 102 water outlet
201 driving wheel, 202 motor
301 inhale 3011 roof of device of lying prone
3012 madial wall, 3013 lateral wall
The upper part 3012b lower parts of 3012a
301 ' suction hole, 60 power supply
311 rubber, 311 ' inlet opening
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, left and right " typically refers to
Upper and lower, left and right shown in refer to the attached drawing;" inside and outside " refers to relative to the inside and outside of each component profile itself.
The present invention provides a kind of self-navigation sweeping robot, which includes:Rack 10, control
Cleaning agency 100, walking mechanism 200 and the collecting mechanism 300 processed system 40 and be arranged in rack 10, wherein this is automatic
The sweeping robot that navigates further includes navigation sector 400, the control system 40 of the navigation sector 400 and self-navigation sweeping robot
Connection, the movement locus for controlling walking mechanism 200.Specifically, as shown in Figure 1, cleaning agency 100 is set to rack 10
Front end, collecting mechanism 300 are set to the rear end of rack 10, and walking mechanism 200 is set to the bottom intermediate region of rack 10, is located at
Between cleaning agency 100 and collecting mechanism 300.In this case, when navigation sector 400 detects that self-navigation is swept the floor machine
There are can feed back to control system 40 when barrier in front of people, control system 40 programme path and controls walking mechanism and keeps away again
Open barrier.Self-navigation sweeping robot does not have to stop when encountering barrier as a result, understands automatically and flexibly cut-through
Object works on, and improves work efficiency.
For the barrier being accurately detected in front of self-navigation sweeping robot, navigation sector 400 includes that setting exists
Infrared detection device in rack 10 and/or acoustic detection device.Specifically, infrared acquisition is by sightless infrared radiating light
(The infrared band that different types of object emission goes out has its specific band)It detects and is converted into measurable
Signal.Infrared acquisition has following several advantages:(1)Environmental suitability is better than visible light, especially under night and poor weather
Ability to work.(2)Good concealment typically passively receives the signal of target, than radar and laser acquisition safety and maintains secrecy
Property is strong, is not easy to be disturbed.(3)Infrared system it is small, it is light-weight, it is low in energy consumption.Acoustic detection applies sound wave and shock wave
Principle, vibration information collection is carried out using microelectronics processor and sound/vibration sensor, it is detectable using air as carrier
Various sound waves and using other media as the vibration of carrier, and non-targeted noise wave and other background interference waves are filtered, in turn
The rapid position for determining testee.Navigation sector 400 of the invention uses infrared detection device and/or acoustic detection as a result,
Device can be accurately detected the barrier with surrounding in front of self-navigation sweeping robot, be conducive to self-navigation and sweep the floor
Robot ambulation route is made rational planning for.
Further, walking mechanism 200 includes at least a pair of of the drive being set at left and right sides of 10 bottom intermediate region of rack
Driving wheel 201.The shaft of driving wheel 201 is equipped with for the independent motor 202 for driving each driving wheel 201 to rotate.Preferably, motor
202 connect with control system 40, for driving multiple driving wheels 201 different after the information that control system receives navigation system 400
It walks differential.In this case, independent work may be implemented in each driving wheel 201 under the control of motor 202.For example, working as
When self-navigation sweeping robot needs turning clockwise, the driving wheel 201 positioned inside can rotate smaller angle and carry
For First Driving Force, and the driving wheel 201 positioned at outside then rotates larger angle and provides the second driving force, hereby it is achieved that
Two driving wheels it is asynchronous differential, improve the flexibility of self-navigation sweeping robot turning process.
In addition, cleaning agency 100 is set to the front end of rack 10, including can be rotated along the axis direction perpendicular to ground
Cleaning head 101 and the clear water tanks 20 that are connect with the main part of cleaning agency.Further, cleaning agency 100 further includes being formed
There is an ontology of internal cavity, multiple cleaning heads 101 are spaced and are vertically connected on the lower section of ontology, are formed on the body and water purification
The water inlet of case connection, the bottom of ontology is formed with water outlet 102.It is additionally provided on the top of ontology for controlling cleaning head
The motor of 101 liftings and rotation.
As shown in Fig. 2, cleaning head 101 is set as being connected to body bottom portion two rows ofly and interlaced, the formation of water outlet 102
Between two adjacent cleaning heads 101 of the fringe region of the bottom end face of ontology.Specifically, it is located at heel row cleaning head 101
Diameter is more than or equal to the installation gap being set between two front-seat cleaning heads 101.In this case, front-seat cleaning head
After 101 pairs of ground clean, gap of the heel row cleaning head 101 between front-seat cleaning head 101 is cleaned, thus, it is possible to
Ensure that the region that cleaning agency 100 passes through can be cleaned, does not stay dead angle.
In order to effectively collect the sewage generated in self-navigation sweeping robot cleaning process, in the rear end of rack 10 and clearly
It sweeps mechanism 100 and is correspondingly arranged on collecting mechanism 300.Collecting mechanism 300 include can close proximity to ground to adsorb wiper mechanism path
On dirt suction lie prone device 301 and with inhale the waste water tank 30 that device connect of lying prone.It inhales the longitudinally wide of device 301 of lying prone and is more than cleaning
Mechanism 100 it is longitudinally wide.In this way, the sewage that wiper mechanism 100 generates can be lain prone by suction, device 301 is fully collected totally.
Further, in order to ensure to inhale lie prone device 301 can close proximity to ground during the work time, inhale the sheet for device 301 of lying prone
Body portion, which is set as bottom, has the arc cavity of opening.
As shown in Figure 4 and Figure 5, it includes roof 3011, madial wall 3012 and lateral wall 3013, roof to inhale device 301 of lying prone
3011 intermediate regions are formed with the suction hole 310 ' being connect with pulsating pump, and the bottom edge region interval of madial wall 3012 is formed with
Multiple inlet openings 311 ' being connected to waste water tank 30.In this case, it when water suction pump work, inhales to generate in device 301 of lying prone and bear
Pressure, sewage can be flowed into from inlet opening 311 ' into the inside for inhaling device 301 of lying prone and by water pipe in waste water tank 30.
It is further preferred that the upper part 3012a of roof, lateral wall and madial wall is made of rigid material, madial wall
Lower part 3012b is by flexible material, for example, rubber is made.In this way, when absorb water pump work when, suction device 301 of lying prone can both be kept
Fixed shape, and can be realized and be close to ground by the deformation of rubber 311, thereby it is ensured that sewage collecting efficiency.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited thereto.At this
In the range of the technology design of invention, a variety of simple variants can be carried out to technical scheme of the present invention.Including each particular technique
Feature is combined in any suitable manner.In order to avoid unnecessary repetition, the present invention is to various combinations of possible ways
No longer separately illustrate.But it should also be regarded as the disclosure of the present invention for these simple variants and combination, belongs to the present invention
Protection domain.
Claims (10)
1. a kind of self-navigation sweeping robot, including:Rack(10), control system(40)It is clear in the rack with being arranged
Sweep mechanism(100), walking mechanism(200)And collecting mechanism(300), which is characterized in that the self-navigation sweeping robot
It further include navigation sector(400), the control system of the navigation sector and robot(40)Connection, for controlling the walking mechanism
(200)Movement locus, the navigation sector(400)Including being arranged in the rack(10)On infrared detection device and/or
Acoustic detection device, the walking mechanism(200)Including being set to the rack(10)At left and right sides of the intermediate region of bottom extremely
Few a pair of driving wheels(201).
2. self-navigation sweeping robot according to claim 1, which is characterized in that the walking mechanism(200)Also wrap
It includes and is set to the driving wheel(201)In shaft each driving wheel is driven for independent(201)The motor of rotation(202).
3. self-navigation sweeping robot according to claim 2, which is characterized in that the motor(202)It is with control
System(40)Connection, for receiving the navigation system in the control system(400)Information after, drive the driving wheel
(201)It is asynchronous differential.
4. according to the self-navigation sweeping robot described in any one of claim 1-3 claims, which is characterized in that institute
State cleaning agency(100)It is set to the front end of the rack, including the cleaning that can be rotated along the axis direction perpendicular to ground
Head(101)And the clear water tanks being connect with the main part of the cleaning agency(20).
5. self-navigation sweeping robot according to claim 4, which is characterized in that the cleaning agency(100)Also wrap
Include the ontology for being formed with internal cavity, multiple cleaning heads(101)It is spaced and is vertically connected on the lower section of the ontology, in institute
The water inlet for being formed on ontology and being connected to the clear water tanks is stated, the bottom of the ontology is formed with water outlet(102).
6. self-navigation sweeping robot according to claim 5, which is characterized in that the cleaning head(101)It is set as
It is connected to the body bottom portion, the water outlet two rows of and interlacedly(102)It is formed in the bottom end face of the ontology
Two adjacent cleaning heads of fringe region(101)Between.
7. self-navigation sweeping robot according to claim 4, which is characterized in that the collecting mechanism(300)Setting
In the rear end of the rack, including can close proximity to ground lain prone device with adsorbing the suction of the dirt on wiper mechanism path(301)With
With the waste water tank inhaled device of lying prone and connect(30).
8. self-navigation sweeping robot according to claim 7, which is characterized in that described to inhale device of lying prone(301)Sheet
Body portion, which is set as bottom, has the arc cavity of opening.
9. self-navigation sweeping robot according to claim 8, which is characterized in that described to inhale device of lying prone(301)Including
Roof(3011), madial wall(3012)And lateral wall(3013);
The roof(3011)Intermediate region is formed with the suction hole being connect with pulsating pump(310');
The madial wall(3012)Bottom edge region interval be formed with multiple and waste water tank(30)The inlet opening of connection
(311').
10. self-navigation sweeping robot according to claim 9, which is characterized in that the upper part of the madial wall
(3012a)It is made of rigid material, the lower part of the madial wall(3012b)By rubber(311)It is made;The inlet opening
(311')It is formed in rubber(311)On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710247552.6A CN108685526A (en) | 2017-04-12 | 2017-04-12 | Self-navigation sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710247552.6A CN108685526A (en) | 2017-04-12 | 2017-04-12 | Self-navigation sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108685526A true CN108685526A (en) | 2018-10-23 |
Family
ID=63843910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710247552.6A Pending CN108685526A (en) | 2017-04-12 | 2017-04-12 | Self-navigation sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108685526A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113015355A (en) * | 2021-02-24 | 2021-06-22 | 温州大学 | Protection device for intelligent equipment control system and protection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06304103A (en) * | 1993-04-19 | 1994-11-01 | Azuma Kogyo Kk | Suction means for vacuum cleaner |
| CN101301186A (en) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 4-segment type sweeping robot |
| CN201286673Y (en) * | 2008-10-31 | 2009-08-12 | 麦广文 | Portable ground washing device |
| CN101992747A (en) * | 2009-08-21 | 2011-03-30 | 广东可普汽车配件有限公司 | Method of assembling metal clamp and body springs of wiper blade for vehicle |
| CN104068787A (en) * | 2013-03-26 | 2014-10-01 | 日立空调·家用电器株式会社 | Self-regulation walking type cleaner |
| CN105125145A (en) * | 2015-09-24 | 2015-12-09 | 张家港保税区雨辰柯林清洁机械贸易有限公司 | Water absorption rake structure of automatic ground washing machine |
| CN204950826U (en) * | 2015-07-01 | 2016-01-13 | 广东浩宇清洁环保设备有限公司 | Floor washer |
| CN204971128U (en) * | 2015-07-01 | 2016-01-20 | 广东浩宇清洁环保设备有限公司 | Floor scrubber with drying function |
| CN205391066U (en) * | 2016-02-29 | 2016-07-27 | 东北石油大学 | Intelligent robot for sweeping floor |
| CN106073655A (en) * | 2016-07-29 | 2016-11-09 | 北京小米移动软件有限公司 | For cleaning the scraping article of equipment, round brush lid, round brush assembly and automatic cleaning equipment |
-
2017
- 2017-04-12 CN CN201710247552.6A patent/CN108685526A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06304103A (en) * | 1993-04-19 | 1994-11-01 | Azuma Kogyo Kk | Suction means for vacuum cleaner |
| CN101301186A (en) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 4-segment type sweeping robot |
| CN201286673Y (en) * | 2008-10-31 | 2009-08-12 | 麦广文 | Portable ground washing device |
| CN101992747A (en) * | 2009-08-21 | 2011-03-30 | 广东可普汽车配件有限公司 | Method of assembling metal clamp and body springs of wiper blade for vehicle |
| CN104068787A (en) * | 2013-03-26 | 2014-10-01 | 日立空调·家用电器株式会社 | Self-regulation walking type cleaner |
| CN204950826U (en) * | 2015-07-01 | 2016-01-13 | 广东浩宇清洁环保设备有限公司 | Floor washer |
| CN204971128U (en) * | 2015-07-01 | 2016-01-20 | 广东浩宇清洁环保设备有限公司 | Floor scrubber with drying function |
| CN105125145A (en) * | 2015-09-24 | 2015-12-09 | 张家港保税区雨辰柯林清洁机械贸易有限公司 | Water absorption rake structure of automatic ground washing machine |
| CN205391066U (en) * | 2016-02-29 | 2016-07-27 | 东北石油大学 | Intelligent robot for sweeping floor |
| CN106073655A (en) * | 2016-07-29 | 2016-11-09 | 北京小米移动软件有限公司 | For cleaning the scraping article of equipment, round brush lid, round brush assembly and automatic cleaning equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113015355A (en) * | 2021-02-24 | 2021-06-22 | 温州大学 | Protection device for intelligent equipment control system and protection method thereof |
| CN113015355B (en) * | 2021-02-24 | 2022-05-10 | 温州大学 | Protection equipment for intelligent equipment control system and protection method thereof |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211213 Address after: Room 716, No. 11, Wuhua Road, Hongkou District, Shanghai 200080 Applicant after: SHANGHAI OBVIATE ENVIRONMENTAL ENGINEERING Ltd. Address before: 200086 room 3649R, 9 Lane 360, Feihong Road, Hongkou District, Shanghai. Applicant before: SHANGHAI TUOCHU INTELLIGENT TECHNOLOGY CO.,LTD. |
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| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181023 |
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| RJ01 | Rejection of invention patent application after publication |