CN108891387A - A kind of portable intelligent carwash robot - Google Patents
A kind of portable intelligent carwash robot Download PDFInfo
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- CN108891387A CN108891387A CN201810630467.2A CN201810630467A CN108891387A CN 108891387 A CN108891387 A CN 108891387A CN 201810630467 A CN201810630467 A CN 201810630467A CN 108891387 A CN108891387 A CN 108891387A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of portable intelligent carwash robots, belong to intelligent robot technology field.Robot body is made of four u-bracket connections, and each steering engine is separately fixed on steering engine fixed frame, and the gas chamber, air valve in sufficient side controller are directly connected to lower section sucker by snorkel, realizes the control to sucker suction ability；Sufficient side controller is attached by the embedded chip of connecting line and control system, by the devices data transmissions such as infrared distance sensor, gyroscope, air chamber pressure sensor, air valve switch to chip.There are problems that structure volume is larger, noise is big current existing automatic car washing machine, be clearly not thorough, installation site is restricted, develop a portable intelligent carwash robot, machine utilizes the structured data of each vehicle in database at runtime, and the carwash process of intelligence is realized to automobile.It is not limited by time and space, vehicle can be cleaned whenever and wherever possible simultaneously.
Description
Technical field
The invention belongs to intelligent robot technology fields, and in particular to a kind of portable intelligent carwash robot.
Background technique
In face of annual quantity all in increased private car, the cleaning industry of private vehicle more attracts people's attention.Mesh
There are many preceding domestic and international car washing installation and technology, but the carwash technology really popularized on a large scale only has giant carwash and flourishing city
The computer carwash in city.Giant carwash cleans vehicle face using automobile washing liquid cooperation giant, averagely cleans one
Vehicle is needed with 60 liters of water, serious waste water resource, and comparatively water-saving computer car washer, can be more efficient with water into
Row cleaning, but car washing installation cost is excessively high, and hundreds of thousands is to washing bay cleanings up to a million, and needing to arrive profession easily, to cleaning
Place there are certain requirements, and be difficult to realize the family oriented of carwash.And for using less waterless carwash on the market, using special clear
Clean formula does not have to water when carwash, but is primarily adapted for use in the more clean vehicle of lacquer painting, ineffective to dirtier vehicle cleaning.
In recent years, intelligent robot no matter industry, business, in terms of, all with its intelligent, human-computer interaction human nature
Change, the features such as work efficiency is high provides convenience for people.Therefore, the present invention is directed to the status of carwash industry, and can consideration make
With intelligent robot, robot is set to achieve the purpose that clean vehicle during mobile on surface of vehicle, Jin Erke
To realize water-saving, it can also can accomplish that carwash is not limited by place because its is small-sized, portable, realize the family of carwash
Front yard.
In view of haveing not been used to the portable intelligent carwash robot of carwash at present, the present invention will be divided into three parts,
That is running gear, cleaning systems and control system.For running gear, the characteristics of according to the irregular surface of vehicle and vehicle paint,
Intelligent automobile washer device people needs strong with obstacle climbing ability in lightweight, portable, walking process and needs with horizontal plane and erect
The ability moved between facing directly.Existing intelligence climbing robot, is broadly divided into negative-pressure adsorption-type, sucker suction according to adsorpting type
Formula and magnet absorption formula, action modes are broadly divided into crawler type, roller type, two-legged type and polypody.With regard to the cleaning of car surface
For, since surface of vehicle is not available magnet absorption there are namagnetic substance, and magnetic-adsorption dynamics is more difficult to control；Due to
Surface of vehicle is irregular, and there are groove and protrusion, this allows is difficult to adapt to vehicle face surface to the absorption of adsorption area biggish suction type
The case where, equally, the walking manner of crawler type and roller type is realized on the basis of guaranteeing absorption dynamics and crosses over irregular plane
Function；For the walking manner of two-legged type and polypody, although can accomplish to take into account stronger absorption dynamics and certain
Obstacle crossing function, but cannot achieve the conversion action between horizontal plane and vertical plane.To solve surface of vehicle running gear, we
It proceeds from the reality, considers using polyaxial running gear to meet requirement of the surface of vehicle situation to robot ambulation system.
In terms of intelligent automobile washer device people, patent publication No. CN201720717934.6, entitled " one kind is based on figure
As the mobile automatic car washing machine people of identification ", be console mode machine, volume is too big, be not easy it is portable, and to using Land leveling
It spends more demanding；Patent publication No. CN201720216046.6, it is entitled " a kind of intelligent automobile washer device people ", it needs by vehicle
It plays a supporting role in face of machine, the vertical planes such as the side of car body can not be cleaned；Patent publication No. CN201510094805.1, hair
Bright entitled " one kind is novel to clean the windows and wipe vehicle domestic robot ", may be implemented across frame equidimension much smaller than machine ruler
Very little obstacle, but be difficult to change greatly the obstacle of position across on car body, as at forward and backward windshield.Due to intelligent automobile washer
The running gear of device people is that innovation of the invention is crucial, is more suitable for the walking on vehicle face surface, and then clean vehicle body to realize.It is right
It is entitled " a kind of Pneumatic wall-climbing robot " in patent publication No. CN201710819695.X；Patent publication No.
CN201410271496.6, it is entitled " a kind of Pneumatic wall-climbing robot "；Patent publication No. CN201710583962.8, hair
Bright entitled " three leg formula climbing robots "；Patent publication No. CN201710276950.0, entitled " vibration absorption type water
Lower four-footed climbing robot "；Patent publication No. CN201710803212.7, it is entitled " a kind of climbing robot "；Patent
Publication number CN201720344517.1, it is entitled " a kind of climbing robot "；Patent publication No. CN201620799423.9,
Entitled " intelligent climbing robot "；Patent publication No. CN201620388610.8, entitled " one kind can freely turn
To climbing robot "；Patent publication No. CN201610345764.3, it is entitled " biped climbing robot "；Patent is public
The number of opening CN201510740149.8, it is entitled " walking Pneumatic wall-climbing robot "；Patent publication No.
CN201310747791.X, it is entitled " biped adsorbed wall-climbing robot "；Patent publication No. CN201310408397.3,
Entitled " a kind of two-legged type cleaning climbing robot "；Patent publication No. CN201320405041.X, it is entitled " to climb
Wall robot "；Patent publication No. CN201120241153.7, it is entitled " Sucked type pneumatic wall-climbing robot "；Patent is public
The number of opening CN201120241045.X, it is entitled " connecting rod sucker type wall climbing robot ", it is all about using sucker carry out table
The patent of the intelligent robot of face absorption walking, but it is suitable for the walking of single plane, it cannot achieve horizontal plane and vertical plane
Between conversion walking, cannot achieve the walking of full vehicle face.For patent publication No. CN201710076556.2, entitled " one
Kind has the barrier-crossing wall-climbing robot of wall surface conversion function "；Patent publication No. CN201710027462.6, entitled " one
Kind barrier-crossing wall-climbing robot "；Patent publication No. CN201520825743.2, entitled " a kind of novel combination type can corner
Climbing robot "；Patent publication No. CN201410253377.8, " a kind of negative-pressure adsorption-type of climbing robot is double for denomination of invention
Foot " requires working face for smooth surface, and adsorption capacity although the conversion walking between horizontal plane and vertical plane may be implemented
Degree is smaller, can not add cleaning system.
Summary of the invention
It is an object of the invention to for current existing automatic car washing machine, that there are structure volumes is larger, noise is big, clear
It is clear be not thorough, the problem of installation site is restricted, propose all to carry out in the structural volume of machine, noise and portable degree
A large amount of optimization, a kind of portable intelligent carwash robot not limited by time and space.
The purpose of the present invention is realized by following technical solution：
A kind of portable intelligent carwash robot includes three running gear, control system and cleaning system parts, walking
System is using polyaxial, two foots, sucker suction formula structure, including right horizontal control steering engine 1-1, right vertical control steering engine 1-2, a left side
Vertical control steering engine 1-3, left horizontal control steering engine 1-4, L-type support 3, sucker 4, metal steering wheel 5, one 6-1 of u-bracket, U-shaped branch
Two 6-2 of frame, three 6-3 of u-bracket, four 6-4 of u-bracket, one 7-1 of steering engine fixed frame, two 7-2 of steering engine fixed frame, steering engine fixed frame
Three 7-3, four 7-4 of steering engine fixed frame and sufficient side controller 2.Right horizontal control steering engine 1-1, left horizontal control steering engine 1-4 are responsible for
Robot all around moves, and right vertical control steering engine 1-2, left vertical control steering engine 1-3 are responsible for machine in moving process
The foot of device people lifts, and converts mobile function between horizontal plane and vertical plane to realize leaping over obstacles and realize.Robot body is by U
One 6-1 of type bracket, two 6-2 of u-bracket, three 6-3 of u-bracket, four 6-4 connection of u-bracket composition, right horizontal control steering engine 1-1,
Right vertical control steering engine 1-2, left vertical control steering engine 1-3, left horizontal control steering engine 1-4 are separately fixed at one 7- of steering engine fixed frame
1, two 7-2 of steering engine fixed frame, three 7-3 of steering engine fixed frame, on four 7-4 of steering engine fixed frame, by taking right horizontal control steering engine 1-1 as an example,
Steering engine can be rotated relative to one 6-1 of u-bracket.The sucker 4 of left and right ends and 2 part of sufficient side controller are separately fixed at
On one 7-1 of steering engine fixed frame, four 7-4 of steering engine fixed frame of end side.Gas chamber, air valve in sufficient side controller 2 is straight by snorkel
Lower section sucker 4 is connect in succession, realizes the control to 4 adsorption capacity of sucker；Sufficient side controller 2 is embedding by connecting line and control system
Enter formula chip to be attached, the devices data such as infrared distance sensor, gyroscope, air chamber pressure sensor, air valve switch are passed
It send to chip.Control system by embedded 32 chip STM32F103VET6, steering engine controller and each sensor connecting line
It constitutes, the data that each sensor reaches chip is handled, judge robot current state, transfer data to steering engine control
Device, and then control steering engine and realize movement.Cleaning system is by carwash sponge 11, cleaning liquor pipe 10, water inlet 9 and front and back artesian well
12 compositions, water inlet 9 are sprayed by cleaning liquor pipe 10 via front and back fountain head 12 by hose external water source, cleaning solution.It washes
Vehicle sponge 11 is separately fixed on the outside of machine both ends below four 6-4 of one 6-1 of u-bracket and u-bracket, plays in the process of walking
The effect in cleaning vehice face.
Working principle：The invention is based on the portable of each system coordination cooperation of STM32 embedded chip control robot
Formula intelligent automobile washer device people.Robot is adsorbed on surface of vehicle in a manner of sucker, is realized and is moved by the Machine Design of imitative sufficient formula
The leap of obstacle and the conversion movement of more interplanars in dynamic, while the control to robot each sensor and cleaning system, make machine
People can realize the cleaning function to surface of vehicle while surface of vehicle steadily moves.Portable intelligent carwash robot by
External lasting supply provides electric power and water source, itself does not carry the storages water storage component such as battery, water tank, alleviates the whole of robot
Body weight.
The beneficial effects of the present invention are：
It is big to being carried out in the structural volume of machine, noise, portable degree on the basis of guaranteeing high-efficiency washing car surface
Personal user's carwash whenever and wherever possible is realized in the optimization of amount；Using water jet carwash technology, energy conservation and environmental protection；Realize human-computer interaction, machine
Device man-hour realizes the intelligent carwash process of customization to automobile using the vehicle type structure data in database；Perfect automobile
Human oriented design will bring good economic benefit and social benefit after commercialization.
Car washing water is greatly saved in the use of portable intelligent carwash robot, avoids the waste to water resource, together
When, carwash is no longer limited by the field, and without going to special washing bay again, can be cleaned at home to vehicle, carwash
Become more convenient.It is crucial that portable intelligent carwash robot has the intelligence of height, the clear of full vehicle can be voluntarily completed
Work is washed, has saved a large amount of time for people.
Detailed description of the invention
Fig. 1 is portable intelligent carwash robot overall schematic；
Fig. 2 is portable intelligent carwash robot plane walking schematic diagram；
Fig. 3 is that portable intelligent carwash robot converts walking schematic diagram between horizontal plane and vertical plane；
Fig. 4 relational graph between each subsystem function of portable intelligent carwash robot and subsystem.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing：
As shown in Figure 1, 2, portable intelligent carwash robot, including right horizontal control steering engine 1-1, right vertical control steering engine
1-2, left vertical control steering engine 1-3, left horizontal control steering engine 1-4, L-type support 3, sucker 4, metal steering wheel 5, one 6- of u-bracket
1, two 6-2 of u-bracket, three 6-3 of u-bracket, four 6-4 of u-bracket, one 7-1 of steering engine fixed frame, two 7-2 of steering engine fixed frame, steering engine
Three 7-3 of fixed frame, four 7-4 of steering engine fixed frame and sufficient side controller 2, control system 8 and cleaning system, mesopodium side controller
It further include pneumatic unit, infrared ray range sensor, gyroscope in 2, control system 8 includes that steering engine control panel and STM32 are controlled
Plate (above-mentioned device encapsulation unlabeled in systems, does not mark in figure), cleaning system includes carwash sponge 11, front and back artesian well
12, cleaning liquor pipe 10 and water inlet 9.Relationship is as shown in Figure 4 between each subsystem function and subsystem.Since portable intelligent is washed
Vehicle robotic structure bilateral symmetry, is only illustrated by taking right side as an example herein.Right horizontal control steering engine 1-1 is pacified by bolt
On one 7-1 of steering engine fixed frame, right horizontal control steering engine 1-1 connects metal steering wheel 5, metal steering wheel 5 and U down through spline
One 6-1 of type bracket is bolted, allow right horizontal control steering engine 1-1 using upper and lower 5 place circle center line connecting of metal steering wheel as axis into
Row rotation.Right vertical control steering engine 1-2 is fixed on two 7-2 of steering engine fixed frame in a manner of same as right horizontal control steering engine 1-1
On, then it is connect with two 6-2 of u-bracket.Sufficient side controller 2 is mounted in L-type support 3 by flat key connection, sufficient side controller 2
In pneumatic unit be connected with the sucker 4 for being fixed on the lower section of L-type support 3 by conduit, and L-type support 3 is with flat key connection type
It is fixed on one 7-1 of steering engine fixed frame；One 6-1 of u-bracket is connected with ipsilateral two 7-2 of steering engine fixed frame.U-bracket two 6-2 and U
It is symmetrically fixed between three 6-3 of type bracket by bolt.The sensors such as infrared distance sensor, gyroscope in sufficient side controller 2 with
It is connected between the STM32 control panel of control system and between steering engine control panel and STM32 control panel by conducting wire；Control system
8 are fixed on two 6-2 of u-bracket and three 6-3 of u-bracket.The carwash sponge 11 of cleaning system is separately fixed at u-bracket one
Below four 6-4 of 6-1 and u-bracket, front and back artesian well 12 is fixed on two 6-2 of u-bracket and U-shaped branch respectively with flat key connection type
The outer surface of three 6-3 of frame is connected by cleaning liquor pipe 10 between front and back artesian well 12.
The front and back of portable intelligent carwash robot is walked in comparatively flat surface of vehicle, is first moved with left foot
For, as shown in Fig. 2, the sufficient side controller 2 of left end can make corresponding sucker 4 by the control to pneumatic unit, decontrol to vehicle
The absorption on surface, the vertical part steering engine 1-3 that controls work, and make to control steering engine 1-3 vertically and rotate clockwise an angle, reach
The purpose that left foot is lifted, then right horizontal control steering engine 1-1 rotates an angle, make left foot move forwards or backwards one section away from
From after reaching pre-determined distance, the vertical steering engine 1-3 that controls is rotated counterclockwise, and so that left end sucker is adsorbed on surface of vehicle, is reached
The purpose fixed to absorption.Mode is similar to left foot, and work steering engine is opposite side steering engine for right sufficient moving forward and backward.
When portable intelligent carwash robot needs to realize that in walking, conversion is mobile between horizontal plane and vertical plane, with left foot
For first moving, as when the walking of front and back, first left foot is lifted, right horizontal control steering engine 1-1 rotates 90 degree, then vertical control
Steering engine 1-2 processed rotates counterclockwise a biggish angle, the surface of vehicle for alloing left end sucker to be adsorbed on and work as front vertical
On, and then fixation is adsorbed, then right foot lifts, and the vertical steering engine 1-3 that controls is rotated clockwise, while horizontal control steering engine 1-4
Rotation makes left and right foot in same plane, and right end sucker 4 can be adsorbed on surface of vehicle, and absorption is fixed, and reaches surface-to-surface conversion
Mobile purpose.
Specific embodiment two：
A kind of portable intelligent carwash robot, including it is right horizontal control steering engine 1-1, right vertical control steering engine 1-2, left perpendicular
Straight control steering engine 1-3, left horizontal control steering engine 1-4, L-type support 3, sucker 4, metal steering wheel 5, one 6-1 of u-bracket, u-bracket
Two 6-2, three 6-3 of u-bracket, four 6-4 of u-bracket, one 7-1 of steering engine fixed frame, two 7-2 of steering engine fixed frame, steering engine fixed frame three
7-3, four 7-4 of steering engine fixed frame and sufficient side controller 2, control system 8 and cleaning system；It is also wrapped in its mesopodium side controller 2
Include pneumatic unit, infrared ray range sensor, gyroscope；Control system 8 includes steering engine control panel and STM32 control panel；Cleaning
System includes carwash sponge 11, front and back artesian well 12, cleaning liquor pipe 10 and water inlet 9；
Robot body is by one 6-1 of u-bracket, two 6-2 of u-bracket, three 6-3 of u-bracket, four 6-4 connection group of u-bracket
At right horizontal control steering engine 1-1, right vertical control steering engine 1-2, left vertical control steering engine 1-3, left steering engine 1-4 points of horizontal control
Be not fixed on one 7-1 of steering engine fixed frame, two 7-2 of steering engine fixed frame, three 7-3 of steering engine fixed frame, on four 7-4 of steering engine fixed frame；It is left
The sucker 4 at right both ends and 2 part of sufficient side controller are separately fixed at one 7-1 of steering engine fixed frame of end side, four 7-4 of steering engine fixed frame
On, the pneumatic unit in sufficient side controller 2 is directly connected to lower section sucker 4 by snorkel；Sufficient side controller 2 by connecting line with
The STM32 control panel of control system is attached.
Right horizontal control steering engine 1-1 is mounted on one 7-1 of steering engine fixed frame by bolt, on right horizontal control steering engine 1-1
Metal steering wheel 5 is connected by spline down, metal steering wheel 5 is bolted with one 6-1 of u-bracket, it is right control vertically steering engine 1-2 with
The right horizontal same mode of steering engine 1-1 that controls is fixed on two 7-2 of steering engine fixed frame, is connect with two 6-2 of u-bracket.
Sufficient side controller 2 is mounted in L-type support 3 by flat key connection, the pneumatic unit and fixation in sufficient side controller 2
Sucker 4 below L-type support 3 is connected by conduit, and L-type support 3 is fixed on steering engine fixed frame one with flat key connection type
On 7-1；One 6-1 of u-bracket is connected with ipsilateral two 7-2 of steering engine fixed frame, passes through between three 6-3 of two 6-2 of u-bracket and u-bracket
Bolt is symmetrically fixed, and control system 8 is fixed on two 6-2 of u-bracket and three 6-3 of u-bracket.
The carwash sponge 11 of cleaning system is separately fixed at below four 6-4 of one 6-1 of u-bracket and u-bracket, front and back water spray
Piece 12 is fixed on the outer surface of two 6-2 of u-bracket Yu three 6-3 of u-bracket, front and back artesian well 12 respectively with flat key connection type
Between connected by cleaning liquor pipe 10.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of portable intelligent carwash robot, which is characterized in that including right horizontal control steering engine (1-1), right vertical control
Steering engine (1-2), left vertical control steering engine (1-3), left horizontal control steering engine (1-4), L-type support (3), sucker (4), metal steering wheel
(5), u-bracket one (6-1), u-bracket two (6-2), u-bracket three (6-3), u-bracket four (6-4), steering engine fixed frame one
(7-1), steering engine fixed frame two (7-2), steering engine fixed frame three (7-3), steering engine fixed frame four (7-4) and sufficient side controller (2),
Control system (8) and cleaning system；It further include pneumatic unit, infrared ray range sensor, gyro in its mesopodium side controller (2)
Instrument；Control system (8) includes steering engine control panel and STM32 control panel；Cleaning system includes carwash sponge (11), front and back artesian well
(12), cleaning liquor pipe (10) and water inlet (9)；
Robot body is connected by u-bracket one (6-1), u-bracket two (6-2), u-bracket three (6-3), u-bracket four (6-4)
Connect composition, right horizontal control steering engine (1-1), right vertical control steering engine (1-2), left vertical control steering engine (1-3), left horizontal control
Steering engine (1-4) is separately fixed at steering engine fixed frame one (7-1), steering engine fixed frame two (7-2), steering engine fixed frame three (7-3), steering engine
On fixed frame four (7-4)；The steering engine that the sucker (4) of left and right ends and sufficient side controller (2) are partially separately fixed at end side is fixed
On frame one (7-1), steering engine fixed frame four (7-4), the pneumatic unit in sufficient side controller (2) is directly connected to lower section by snorkel
Sucker (4)；Sufficient side controller (2) is attached by the STM32 control panel of connecting line and control system.
2. a kind of portable intelligent carwash robot according to claim 1, which is characterized in that right horizontal control steering engine
(1-1) is mounted on steering engine fixed frame one (7-1) by bolt, and right horizontal control steering engine (1-1) connects gold down through spline
Belong to steering wheel (5), metal steering wheel (5) is bolted with u-bracket one (6-1), and right vertical control steering engine (1-2) with right level to control
The same mode of steering engine (1-1) processed is fixed on steering engine fixed frame two (7-2), is connect with u-bracket two (6-2).
3. a kind of portable intelligent carwash robot according to claim 1, which is characterized in that sufficient side controller (2) is logical
It crosses flat key connection to be mounted on L-type support (3), the pneumatic unit in sufficient side controller (2) and be fixed below L-type support (3)
Sucker (4) be connected by conduit, and L-type support (3) is fixed on steering engine fixed frame one (7-1) with flat key connection type；It is U-shaped
Bracket one (6-1) is connected with ipsilateral steering engine fixed frame two (7-2), passes through spiral shell between u-bracket two (6-2) and u-bracket three (6-3)
Bolt is symmetrically fixed, and control system (8) is fixed on u-bracket two (6-2) and u-bracket three (6-3).
4. a kind of portable intelligent carwash robot according to claim 1, which is characterized in that the carwash sea of cleaning system
Continuous (11) are separately fixed at below u-bracket one (6-1) and u-bracket four (6-4), and front and back artesian well (12) is connected respectively with flat key
The mode of connecing is fixed on the outer surface of u-bracket two (6-2) Yu u-bracket three (6-3), passes through between front and back artesian well (12) clear
Washing lotion conduit (10) connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810630467.2A CN108891387B (en) | 2018-06-19 | 2018-06-19 | Portable intelligent car washing robot |
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|---|---|---|---|
| CN201810630467.2A CN108891387B (en) | 2018-06-19 | 2018-06-19 | Portable intelligent car washing robot |
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| CN108891387A true CN108891387A (en) | 2018-11-27 |
| CN108891387B CN108891387B (en) | 2021-07-13 |
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| CN112918583A (en) * | 2021-03-05 | 2021-06-08 | 华南理工大学 | Pipeline inner wall four-foot wall-climbing robot and kinematics analysis method thereof |
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