CN108891387B - Portable intelligent car washing robot - Google Patents
Portable intelligent car washing robot Download PDFInfo
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- CN108891387B CN108891387B CN201810630467.2A CN201810630467A CN108891387B CN 108891387 B CN108891387 B CN 108891387B CN 201810630467 A CN201810630467 A CN 201810630467A CN 108891387 B CN108891387 B CN 108891387B
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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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Abstract
The invention discloses a portable intelligent car washing robot, and belongs to the technical field of intelligent robots. The robot main body is formed by connecting four U-shaped supports, each steering engine is respectively fixed on a steering engine fixing frame, and an air chamber and an air valve in the foot end controller are directly connected with a lower sucker through an air pipe so as to control the adsorption capacity of the sucker; the foot end controller is connected with an embedded chip of the control system through a connecting wire, and transmits data of the infrared distance sensor, the gyroscope, the air chamber pressure sensor, the air valve switch and other devices to the chip. Aiming at the problems of large structure volume, large noise, incomplete clearness and limited installation position of the conventional automatic car washer, a portable intelligent car washing robot is developed, and the intelligent car washing process is realized for the car by utilizing the structural data of various car types in a database when the robot runs. Meanwhile, the vehicle cleaning device is not limited by time and space, and the vehicle can be cleaned at any time and any place.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a portable intelligent car washing robot.
Background
In the face of the increasing number of private cars each year, the cleaning industry of the private cars attracts more and more attention. At present, car washing equipment and technologies are numerous at home and abroad, but the car washing technology really popularized in a large range only comprises car washing by a high-pressure water gun and computer car washing in developed cities. The high-pressure water gun is used for washing the car by matching car washing liquid with the high-pressure water gun, 60 liters of water is needed for washing one car on average, water resources are wasted seriously, and the computer car washer which is relatively water-saving can be used for washing with more efficient water, but the cost of car washing equipment is too high, hundreds of thousands to millions of cars are frequently used, and the car washing equipment needs to be washed in a professional car washing place, so that certain requirements on the car washing place are met, and the family use of the car washing is difficult to realize. For the waterless car washing in the market, a special cleaning formula is adopted, water is not used during the car washing, but the waterless car washing machine is mainly suitable for the car with a cleaner paint surface, and the cleaning effect on the dirty car is not good.
In recent years, intelligent robots in industries, businesses, families and other aspects provide convenience for people by the characteristics of intelligence, human-computer interaction, high working efficiency and the like. Therefore, the intelligent robot is used or not in consideration of the current situation of the car washing industry, so that the purpose of washing the car is achieved in the process that the robot moves on the surface of the car, water can be saved, car washing is not limited by places due to the small size and the portability, and the family car washing is achieved.
Considering that there is no portable intelligent car washing robot for washing car at present, the present invention will be divided into three parts, namely, a walking system, a cleaning system and a control system. For a walking system, according to the characteristics of irregular surfaces and vehicle paint of vehicles, the intelligent vehicle washing robot needs to be light in weight, portable, high in obstacle crossing capability in the walking process and capable of moving between a horizontal plane and a vertical plane. The existing intelligent wall-climbing robot is mainly classified into a negative pressure adsorption type, a sucker adsorption type and a magnet adsorption type according to adsorption types, and the action mode is mainly classified into a crawler type, a roller type, a two-foot type and a multi-foot type. For cleaning the surface of an automobile, a non-magnetic substance exists on the surface of the automobile, so that the automobile cannot be adsorbed by a magnet, and the magnetic adsorption force is difficult to control; because the surface of the vehicle is irregular, grooves and bulges exist, the negative pressure type adsorption with larger adsorption area is difficult to adapt to the surface condition of the vehicle, and the crawler type and roller type running modes realize the function of crossing the irregular plane on the basis of ensuring the adsorption force; for the two-foot type and multi-foot type walking modes, although the strong adsorption force and certain obstacle crossing function can be considered, the switching action between the horizontal plane and the vertical plane cannot be realized. In order to solve the problem of a vehicle surface walking system, from the practical point of view, a multi-axial walking system is considered to meet the requirement of the vehicle surface condition on a robot walking system.
In the aspect of an intelligent car washing robot, the patent publication No. CN201720717934.6 is named as a mobile automatic car washing robot based on image recognition, is a floor type machine, is too large in size, is not easy to carry, and has higher requirements on the flatness of a used ground; the invention discloses an intelligent car washing robot with a patent publication number of CN201720216046.6, which needs to support a machine by a car surface and cannot wash vertical surfaces such as the side surface of the car body; patent publication No. CN201510094805.1 entitled "a novel household robot for wiping glass and vehicle", can realize obstacles with a size far smaller than that of a machine, such as a crossing frame, but is difficult to cross obstacles at a large position on a vehicle body, such as front and rear windshields. The walking system of the intelligent car washing robot is the key of the innovation of the invention, and is more suitable for walking on the surface of the car, so that the car body can be cleaned. For patent publication number cn201710819695.x, the invention name is "a pneumatic wall climbing robot"; the invention discloses a pneumatic wall climbing robot with the patent publication number CN 201410271496.6; patent publication No. CN201710583962.8 entitled "three-legged wall-climbing robot"; the invention discloses a vibration adsorption type underwater four-foot wall-climbing robot with a patent publication number of CN 201710276950.0; the invention discloses a wall-climbing robot with the patent publication number CN 201710803212.7; the invention discloses a wall-climbing robot with the patent publication number CN 201720344517.1; the invention is named as an intelligent wall-climbing robot under the patent publication number CN 201620799423.9; the invention is a wall-climbing robot which can freely turn around, and is provided with a patent publication number CN 201620388610.8; the invention is a double-foot wall-climbing robot with the patent publication number of CN 201610345764.3; patent publication No. CN201510740149.8 entitled "walking type pneumatic wall climbing robot"; the invention discloses a double-foot adsorption type wall climbing robot with a patent publication number CN201310747791. X; the invention is a two-foot type wall-climbing cleaning robot with the patent publication number of CN 201310408397.3; patent publication number cn201320405041.x entitled "wall climbing robot"; patent publication No. CN201120241153.7 entitled "suction disc type pneumatic wall climbing robot"; patent publication No. cn201120241045.x, entitled "connecting rod sucker type wall-climbing robot", relates to an intelligent robot using a sucker to perform surface adsorption walking, but is all suitable for walking on a single plane, cannot realize switching walking between a horizontal plane and a vertical plane, and cannot realize walking on a whole vehicle surface. For patent publication number CN201710076556.2, the invention is named as "an obstacle-surmounting and wall-climbing robot with wall surface conversion function"; the invention discloses a patent publication No. CN201710027462.6, entitled "an obstacle-surmounting wall-climbing robot"; the invention discloses a novel combined type wall climbing robot with a rotatable angle, which is a patent publication number CN 201520825743.2; patent publication No. CN201410253377.8, entitled "negative pressure adsorption type biped of wall-climbing robot", although the conversion walking between horizontal plane and vertical plane can be realized, the working plane is required to be a smooth surface, and the adsorption force is small, and a cleaning system cannot be attached.
Disclosure of Invention
The invention aims to solve the problems that the existing automatic car washer has large structural body size, high noise, incomplete clearness and limited installation position, and provides a portable intelligent car washer robot which is greatly optimized in structural size, noise and portability and is not limited by time and space.
The purpose of the invention is realized by the following technical scheme:
a portable intelligent car washing robot comprises a walking system, a control system and a cleaning system, wherein the walking system is of a multi-axial, two-foot and sucker adsorption type structure and comprises a right horizontal control steering engine 1-1, a right vertical control steering engine 1-2, a left vertical control steering engine 1-3, a left horizontal control steering engine 1-4, an L-shaped support 3, a sucker 4, a metal steering wheel 5, a U-shaped support I6-1, a U-shaped support II 6-2, a U-shaped support III 6-3, a U-shaped support IV 6-4, a steering engine fixing frame I7-1, a steering engine fixing frame II 7-2, a steering engine fixing frame III 7-3, a steering engine fixing frame IV 7-4 and a foot end controller 2. The right horizontal control steering engine 1-1 and the left horizontal control steering engine 1-4 are responsible for the front-back and left-right movement of the robot, and the right vertical control steering engine 1-2 and the left vertical control steering engine 1-3 are responsible for lifting the feet of the robot in the movement process so as to realize the functions of crossing obstacles and realizing the conversion movement between a horizontal plane and a vertical plane. The robot main body is formed by connecting a U-shaped support I6-1, a U-shaped support II 6-2, a U-shaped support III 6-3 and a U-shaped support IV 6-4, a right horizontal control steering engine 1-1, a right vertical control steering engine 1-2, a left vertical control steering engine 1-3 and a left horizontal control steering engine 1-4 are respectively fixed on a steering engine fixing frame I7-1, a steering engine fixing frame II 7-2, a steering engine fixing frame III 7-3 and a steering engine fixing frame IV 7-4, and taking the right horizontal control steering engine 1-1 as an example, the steering engine can rotate relative to the U-shaped support I6-1. The sucking discs 4 at the left end and the right end and the foot end controller 2 are respectively fixed on the steering engine fixing frame I7-1 and the steering engine fixing frame IV 7-4 at the end sides. The air chamber and the air valve in the foot end controller 2 are directly connected with the lower sucker 4 through the vent pipe, so that the adsorption capacity of the sucker 4 is controlled; the foot end controller 2 is connected with an embedded chip of the control system through a connecting wire, and transmits data of the infrared distance sensor, the gyroscope, the air chamber pressure sensor, the air valve switch and other devices to the chip. The control system comprises embedded 32-bit chip STM32F103VET6, steering engine controller and the connecting wire of each sensor, processes the data that each sensor passed to the chip, judges the present state of robot, transmits data to steering engine controller, and then control the steering engine and realize removing. The cleaning system consists of a vehicle washing sponge 11, a cleaning liquid conduit 10, a water inlet 9 and front and rear water spraying sheets 12, wherein the water inlet 9 is externally connected with a water source through a hose, and the cleaning liquid passes through the cleaning liquid conduit 10 and is sprayed out through the front and rear water spraying heads 12. The car washing sponge 11 is respectively fixed below the first U-shaped support 6-1 and the fourth U-shaped support 6-4 on the outer sides of the two ends of the machine and plays a role in scrubbing the car surface in the walking process.
The working principle is as follows: the invention relates to a portable intelligent car washing robot based on the coordination of STM32 embedded chip control robot systems. The robot is adsorbed on the surface of a vehicle in a sucking disc mode, obstacle crossing and multi-plane switching movement in the movement are realized through foot-imitating mechanical design, and meanwhile, the robot can stably move on the surface of the vehicle and simultaneously realize the function of cleaning the surface of the vehicle by controlling various sensors and a cleaning system of the robot. Portable intelligent carwash robot provides electric power and water source by the outside continuous supply, and self does not carry storage water storage parts such as battery, water tank, has alleviateed the whole weight of robot.
The invention has the beneficial effects that:
on the basis of ensuring the efficient cleaning of the surface of the automobile, the structure volume, the noise and the portability of the machine are greatly optimized, so that the automobile washing of individual users at any time and any place is realized; the water jet car washing technology is adopted, so that the energy is saved and the environment is protected; the man-machine interaction is realized, and the robot utilizes the model structure data in the database to realize the customized intelligent car washing process for the car during the operation; the humanized design of the automobile is perfected, and good economic benefit and social benefit are certainly brought after the automobile is commercialized.
The use of portable intelligent carwash robot has saved the carwash water greatly, has avoided the waste to the water resource, and simultaneously, the carwash no longer receives the restriction in place, need not go special carwash again, just can wash the vehicle at home, and the carwash becomes more convenient. Most importantly, the portable intelligent car washing robot has high intelligence, can automatically complete the washing work of the whole car, and saves a large amount of time for people.
Drawings
FIG. 1 is an overall schematic view of a portable intelligent vehicle washing robot;
FIG. 2 is a schematic plane walking diagram of the portable intelligent car washing robot;
FIG. 3 is a schematic view of the portable intelligent car washing robot walking in a transition between a horizontal plane and a vertical plane;
fig. 4 is a diagram of functions of subsystems and relationships among subsystems of the portable intelligent vehicle washing robot.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
as shown in fig. 1 and 2, the portable intelligent car washing robot comprises a right horizontal control steering engine 1-1, a right vertical control steering engine 1-2, a left vertical control steering engine 1-3, a left horizontal control steering engine 1-4, an L-shaped support 3, a sucker 4, a metal steering wheel 5, a U-shaped support I6-1, a U-shaped support II 6-2, a U-shaped support III 6-3, a U-shaped support IV 6-4, a steering engine fixing frame I7-1, a steering engine fixing frame II 7-2, a steering engine fixing frame III 7-3, a steering engine fixing frame IV 7-4, a foot end controller 2, a control system 8 and a cleaning system, wherein the foot end controller 2 further comprises a pneumatic unit, an infrared distance sensor and a gyroscope, the control system 8 comprises a control panel and an STM32 control panel (the devices which are not labeled are packaged in the system, not shown in the figure), the cleaning system comprises a vehicle washing sponge 11, front and rear water spraying sheets 12, a cleaning liquid conduit 10 and a water inlet 9. The functions of the subsystems and the relationships between the subsystems are shown in fig. 4. Since the mechanical structure of the portable intelligent car washing robot is symmetrical left and right, only the right side is taken as an example for description. The right horizontal control steering engine 1-1 is installed on a first steering engine fixing frame 7-1 through bolts, the upper portion and the lower portion of the right horizontal control steering engine 1-1 are connected with a metal steering wheel 5 through splines, and the metal steering wheel 5 is connected with a first U-shaped support 6-1 through bolts, so that the right horizontal control steering engine 1-1 can rotate by taking a line of circle centers of the upper metal steering wheel 5 and the lower metal steering wheel 5 as a shaft. The right vertical control steering engine 1-2 is fixed on a steering engine fixing frame II 7-2 in the same way as the right horizontal control steering engine 1-1 and then is connected with a U-shaped support II 6-2. The foot end controller 2 is connected and installed on the L-shaped support 3 through a flat key, a pneumatic unit in the foot end controller 2 is connected with a sucker 4 fixed below the L-shaped support 3 through a guide pipe, and the L-shaped support 3 is fixed on a steering engine fixing frame I7-1 in a flat key connection mode; the U-shaped bracket I6-1 is connected with the steering engine fixing frame II 7-2 on the same side. The U-shaped support II 6-2 and the U-shaped support III 6-3 are symmetrically fixed through bolts. The infrared distance sensor, the gyroscope and other sensors in the foot end controller 2 are connected with the STM32 control panel of the control system and the steering engine control panel is connected with the STM32 control panel through leads; the control system 8 is fixed on the U-shaped bracket II 6-2 and the U-shaped bracket III 6-3. The car washing sponge 11 of the cleaning system is respectively fixed below the first U-shaped support 6-1 and the fourth U-shaped support 6-4, the front water spraying piece and the rear water spraying piece 12 are respectively fixed on the outer side surfaces of the second U-shaped support 6-2 and the third U-shaped support 6-3 in a flat key connection mode, and the front water spraying piece and the rear water spraying piece 12 are connected through the cleaning liquid guide pipe 10.
When the portable intelligent car washing robot walks on a relatively flat vehicle surface in front and at the back, taking the first motion of the left foot as an example, as shown in fig. 2, the foot end controller 2 at the left end can control the corresponding sucker 4 to release the adsorption on the vehicle surface through the control of the pneumatic unit, the vertical control steering engine 1-3 works to enable the vertical control steering engine 1-3 to rotate clockwise for an angle to achieve the purpose of lifting the left foot, then the right horizontal control steering engine 1-1 rotates for an angle to enable the left foot to move forwards or backwards for a certain distance, and after the preset distance is reached, the vertical control steering engine 1-3 rotates anticlockwise to enable the left end sucker to be adsorbed on the vehicle surface to achieve the purpose of adsorption and fixation. The front and back movement mode of the right foot is similar to that of the left foot, and the working steering engine is an opposite-side steering engine.
When the portable intelligent car washing robot needs to realize conversion and movement between a horizontal plane and a vertical plane in walking, taking the first movement of a left foot as an example, like walking in front and back, the left foot is lifted first, the steering engine is controlled to rotate by 90 degrees horizontally at right side 1-1, then the steering engine is controlled to rotate by a larger angle anticlockwise at vertical side 1-2, so that a left-end sucker can be adsorbed on the surface of a vehicle perpendicular to the current plane, and then the left foot is adsorbed and fixed, then the right foot is lifted, the steering engine is controlled to rotate clockwise by vertical side 1-3, and meanwhile, the steering engine is controlled to rotate horizontally 1-4, so that the left foot and the right foot are positioned on the same plane, and a right-end sucker 4 can be adsorbed on the surface of.
The second embodiment is as follows:
a portable intelligent car washing robot comprises a right horizontal control steering engine 1-1, a right vertical control steering engine 1-2, a left vertical control steering engine 1-3, a left horizontal control steering engine 1-4, an L-shaped support 3, a sucker 4, a metal steering wheel 5, a U-shaped support I6-1, a U-shaped support II 6-2, a U-shaped support III 6-3, a U-shaped support IV 6-4, a steering engine fixing frame I7-1, a steering engine fixing frame II 7-2, a steering engine fixing frame III 7-3, a steering engine fixing frame IV 7-4, a foot end controller 2, a control system 8 and a cleaning system; the foot end controller 2 further comprises a pneumatic unit, an infrared distance sensor and a gyroscope; the control system 8 comprises a steering engine control plate and an STM32 control plate; the cleaning system comprises a vehicle washing sponge 11, front and rear water spraying sheets 12, a cleaning liquid conduit 10 and a water inlet 9;
the robot main body is formed by connecting a U-shaped support I6-1, a U-shaped support II 6-2, a U-shaped support III 6-3 and a U-shaped support IV 6-4, and a right horizontal control steering engine 1-1, a right vertical control steering engine 1-2, a left vertical control steering engine 1-3 and a left horizontal control steering engine 1-4 are respectively fixed on a steering engine fixing frame I7-1, a steering engine fixing frame II 7-2, a steering engine fixing frame III 7-3 and a steering engine fixing frame IV 7-4; the sucking discs 4 and the foot end controller 2 at the left end and the right end are respectively fixed on a first steering engine fixing frame 7-1 and a fourth steering engine fixing frame 7-4 at the end sides, and a pneumatic unit in the foot end controller 2 is directly connected with the sucking disc 4 below through a vent pipe; the foot end controller 2 is connected with an STM32 control board of the control system through a connecting wire.
The right horizontal control steering engine 1-1 is installed on a first steering engine fixing frame 7-1 through bolts, the upper portion and the lower portion of the right horizontal control steering engine 1-1 are connected with a metal steering wheel 5 through splines, the metal steering wheel 5 is connected with a first U-shaped support 6-1 through bolts, and the right vertical control steering engine 1-2 is fixed on a second steering engine fixing frame 7-2 in the same mode as the right horizontal control steering engine 1-1 and is connected with a second U-shaped support 6-2.
The foot end controller 2 is connected and installed on the L-shaped support 3 through a flat key, a pneumatic unit in the foot end controller 2 is connected with a sucker 4 fixed below the L-shaped support 3 through a guide pipe, and the L-shaped support 3 is fixed on a steering engine fixing frame I7-1 in a flat key connection mode; the U-shaped support I6-1 is connected with the steering engine fixing frame II 7-2 on the same side, the U-shaped support II 6-2 and the U-shaped support III 6-3 are symmetrically fixed through bolts, and the control system 8 is fixed on the U-shaped support II 6-2 and the U-shaped support III 6-3.
The car washing sponge 11 of the cleaning system is respectively fixed below the first U-shaped support 6-1 and the fourth U-shaped support 6-4, the front water spraying piece and the rear water spraying piece 12 are respectively fixed on the outer side surfaces of the second U-shaped support 6-2 and the third U-shaped support 6-3 in a flat key connection mode, and the front water spraying piece and the rear water spraying piece 12 are connected through the cleaning liquid guide pipe 10.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A portable intelligent car washing robot is characterized by comprising a right horizontal control steering engine (1-1), a right vertical control steering engine (1-2), a left vertical control steering engine (1-3), a left horizontal control steering engine (1-4), an L-shaped support (3), a sucker (4), a metal steering wheel (5), a U-shaped support I (6-1), a U-shaped support II (6-2), a U-shaped support III (6-3), a U-shaped support IV (6-4), a steering engine fixing frame I (7-1), a steering engine fixing frame II (7-2), a steering engine fixing frame III (7-3), a steering engine fixing frame IV (7-4), a foot end controller (2), a control system (8) and a cleaning system; wherein the foot end controller (2) also comprises a pneumatic unit, an infrared distance sensor and a gyroscope; the control system (8) comprises a steering engine control plate and an STM32 control plate; the cleaning system comprises a vehicle cleaning sponge (11), front and rear water spraying sheets (12), a cleaning liquid guide pipe (10) and a water inlet (9);
the robot main body is formed by connecting a U-shaped support I (6-1), a U-shaped support II (6-2), a U-shaped support III (6-3) and a U-shaped support IV (6-4), and a right horizontal control steering engine (1-1), a right vertical control steering engine (1-2), a left vertical control steering engine (1-3) and a left horizontal control steering engine (1-4) are respectively fixed on a steering engine fixing frame I (7-1), a steering engine fixing frame II (7-2), a steering engine fixing frame III (7-3) and a steering engine fixing frame IV (7-4); the sucking discs (4) at the left end and the right end and the foot end controller (2) are respectively fixed on a first steering engine fixing frame (7-1) and a fourth steering engine fixing frame (7-4) at the end sides, and a pneumatic unit in the foot end controller (2) is directly connected with the sucking disc (4) below through a vent pipe; the foot end controller (2) is connected with an STM32 control panel of the control system through a connecting wire;
the right horizontal control steering engine (1-1) is installed on a steering engine fixing frame I (7-1) through a bolt, the right horizontal control steering engine (1-1) is connected with a metal steering wheel (5) through a spline in an up-and-down mode, the metal steering wheel (5) is connected with a U-shaped support I (6-1) through a bolt, and the right vertical control steering engine (1-2) is fixed on a steering engine fixing frame II (7-2) in the same mode as the right horizontal control steering engine (1-1) and is connected with the U-shaped support II (6-2);
the foot end controller (2) is connected and installed on the L-shaped support (3) through a flat key, a pneumatic unit in the foot end controller (2) is connected with a sucker (4) fixed below the L-shaped support (3) through a conduit, and the L-shaped support (3) is fixed on a first steering engine fixing frame (7-1) in a flat key connection mode; the U-shaped support I (6-1) is connected with the steering engine fixing frame II (7-2) on the same side, the U-shaped support II (6-2) and the U-shaped support III (6-3) are symmetrically fixed through bolts, and the control system (8) is fixed on the U-shaped support II (6-2) and the U-shaped support III (6-3);
a car washing sponge (11) of the cleaning system is respectively fixed below a first U-shaped support (6-1) and a fourth U-shaped support (6-4), front and rear water spraying pieces (12) are respectively fixed on the outer side surfaces of the second U-shaped support (6-2) and the third U-shaped support (6-3) in a flat key connection mode, and the front and rear water spraying pieces (12) are connected through a cleaning liquid guide pipe (10).
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| CN201810630467.2A CN108891387B (en) | 2018-06-19 | 2018-06-19 | Portable intelligent car washing robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109278716A (en) * | 2018-10-16 | 2019-01-29 | 李竞 | A kind of intelligent automobile washer device people |
| CN109466517B (en) * | 2018-11-28 | 2022-04-12 | 泉州众联青创科技有限公司 | Intelligent movement washing equipment |
| 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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