CN109381133A - A kind of glass-wall cleaning robot - Google Patents
A kind of glass-wall cleaning robot Download PDFInfo
- Publication number
- CN109381133A CN109381133A CN201811193118.5A CN201811193118A CN109381133A CN 109381133 A CN109381133 A CN 109381133A CN 201811193118 A CN201811193118 A CN 201811193118A CN 109381133 A CN109381133 A CN 109381133A
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- China
- Prior art keywords
- motor
- glass
- cleaning robot
- walking
- wall cleaning
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- 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.)
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Classifications
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- 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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
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- 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
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of glass-wall cleaning robots, including platform of walking, clearer, runing rest, the walking platform bottom four corners are provided with first motor, traveling wheel is provided with above the first motor, protective cover is provided among the walking platform, support plate is provided in the protective cover, microprocessor is provided with above the support plate, gyroscope is provided on rear side of the microprocessor, wireless transceiver is provided on rear side of the gyroscope, lithium battery is provided below in the support plate, the clearer is provided with below the lithium battery, support shaft is provided in the clearer.Beneficial effect is: the present invention resists gravity using rotary fan exhaust, walking platform is pressed in curtain wall surface, guarantee to walk along curtain wall surface, curtain wall surface is cleaned while walking mobile using the clearer of rotation simultaneously, efficiency is improved, saves manpower, and control using radio connection transmission, it ensure that remote control, increase clean flexibility.
Description
Technical field
The present invention relates to curtain wall cleaning applications, more particularly to a kind of glass-wall cleaning robot.
Background technique
With the quick raising of the raising of modern civilization, rapid development of economy and people's living standard, more and more
High buildings and large mansions with curtain wall are rised sheer from level ground, it is followed by that the rise of curtain cleaning industry.All high-rises
Curtain wall, due to long-term solarization and expose to wind and rain and atmosphere in harmful gas and oil smoke etc. pollution and chemical reaction erosion,
So that constructure screen wall produces dirt and weathering, the beautiful and appearance of the city of building has not only been affected, but also has damaged building.Cause
This, needs periodically to clean the curtain wall of building.
Application No. is the Chinese patents of 201611143609.X for comparison, disclose a kind of glass of building curtain cleaning spider
Robot, including horizontal mobile device, swab, lifting device, guiding are close to device.The horizontal mobile device setting exists
The top of building, lifting device are connected between horizontal mobile device and swab, and swab is close to dress by guiding
It sets and walks along glass curtain wall.
Above-mentioned patent is since robot is fettered by wirerope, so must advance along track, reduces curtain wall cleaning machine
The flexibility of people.Therefore a kind of new equipment is designed, the present invention resists gravity using rotary fan exhaust, and walking platform is pressed in
Curtain wall surface guarantees to walk along curtain wall surface, while cleaning curtain wall surface while walking mobile using the clearer of rotation,
Efficiency is improved, manpower is saved, and control using radio connection transmission, ensure that remote control, increase clean
Flexibility.
Summary of the invention
The object of the invention is that providing a kind of glass-wall cleaning robot to solve the above-mentioned problems, the present invention is improved
The flexibility of glass-wall cleaning robot.
The present invention through the following technical solutions to achieve the above objectives:
A kind of glass-wall cleaning robot, including walking platform, clearer, runing rest, the walking platform bottom four corners setting
There is a first motor, the first motor model Z4-65 type is provided with traveling wheel, the walking platform above the first motor
Centre is provided with protective cover, and support plate is provided in the protective cover, and microprocessor is provided with above the support plate, described micro-
Processor model is 586 types, is provided with gyroscope, the gyroscope model DFG-2000 type, institute on rear side of the microprocessor
It states and is provided with wireless transceiver, the wireless transceiver model DMX512 type, the support plate following settings on rear side of gyroscope
There is a lithium battery, be provided with the clearer below the lithium battery, be provided with support shaft in the clearer, after the clearer
Side is provided with the second motor, and second motor model is Z4-65 type, and the protective cover two sides are provided with the runing rest,
Third motor is provided with before the runing rest, the third motor model is Z4-25 type, is arranged above the runing rest
There is the 4th motor, the 4th motor model is Z4-45 type, is provided with rotary fan, the walking above the 4th motor
Platform side is provided with preceding camera, and the separate preceding camera side is provided with rear camera on the walking platform.
Further setting: the first motor and the walking platform use are bolted, the first motor and the row
Wheel is walked to connect using spline.
So set, being bolted the maintenance first motor easy to disassemble, spline connection ensure that the first motor
The rotation of traveling wheel described in smooth drive.
Further setting: the protective cover and the walking platform use are bolted, the support plate and the protective cover
Using snapping connection.
So set, being bolted the protective cover easy to disassemble carries out internal maintenance, snap connection easy to disassemble described
Support plate.
Further setting: the support shaft passes through the clearer, and the support shaft and the walking platform are connected using bearing
It connects, second motor is connected with the support shaft using flat key.
So set, support of the support shaft to the clearer, bearing connection ensure that the support shaft is flexibly revolved
Turn, flat key connection ensure that support shaft described in second motor driven rotates.
Further setting: the runing rest passes through the walking platform, and the runing rest is rounded.
So set, ensure that the happy exhaust of the rotary fan, circle ensure that the balance of the runing rest.
Further setting: the third motor is connected with the runing rest using flat key, the third motor and described
Walking platform use is bolted.
So set, flat key connection ensure that runing rest described in the third motor driven rotates, it is bolted and is convenient for
The third motor is repaired in dismounting.
Further setting: the 4th motor and the runing rest use are bolted, the rotary fan and described
4th motor uses interference fit.
So set, being bolted replacement the 4th motor easy to disassemble, it is interference fitted the replacement rotation easy to disassemble
Turn flabellum.
Further setting: the revolving speed of second motor is greater than the revolving speed of the first motor.
So set, preventing the clearer from being advanced by walking platform dragging without spin-cleaning curtain wall surface.
Further setting: the preceding camera and the rear camera are in 180 degree angle.
So set, ensure that the shooting of front and back image.
Further setting: the microprocessor respectively with the gyroscope, the wireless transceiver, the preceding camera,
The rear camera, the first motor, second motor, the third motor and the 4th motor use electrical connection.
So set, electrical connection ensure that the quick transmission of control signal.
Compared with prior art, beneficial effects of the present invention are as follows:
1, it is vented using rotary fan and resists gravity, walking platform is pressed in curtain wall surface, guarantees to walk along curtain wall surface；
2, curtain wall surface is cleaned while walking mobile using the clearer of rotation, improve efficiency, save manpower；
3, it is controlled using radio connection transmission, ensure that remote control, increase clean flexibility.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of glass-wall cleaning robot of the present invention；
Fig. 2 is a kind of bottom view of glass-wall cleaning robot of the present invention；
Fig. 3 is a kind of protective cover perspective view of glass-wall cleaning robot of the present invention；
Fig. 4 is a kind of circuit structure flow diagram of glass-wall cleaning robot of the present invention.
The reference numerals are as follows:
1, walking platform；2, traveling wheel；3, preceding camera；4, runing rest；5, the 4th motor；6, rotary fan；7, it protects
Cover；8, clearer；9, rear camera；10, first motor；11, third motor；12, the second motor；13, lithium battery；14, it supports
Plate；15, microprocessor；16, gyroscope；17, wireless transceiver；18, support shaft.
Specific embodiment
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be further explained below with reference to the attached drawings:
Embodiment 1
As Figure 1-Figure 4, a kind of glass-wall cleaning robot, including walking platform 1, clearer 8, runing rest 4, platform of walking
1 bottom four corners are provided with first motor 10, and driving traveling wheel 2 rotates, and first motor 10 is provided with traveling wheel 2 above, drives row
It walks on stage 1 mobile, is provided with protective cover 7 among platform 1 of walking, protects inner body, be provided with support plate 14 in protective cover 7, support
Lithium battery 13, support plate 14 are provided with microprocessor 15 above, and analysis processing control is run, and are provided with top on rear side of microprocessor 15
Spiral shell instrument 16 acquires attitude data, wireless transceiver 17 is provided on rear side of gyroscope 16, receive control instruction, issues image information,
Lithium battery 13 is provided below in support plate 14, stores electric power, clearer 8 is provided with below lithium battery 13, wipe curtain wall surface, clearly
It is provided with support shaft 18 in clean roller 8, supports clearer 8, the second motor 12 is provided on rear side of clearer 8, driving support shaft 18 is revolved
Turn, 7 two sides of protective cover are provided with runing rest 4, support the 4th motor 5, are provided with third motor 11 before runing rest 4, turn
Dynamic runing rest 4, runing rest 4 are provided with the 4th motor 5 above, and driving rotary fan 6 rotates, and the 4th motor 5 is arranged above
There is rotary fan 6, push air discharge, walking platform 1 is pressed into curtain wall surface, walking 1 side of platform is provided with preceding camera 3, adopts
Collect forward image, 3 side of preceding camera is provided with rear camera 9 on platform 1 of walking, acquires rear images.
Embodiment 2
As Figure 1-Figure 4, a kind of glass-wall cleaning robot, including walking platform 1, clearer 8, runing rest 4, platform of walking
1 bottom four corners are provided with first motor 10, and driving traveling wheel 2 rotates, and first motor 10 is provided with traveling wheel 2 above, drives row
It walks on stage 1 mobile, is provided with protective cover 7 among platform 1 of walking, protects inner body, be provided with support plate 14 in protective cover 7, support
Lithium battery 13, support plate 14 are provided with microprocessor 15 above, and analysis processing control is run, and are provided with top on rear side of microprocessor 15
Spiral shell instrument 16 acquires attitude data, wireless transceiver 17 is provided on rear side of gyroscope 16, receive control instruction, issues image information,
Lithium battery 13 is provided below in support plate 14, stores electric power, clearer 8 is provided with below lithium battery 13, wipe curtain wall surface, clearly
It is provided with support shaft 18 in clean roller 8, supports clearer 8, the second motor 12 is provided on rear side of clearer 8, driving support shaft 18 is revolved
Turn, 7 two sides of protective cover are provided with runing rest 4, support the 4th motor 5, are provided with third motor 11 before runing rest 4, turn
Dynamic runing rest 4, runing rest 4 are provided with the 4th motor 5 above, and driving rotary fan 6 rotates, and the 4th motor 5 is arranged above
There is rotary fan 6, push air discharge, walking platform 1 is pressed into curtain wall surface, walking 1 side of platform is provided with preceding camera 3, adopts
Collect forward image, 3 side of preceding camera is provided with rear camera 9 on platform 1 of walking, acquires rear images, first motor 10
It is bolted with walking 1 use of platform, is bolted maintenance first motor 10 easy to disassemble, first motor 10 and traveling wheel 2 use
Spline connection, spline connection ensure that 10 smooth drive traveling wheel 2 of first motor rotates.
Embodiment 3
As Figure 1-Figure 4, a kind of glass-wall cleaning robot, including walking platform 1, clearer 8, runing rest 4, platform of walking
1 bottom four corners are provided with first motor 10, and driving traveling wheel 2 rotates, and first motor 10 is provided with traveling wheel 2 above, drives row
It walks on stage 1 mobile, is provided with protective cover 7 among platform 1 of walking, protects inner body, be provided with support plate 14 in protective cover 7, support
Lithium battery 13, support plate 14 are provided with microprocessor 15 above, and analysis processing control is run, and are provided with top on rear side of microprocessor 15
Spiral shell instrument 16 acquires attitude data, wireless transceiver 17 is provided on rear side of gyroscope 16, receive control instruction, issues image information,
Lithium battery 13 is provided below in support plate 14, stores electric power, clearer 8 is provided with below lithium battery 13, wipe curtain wall surface, clearly
It is provided with support shaft 18 in clean roller 8, supports clearer 8, the second motor 12 is provided on rear side of clearer 8, driving support shaft 18 is revolved
Turn, 7 two sides of protective cover are provided with runing rest 4, support the 4th motor 5, are provided with third motor 11 before runing rest 4, turn
Dynamic runing rest 4, runing rest 4 are provided with the 4th motor 5 above, and driving rotary fan 6 rotates, and the 4th motor 5 is arranged above
There is rotary fan 6, push air discharge, walking platform 1 is pressed into curtain wall surface, walking 1 side of platform is provided with preceding camera 3, adopts
Collect forward image, 3 side of preceding camera is provided with rear camera 9 on platform 1 of walking, acquires rear images, first motor 10
It is bolted with walking 1 use of platform, is bolted maintenance first motor 10 easy to disassemble, first motor 10 and traveling wheel 2 use
Spline connection, spline connection ensure that 10 smooth drive traveling wheel 2 of first motor rotates, and protective cover 7 and walking platform 1 use bolt
Connection is bolted protective cover 7 easy to disassemble and carries out internal maintenance, and support plate 14 and 7 use of protective cover snap connection, and buckle connects
Connect support plate 14 easy to disassemble.
Working principle: walking platform 1 is pressed into curtain wall surface, gyroscope by the driving rotation of rotary fan 6 exhaust of the 4th motor 5
The posture information of acquisition is passed to microprocessor 15 by 16, control third motor 11 rotation rotation after 15 analysis of microprocessor processing
Bracket 4 adjusts discharge directions and changes pressure size, and the platform 1 that makes to walk keeps being bonded with curtain wall surface, and the driving of first motor 10 is gone
Walking 2 rotation of wheel drives walking platform 1 mobile on curtain wall surface, and the second motor 12 drives the wiping of 18 spin-cleaning roller 8 of support shaft to pass through
Curtain wall surface.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.
Claims (10)
1. a kind of glass-wall cleaning robot, it is characterised in that: including the platform, clearer, runing rest of walking, the walking platform bottom
Quadrangle is provided with first motor, and traveling wheel is provided with above the first motor, is provided with protective cover among the walking platform, institute
It states and is provided with support plate in protective cover, microprocessor is provided with above the support plate, is provided with top on rear side of the microprocessor
Spiral shell instrument, the gyroscope rear side are provided with wireless transceiver, and lithium battery, the lithium battery lower section is provided below in the support plate
It is provided with the clearer, support shaft is provided in the clearer, is provided with the second motor, the guarantor on rear side of the clearer
Shield two sides are provided with the runing rest, and third motor is provided with before the runing rest, is set above the runing rest
It is equipped with the 4th motor, rotary fan is provided with above the 4th motor, the walking platform side is provided with preceding camera, described
The preceding camera side is provided with rear camera on walking platform.
2. a kind of glass-wall cleaning robot according to claim 1, it is characterised in that: the first motor and the walking
Platform use is bolted, and the first motor is connected with the traveling wheel using spline.
3. a kind of glass-wall cleaning robot according to claim 2, it is characterised in that: the protective cover and the walking platform
Using being bolted, the support plate and the protective cover use are snapped connection.
4. a kind of glass-wall cleaning robot according to claim 3, it is characterised in that: the support shaft passes through the cleaning
Roller, the support shaft and the walking platform are connected using bearing, and second motor is connected with the support shaft using flat key.
5. a kind of glass-wall cleaning robot according to claim 4, it is characterised in that: the runing rest passes through the row
It walks on stage, the runing rest is rounded.
6. a kind of glass-wall cleaning robot according to claim 5, it is characterised in that: the third motor and the rotation
Bracket is connected using flat key, and the third motor and the walking platform use are bolted.
7. a kind of glass-wall cleaning robot according to claim 6, it is characterised in that: the 4th motor and the rotation
Bracket use is bolted, and the rotary fan and the 4th motor use interference fit.
8. a kind of glass-wall cleaning robot according to claim 7, it is characterised in that: the revolving speed of second motor is greater than
The revolving speed of the first motor.
9. a kind of glass-wall cleaning robot according to claim 8, it is characterised in that: the preceding camera and it is described after take the photograph
As head is in 180 degree angle.
10. a kind of glass-wall cleaning robot according to claim 9, it is characterised in that: the microprocessor respectively with institute
State gyroscope, the wireless transceiver, the preceding camera, the rear camera, the first motor, second motor,
The third motor and the 4th motor use electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811193118.5A CN109381133A (en) | 2018-10-13 | 2018-10-13 | A kind of glass-wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811193118.5A CN109381133A (en) | 2018-10-13 | 2018-10-13 | A kind of glass-wall cleaning robot |
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| CN109381133A true CN109381133A (en) | 2019-02-26 |
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| CN201811193118.5A Pending CN109381133A (en) | 2018-10-13 | 2018-10-13 | A kind of glass-wall cleaning robot |
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Cited By (5)
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| CN111166258A (en) * | 2020-01-09 | 2020-05-19 | 重庆工程学院 | Outer wall glass cleaning system and method |
| CN111377003A (en) * | 2020-03-30 | 2020-07-07 | 滁州贝安智能机器人科技有限公司 | Prevent toppling wall climbing robot |
| CN112790659A (en) * | 2021-02-26 | 2021-05-14 | 深圳市艾文尚贸易有限公司 | Travelling equipment capable of travelling on smooth plane |
| CN113156936A (en) * | 2021-01-27 | 2021-07-23 | 宁波工程学院 | Path planning algorithm of wall-climbing cleaning robot |
| CN113596299A (en) * | 2021-07-20 | 2021-11-02 | 阳新县天网安防科技有限公司 | High definition camera shooting remote monitoring equipment with self-cleaning function |
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| CN113156936A (en) * | 2021-01-27 | 2021-07-23 | 宁波工程学院 | Path planning algorithm of wall-climbing cleaning robot |
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Effective date of registration: 20191125 Address after: 528311 East Office Building 201-11, No. 11 Junye East Road, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant after: Guangdong Bozhilin Robot Co., Ltd. Address before: Room 105-46744, No. 6 Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Applicant before: Dingchen Construction Technology Co., Ltd. |
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