CN111839368A - Sweeper integrating automatic mopping, sweeping and washing functions - Google Patents

Sweeper integrating automatic mopping, sweeping and washing functions Download PDF

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Publication number
CN111839368A
CN111839368A CN202010759839.9A CN202010759839A CN111839368A CN 111839368 A CN111839368 A CN 111839368A CN 202010759839 A CN202010759839 A CN 202010759839A CN 111839368 A CN111839368 A CN 111839368A
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CN
China
Prior art keywords
sweeper
sweeping
plate
mopping
fixedly connected
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Pending
Application number
CN202010759839.9A
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Chinese (zh)
Inventor
陈冲
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Beijing Yilian Shangmei Technology Co Ltd
Original Assignee
Beijing Yilian Shangmei Technology Co Ltd
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Publication date
Application filed by Beijing Yilian Shangmei Technology Co Ltd filed Critical Beijing Yilian Shangmei Technology Co Ltd
Priority to CN202010759839.9A priority Critical patent/CN111839368A/en
Publication of CN111839368A publication Critical patent/CN111839368A/en
Pending legal-status Critical Current

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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
    • A47L11/24—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
    • A47L11/4002—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
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools

Abstract

The invention belongs to the field of floor sweeping machines, and particularly relates to a floor sweeping machine integrating automatic mopping, sweeping and washing functions, aiming at the problems that an existing floor sweeping machine is large in error in automatic navigation capacity and cannot integrate mopping, sweeping and washing functions, the floor sweeping machine comprises a floor sweeping machine main body, a WiFi emitter and an infrared and visible spectrum icon module, wherein the top of the floor sweeping machine main body is contacted with an upper plate, both the front side and the rear side of the upper plate are fixedly connected with a mopping arm, the top of the mopping arm is provided with a connecting hole, a connecting shaft is rotatably installed in the connecting hole, belt pulleys are fixedly sleeved on the outer side of the connecting shaft, the two belt pulleys are connected with the same belt in a transmission mode, the top of one mopping arm is fixedly connected with a driving motor, an output shaft of the driving motor is fixedly connected with the top end of the connecting shaft. The sweeper disclosed by the invention can integrate the functions of mopping, sweeping and washing, has good functionality and has small automatic navigation route error.

Description

Sweeper integrating automatic mopping, sweeping and washing functions
Technical Field
The invention relates to the technical field of floor sweeping machines, in particular to a floor sweeping machine integrating automatic mopping, sweeping and washing functions.
Background
With the increase of economic level, many households are equipped with one or more sweeping machines to sweep and clean the garbage on the ground.
Present mainstream navigation all faces the unstable challenge of environmental condition, for example visible light receives the influence of light source easily, and infrared receives the influence of sunlight easily, and wifi signal receives irradiant influence for a short time, but the precision is relatively poor, leads to quick-witted automatic navigation ability error of sweeping the floor great to present machine of sweeping the floor can not collect to drag to sweep and wash in an organic whole.
Disclosure of Invention
The invention aims to solve the defects that the automatic navigation capability of a sweeper is large in error and the conventional sweeper cannot integrate sweeping and sweeping, and provides the sweeper integrating automatic sweeping, sweeping and washing functions.
In order to achieve the purpose, the invention adopts the following technical scheme:
a sweeper integrating automatic mopping, sweeping and washing functions comprises a sweeper body, a WiFi emitter and an infrared and visible spectrum icon module, wherein the top of the sweeper body is contacted with an upper plate, both the front side and the rear side of the upper plate are fixedly connected with trailing arms, connecting holes are formed in the tops of the trailing arms, a connecting shaft is rotatably mounted in the connecting holes, belt pulleys are fixedly sleeved on the outer sides of the connecting shaft, the two belt pulleys are connected with the same belt in a transmission mode, the top of one trailing arm is fixedly connected with a driving motor, an output shaft of the driving motor is fixedly connected with a cleaning cloth at the top end of one connecting shaft, cleaning cloth is fixedly connected with the bottom end of the connecting shaft, a sweeping roller is fixedly connected with the outer side of the connecting shaft, an ash bin is formed in the bottom of the sweeper body, an inserting plate is fixedly connected with the bottom of the upper plate, an inserting, the arm-tie groove has been seted up at the top of machine main part of sweeping the floor, sliding mounting has the arm-tie in the arm-tie inslot, one side bottom fixedly connected with cardboard of arm-tie, the draw-in groove has been seted up to one side of inserting the board, cardboard and draw-in groove looks calorie dress, the opposite side welding of arm-tie has the spring, the one end of spring welds on one side inner wall in arm-tie groove, one side of wiFi transmitter is connected with wiFi receiver, one side of wiFi receiver is connected with wiFi signal module, one side of infrared and visible light spectrum icon module is connected with infrared and visible light camera module, one side of infrared and visible light camera module is connected with infrared and visible light fitting visual signal module, wiFi signal module and one side of infrared and visible light fitting visual signal module all are connected with signal processing module, one side of signal processing module.
Preferably, a clamping hole is formed in the inner wall of one side of the pull plate groove, and the clamping plate is slidably mounted in the clamping hole.
Preferably, the sweeper body is provided with a controller, and the driving motor is electrically connected with the controller.
Preferably, one side of the large-space coarse positioning module and one side of the small-space precise positioning module are connected with a VECTOR navigation module of VECTOR.
Preferably, the connecting shaft is positioned at one side of the sweeper main body.
Preferably, the belt is located below the trailing arm.
Preferably, the pulling plate is positioned on one side of the upper plate.
Preferably, the pulling plate is contacted with one side inner wall of the pulling plate groove.
In the sweeper integrating automatic mopping, sweeping and washing functions, a controller on a sweeper body sends an instruction to a driving motor to control the driving motor to rotate, a cleaning cloth wipes the ground, when the cleaning cloth can not wipe large solid particles, a sweeping roller rotating inwards concentrates the solid particles along the way to the mopping sweeper, the solid particles are swept into a dust bin, the rotating speed of the sweeping roller is controlled through the controller, so that the solid particles with different sizes are swept into the dust bin, a pulling plate is pulled to extrude a spring, the pulling plate drives a clamping plate to move, the clamping plate is moved out of a clamping groove, the fixing of an inserting plate is released, at the moment, an upper plate can be taken down to conveniently clean the cleaning cloth, then characteristic points are respectively extracted from visible light images and infrared images, fitting processing is carried out on the infrared images and the visible light images according to a characteristic point method, WIFI emission signals from different indoor parts are organized regularly, eliminating interference signals, marking signals from different WiFi sources, wherein the value range of WiFi signals is generally between 0 and 140dBm, eliminating WiFi signal values with the same high digits in designated space by using a left translation algorithm, expanding the difference between the WiFi signal values by using an exponential method, roughly dividing the plane position by using a cluster analysis method according to the accuracy requirement, wherein one section has a plurality of WiFi signal sources, according to the attenuation formula of the WiFi signals, the dBm is 10log (Pout/1mW), the space distance between a sweeper and different WiFi signal sources can be calculated, so that the small-range space rough positioning is realized, on the basis of the space rough positioning, the infrared visible light image after artificial intelligence fitting is used, and the fitted image is not influenced by the daytime, the night and the light intensity, so that the accurate positioning and the path planning can be realized by using a space vector method, the method of combining rough positioning and precise positioning is of great practical significance, and is logic for simulating human positioning.
The sweeper disclosed by the invention can integrate the functions of mopping, sweeping and washing, has good functionality and has small automatic navigation route error.
Drawings
Fig. 1 is a schematic structural view of a sweeper integrating automatic mopping, sweeping and washing functions;
FIG. 2 is a schematic structural view of part A of the sweeper incorporating automatic sweeping, sweeping and washing functions in accordance with the present invention;
FIG. 3 is a schematic block diagram of a sweeper incorporating automatic mopping, sweeping and washing functions according to the present invention;
fig. 4 is a schematic diagram of a VECTOR navigation module of a VECTOR of a sweeper, which integrates automatic sweeping, sweeping and washing functions.
In the figure: 1. a sweeper body; 2. an upper plate; 3. a trailing arm; 4. a connecting shaft; 5. a belt pulley; 6. a belt; 7. a drive motor; 8. a wipe; 9. sweeping the roller; 10. an ash bin; 11. an insert plate; 12. pulling a plate; 13. clamping a plate; 14. a spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-3, a sweeper integrating automatic sweeping, sweeping and washing functions comprises a sweeper body 1, a WiFi emitter and an infrared and visible spectrum icon module, wherein the top of the sweeper body 1 is contacted with an upper plate 2, both the front side and the rear side of the upper plate 2 are fixedly connected with trailing arms 3, the top of each trailing arm 3 is provided with a connecting hole, a connecting shaft 4 is rotatably installed in each connecting hole, belt pulleys 5 are fixedly sleeved on the outer sides of the connecting shafts 4, the two belt pulleys 5 are in transmission connection with the same belt 6, the top of one trailing arm 3 is fixedly connected with a driving motor 7, an output shaft of the driving motor 7 is fixedly connected with the top of one connecting shaft 4, the bottom of the connecting shaft 4 is fixedly connected with a cleaning cloth 8, the outer side of the connecting shaft 4 is fixedly connected with a sweeping roller 9, the bottom of one side of the sweeper body 1 is provided with a dust bin 10, and the, the insertion groove has been seted up at the top of machine main part 1 of sweeping the floor, insert board 11 and insert the groove and clamp mutually, the arm-tie groove has been seted up at the top of machine main part 1 of sweeping the floor, sliding mounting has arm-tie 12 in the arm-tie groove, one side bottom fixedly connected with cardboard 13 of arm-tie 12, the draw-in groove has been seted up to one side of inserting board 11, cardboard 13 clamps mutually with the draw-in groove, the opposite side welding of arm-tie 12 has spring 14, the one end of spring 14 welds on one side inner wall of arm-tie groove, one side of wiFi transmitter is connected with the wiFi receiver, one side of wiFi receiver is connected with wiFi signal module, one side of infrared and visible spectrum icon module is connected with infrared and visible light camera module, one side of infrared and visible light camera module is connected with infrared and visible light fitting visual signal module, one side of wiFi signal module and infrared and visible light fitting visual signal module all is connected with signal processing module.
In the invention, a clamping hole is formed on the inner wall of one side of the pull plate groove, and the clamping plate 13 is slidably arranged in the clamping hole.
In the invention, the sweeper body 1 is provided with a controller, and the driving motor 7 is electrically connected with the controller.
In the invention, one side of the large-space rough positioning module and one side of the small-space precise positioning module are connected with a VECTOR navigation module of VECTOR.
In the invention, the connecting shaft 4 is positioned at one side of the sweeper main body 1.
In the present invention, the belt 6 is located below the trailing arm 3.
In the present invention, the pulling plate 12 is located on one side of the upper plate 2.
In the present invention, the pulling plate 12 is in contact with one side inner wall of the pulling plate groove.
In the invention, when the sweeper is used, the controller on the sweeper main body 1 sends an instruction to the driving motor 7 to control the rotation of the driving motor 7, the cleaning cloth 8 cleans the ground, when the cleaning cloth 8 cannot clean larger solid particles, the sweeping roller 9 rotating inwards concentrates the solid particles along the way to the sweeper and sweeps into the ash bin 10, the rotating speed of the sweeping roller 9 is controlled by the controller to sweep the solid particles with different sizes into the ash bin 10, the pulling plate 12 is pulled to extrude the spring 14 through the pulling plate 12, the pulling plate 12 drives the clamping plate 13 to move, so that the clamping plate 13 is moved out of the clamping groove to remove the fixation of the inserting plate 11, at the moment, the upper plate 2 can be taken down to conveniently clean the cleaning cloth 8, then characteristic points are respectively extracted from the visible light and the infrared image, the infrared image and the visible light image are subjected to fitting treatment according to a characteristic point method, and WIFI emission signals from different indoor parts are organized, eliminating interference signals, marking signals from different WiFi sources, wherein the value range of WiFi signals is generally between 0 and 140dBm, eliminating WiFi signal values with the same high digits in designated space by using a left translation algorithm, expanding the difference between the WiFi signal values by using an exponential method, roughly dividing the plane position by using a cluster analysis method according to the accuracy requirement, wherein one section has a plurality of WiFi signal sources, according to the attenuation formula of the WiFi signals, the dBm is 10log (Pout/1mW), the space distance between a sweeper and different WiFi signal sources can be calculated, so that the small-range space rough positioning is realized, on the basis of the space rough positioning, the infrared visible light image after artificial intelligence fitting is used, and the fitted image is not influenced by the daytime, the night and the light intensity, so that the accurate positioning and the path planning can be realized by using a space vector method, the method of combining rough positioning and precise positioning is of great practical significance, and is logic for simulating human positioning.
In the invention, referring to fig. 4, because the vector has characteristics of distance size and direction, which are just suitable for processing the driving distance and direction of the sweeper, a to Z can be expressed in a vector form and recorded as a vector AZ, and according to a vector addition rule, AZ can be further decomposed into AB + BC + CD + … + YZ. Thus, the whole path AZ can be divided into a plurality of sub-paths such as AB, BC, CD and the like, and then each sub-path, such as AB, is obtained. However, the sweeper generates errors in the driving process, namely: theoretical AB-actual AB1+ error B1B. So AZ ═ is (actual AB)1+ error B1B) + (actual BC)1+ error C1C) + … + (actual YZ1+ error Z1Z), then we need to further plan the two subvectors of AB: designing a theoretical value, designing an error value, namely: design theoretical value AB1. Determining a theoretical value AB by walking to B, turning to C, and walking to D from the charging starting point A1The distance of (c) is determined by using reverse reasoning, where the current AB is at step t and the current BC is at step t +1, that is, the position information of step t +1 is used to design the position information of the current step t. Here, it can be experimentally tested that C reaches a large expected value E when B goes to C, where E (t +1) ═ f (t), and the | AB | theoretical distance can be found experimentally as AB. Assuming AB is 100, the theoretical value is 100 at this time, and the distance of the theoretical value AB can be designed by setting the fixed unit advance grid number of the sweeper to be 100; design error value B1Distance of B. The method comprises the steps of introducing an infrared visible light camera to accurately detect a ground identification target, wherein the ground identification target is visible, and can emit infrared rays invisible to human eyes, identifying the identification target through an artificial intelligence algorithm to detect the relative distance information of a landmark after the current t state is detected, and the target detection adopts algorithms such as fast-RCNN and YOLO. Similarly, when the expected value E is reached through the experimental test C, the phase of the landmark can be identified and obtained through the camera corresponding to the position B in the t stateFor distance | B1B. Suppose theory | B1B | ═ 50, then when one step of theoretical value ab is taken in t, 100 units, then the relative distance to the landmark is identified as follows: actual | B1B | assuming actual | B1B | ═ 48, then error | B1B | ═ theoretical | B1B | actual | B1B | -50-48 ═ 2. Thereby calculating an error value B1And B, after the distance is known, the error can be further corrected by controlling the sweeper, if the error value is a positive number, the error is corrected towards a positive direction, and a negative number is corrected towards a negative direction.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (8)

1. The sweeper integrating automatic dragging, sweeping and washing functions comprises a sweeper body (1), a WiFi (wireless fidelity) emitter and an infrared and visible spectrum icon module and is characterized in that an upper plate (2) is contacted with the top of the sweeper body (1), both the front side and the rear side of the upper plate (2) are fixedly connected with trailing arms (3), connecting holes are formed in the tops of the trailing arms (3), a connecting shaft (4) is installed in the connecting holes in a rotating mode, belt pulleys (5) are fixedly sleeved on the outer sides of the connecting shaft (4), the two belt pulleys (5) are connected with the same belt (6) in a transmission mode, a driving motor (7) is fixedly connected to the top of one trailing arm (3), an output shaft of the driving motor (7) is fixedly connected with the top end of one connecting shaft (4), cleaning cloth (8) is fixedly connected to the bottom end of the connecting shaft (4), and a sweeping roller (9) is fixedly connected to the, the bottom of one side of a sweeper main body (1) is provided with an ash bin (10), the bottom of an upper plate (2) is fixedly connected with an insertion plate (11), the top of the sweeper main body (1) is provided with an insertion groove, the insertion plate (11) is clamped with the insertion groove, the top of the sweeper main body (1) is provided with a pull plate groove, a pull plate (12) is arranged in the pull plate groove in a sliding manner, the bottom of one side of the pull plate (12) is fixedly connected with a clamping plate (13), one side of the insertion plate (11) is provided with a clamping groove, the clamping plate (13) is clamped with the clamping groove, the other side of the pull plate (12) is welded with a spring (14), one end of the spring (14) is welded on the inner wall of one side of the pull plate groove, one side of a WiFi transmitter is connected with a WiFi receiver, one side of the WiFi receiver is connected with a WiFi signal module, one side of an infrared and visible spectrum icon module is connected with an, one side of the WiFi signal module and one side of the infrared and visible light fitting visual signal module are both connected with a signal processing module, and one side of the signal processing module is connected with a large-space rough positioning module and a small-space precise positioning module.
2. The sweeper integrating automatic mopping, sweeping and washing functions as claimed in claim 1, wherein a clamping hole is formed on an inner wall of one side of the pull plate groove, and the clamping plate (13) is slidably mounted in the clamping hole.
3. The sweeper integrating automatic mopping, sweeping and washing functions as claimed in claim 1, wherein a controller is arranged on the sweeper body (1), and the driving motor (7) is electrically connected with the controller.
4. The sweeper integrating automatic mopping, sweeping and washing functions as claimed in claim 1, wherein a VECTOR navigation module of VECTOR is connected to one side of the coarse positioning module of large space and the fine positioning module of small space.
5. The sweeper integrating automatic mopping, sweeping and washing functions as claimed in claim 1, wherein the connecting shaft (4) is located at one side of the sweeper body (1).
6. A sweeper integrating automatic sweeping, sweeping and washing functions as claimed in claim 1, wherein said belt (6) is located below the trailing arm (3).
7. A sweeper integrating automatic mopping, sweeping and washing functions as claimed in claim 1, characterized in that said pull plate (12) is located at one side of the upper plate (2).
8. The sweeper integrating automatic mopping, sweeping and washing functions as claimed in claim 1, wherein the pulling plate (12) is in contact with one side of the inner wall of the pulling plate groove.
CN202010759839.9A 2020-07-31 2020-07-31 Sweeper integrating automatic mopping, sweeping and washing functions Pending CN111839368A (en)

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Application Number Priority Date Filing Date Title
CN202010759839.9A CN111839368A (en) 2020-07-31 2020-07-31 Sweeper integrating automatic mopping, sweeping and washing functions

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Application Number Priority Date Filing Date Title
CN202010759839.9A CN111839368A (en) 2020-07-31 2020-07-31 Sweeper integrating automatic mopping, sweeping and washing functions

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CN111839368A true CN111839368A (en) 2020-10-30

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090252546A1 (en) * 2008-04-07 2009-10-08 Bryan Kaleta Cleaning implement with spray nozzle
CN105520692A (en) * 2016-01-04 2016-04-27 厦门戈瑞环保科技有限公司 Domestic full-automatic mopping robot
CN108703715A (en) * 2018-06-06 2018-10-26 何灿权 It is a kind of based on smart home with sweeping the floor the good floor cleaning device of effect
CN109308702A (en) * 2018-09-14 2019-02-05 南京理工技术转移中心有限公司 A kind of real-time recognition positioning method of target
CN109391759A (en) * 2018-10-12 2019-02-26 东莞市凯木金电子科技有限公司 A kind of infrared identification camera module of sweeper
CN210121107U (en) * 2019-04-16 2020-03-03 北京优洁客创新科技有限公司 Following type floor cleaning machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090252546A1 (en) * 2008-04-07 2009-10-08 Bryan Kaleta Cleaning implement with spray nozzle
CN105520692A (en) * 2016-01-04 2016-04-27 厦门戈瑞环保科技有限公司 Domestic full-automatic mopping robot
CN108703715A (en) * 2018-06-06 2018-10-26 何灿权 It is a kind of based on smart home with sweeping the floor the good floor cleaning device of effect
CN109308702A (en) * 2018-09-14 2019-02-05 南京理工技术转移中心有限公司 A kind of real-time recognition positioning method of target
CN109391759A (en) * 2018-10-12 2019-02-26 东莞市凯木金电子科技有限公司 A kind of infrared identification camera module of sweeper
CN210121107U (en) * 2019-04-16 2020-03-03 北京优洁客创新科技有限公司 Following type floor cleaning machine

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Application publication date: 20201030