CN114197359A - Split type outdoor unmanned street sweeper - Google Patents
Split type outdoor unmanned street sweeper Download PDFInfo
- Publication number
- CN114197359A CN114197359A CN202111536229.3A CN202111536229A CN114197359A CN 114197359 A CN114197359 A CN 114197359A CN 202111536229 A CN202111536229 A CN 202111536229A CN 114197359 A CN114197359 A CN 114197359A
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- China
- Prior art keywords
- sweeping
- cleaning
- cleaning device
- outdoor unmanned
- driving
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 42
- 238000004140 cleaning Methods 0.000 claims abstract description 131
- 238000010408 sweeping Methods 0.000 claims description 48
- 238000005406 washing Methods 0.000 claims description 10
- 239000000428 dust Substances 0.000 claims description 9
- 238000005201 scrubbing Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000005191 phase separation Methods 0.000 claims 1
- 238000005096 rolling process Methods 0.000 description 10
- 238000003032 molecular docking Methods 0.000 description 8
- 238000004659 sterilization and disinfection Methods 0.000 description 7
- 238000004064 recycling Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of sweeper trucks, and provides a split type outdoor unmanned sweeper truck which comprises a cleaning device and a moving device, wherein the cleaning device and the moving device are arranged separately, an identification mark is arranged on the cleaning device, and the moving device identifies the corresponding cleaning device through the identification mark and moves to the corresponding cleaning device to be connected with the cleaning device. According to the invention, the cleaning device and the moving device are arranged separately, when the ground is required to be cleaned, the moving device can be controlled to move to the corresponding cleaning device and be connected with the cleaning device, and then cleaning operation is carried out, and when the cleaning operation is not required, the moving device can be controlled to be connected with other machines outside the cleaning device and carry other machines to carry out operation, so that time-sharing multiplexing of the moving device is realized, the utilization rate of the moving device is improved, and the overall use cost of each machine is reduced.
Description
Technical Field
The invention relates to the technical field of sweeping vehicles, in particular to a split type outdoor unmanned sweeping vehicle.
Background
Along with the development of science and technology, the application of unmanned street sweeper is more and more extensive, but at present, each part of unmanned street sweeper all sets up as an organic whole, leads to each part of unmanned street sweeper like this, especially the drive division can't fully be utilized, when unmanned street sweeper need not carry out cleaning operation to ground, the drive division of unmanned street sweeper also can't effectively be utilized, can not be used for other tasks, consequently the utilization ratio of device is lower, and every machine all need be provided with a drive arrangement, leads to the use cost of each machine higher.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
The invention aims to provide a split type outdoor unmanned sweeper, which aims to solve the technical problems of low utilization rate and high use cost of the device caused by the fact that all parts of the unmanned sweeper in the prior art are integrally arranged.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a split type outdoor unmanned sweeper, which comprises a cleaning device and a moving device, wherein the cleaning device and the moving device are arranged separately, an identification mark is arranged on the cleaning device, and the moving device is connected with the cleaning device by identifying the corresponding cleaning device through the identification mark and moving to the corresponding cleaning device.
The split type outdoor unmanned sweeper comprises a bearing chassis, a driving system, a driving motor and a plurality of driving wheels, wherein the driving wheels are connected with the bottom of the bearing chassis, the driving motor is connected with the bearing chassis and is in driving connection with the driving wheels, the driving system is connected with the bearing chassis, and the driving system is used for receiving instructions of a background control system and controlling the driving motor to work.
The split outdoor unmanned sweeper according to the above, wherein the moving device further comprises an alignment recognition system, the alignment recognition system is arranged on the bearing chassis, and the alignment recognition system is used for recognizing the corresponding cleaning device according to the recognition mark.
The split type outdoor unmanned sweeper comprises a visual sensor and a laser radar, wherein the visual sensor is used for collecting an identification mark and positioning the mobile device, and the laser radar is used for collecting a two-dimensional code of the identification mark to identify the ID number of the cleaning device.
The split outdoor unmanned sweeper comprises a base plate, a bearing base plate, a sweeping device, a movable device, a lifting mechanism and a lifting mechanism, wherein the sweeping device is arranged on the bearing base plate, and the lifting mechanism is used for lifting the sweeping device to the bearing base plate.
The split outdoor unmanned sweeper further comprises a supporting device, and the supporting device is detachably connected with the sweeping device.
The split outdoor unmanned sweeper comprises a support frame and a plurality of supporting wheels, wherein the supporting wheels are connected with the support frame, and the sweeping device is detachably connected with the support frame.
The split outdoor unmanned sweeper further comprises a support plate, the support plate is connected with the support frame and located below the support frame, and the identification mark is arranged on the support plate.
The split type outdoor unmanned sweeper comprises a dust collection box, a cleaning disc and a cleaning rolling brush, wherein the cleaning disc and the cleaning rolling brush are used for cleaning garbage on the ground and collecting the garbage into the dust collection box.
The split type outdoor unmanned sweeper comprises a sweeping device, a sweeping disc, a sweeping rolling brush, a sweeping roller, a sweeping device and a ground washing component, wherein the sweeping device comprises the ground washing component, the ground washing component is arranged at the rear end of the sweeping disc or the sweeping rolling brush, and the ground washing component is used for spraying clean water to the ground and scrubbing the ground.
The split type outdoor unmanned sweeper that this embodiment provided's beneficial effect lies in at least: according to the split type outdoor unmanned sweeper disclosed by the invention, the cleaning device and the moving device are arranged in a split manner, so that when the ground is required to be cleaned, the moving device can be controlled to move to the corresponding cleaning device and be connected with the cleaning device, then cleaning operation is carried out, and when the cleaning operation is not required, the moving device can be controlled to be connected with other machines outside the cleaning device and carry other machines to operate, so that the time-sharing multiplexing of the moving device is realized, the utilization rate of the moving device is improved, and the integral use cost of each machine is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a split type outdoor unmanned sweeper provided by an embodiment of the invention;
wherein the symbols in the drawings are:
1. a cleaning device; 11. a cleaning device body; 12. a dust collection box; 13. cleaning the disc; 14. cleaning the rolling brush; 15. a floor washing component;
2. a mobile device; 21. a load-bearing chassis; 22. a drive system; 23. a drive motor; 24. a drive wheel; 25. an alignment identification system; 251. a vision sensor; 252. a laser radar; 26. a lifting mechanism;
3. a support device; 31. a support frame; 32. a support wheel; 33. and a support plate.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
Referring to fig. 1, the present embodiment provides a split type outdoor unmanned sweeper, where the split type outdoor unmanned sweeper includes a sweeping device 1 and a moving device 2, the sweeping device 1 and the moving device 2 are separately arranged, and the moving device 2 is controlled by a background control system to move and is connected with the corresponding sweeping device 1, so as to carry the sweeping device 1 to perform sweeping work; the cleaning device 1 is provided with an identification mark, and the moving device 2 identifies the corresponding cleaning device 1 through the identification mark, moves to the corresponding cleaning device 1 and is connected with the cleaning device 1.
The working principle of the split type outdoor unmanned sweeper provided by the embodiment is as follows: when cleaning work needs to be performed by using the cleaning device 1, a worker sends a driving instruction and a docking instruction to the mobile device 2 by operating the background control system, the mobile device 2 receives the driving instruction and the docking instruction, then moves to the corresponding cleaning device 1 according to the driving instruction and the docking instruction, is connected with the cleaning device 1, and then performs ground cleaning according to a preset path, for example, cleans a road surface according to a preset path, wherein the preset path can be selected by the background control system and sends path information to the mobile device 2, or can be preset in the mobile device 2; when the cleaning device 1 is not needed to be used for cleaning, the background control system may control the moving device 2 to carry other devices to work, for example, the background control system may send a driving instruction and a docking instruction to the disinfection cabinet, the moving device 2 receives the driving instruction and the docking instruction, then moves to a corresponding disinfection cabinet according to the driving instruction and the docking instruction, and is connected to the disinfection cabinet, wherein the disinfection cabinet is also provided with a corresponding identification mark, so that the moving device 2 can identify. Certainly, when the mobile device 2 does not need to be connected with the cleaning device 1 for cleaning work, the mobile device 2 can also carry other machines to work under the control of a background control system, so that time-sharing multiplexing of the mobile device 2 is realized, and the utilization rate of the mobile device 2 is improved; such as: through 2 discernments of mobile device and delivery security protection cabinet realize the security protection function, through 2 discernments of mobile device and delivery rubbish recycling bin and realize rubbish recycling function etc. wherein, to each machine, like security protection cabinet, sterilizer and rubbish recycling bin etc. all are provided with corresponding discernment sign, so that mobile device 2 removes to being connected with specific device under the instruction that background control system sent.
The split type outdoor unmanned sweeper that this embodiment provided's beneficial effect lies in at least: according to the split type outdoor unmanned sweeper disclosed by the invention, the sweeping device 1 and the moving device 2 are arranged in a split manner, when the ground is required to be cleaned, the moving device 2 can be controlled to move to the corresponding sweeping device 1 and be connected with the sweeping device 1, then cleaning operation is carried out, and when the cleaning operation is not required, the moving device 2 can be controlled to be connected with other machines outside the sweeping device 1 and carry other machines to operate, so that time-sharing multiplexing of the moving device 2 is realized, the utilization rate of the moving device 2 is improved, and the integral use cost of each machine is reduced.
The moving device 2 comprises a bearing chassis 21, a driving system 22, a driving motor 23 and a plurality of driving wheels 24, wherein the plurality of driving wheels 24 are connected with the bottom of the bearing chassis 21, and the plurality of driving wheels 24 are connected with the bottom of the bearing chassis 21 and are positioned below the bearing chassis 21; the driving motor 23 is connected with the bearing chassis 21 and is in driving connection with the driving wheel 24; in a specific embodiment, four driving wheels 24 are provided, four driving wheels 24 are arranged at the bottom of the chassis in a matrix, and the driving motor 23 can be in driving connection with one or more driving wheels 24; the driving system 22 is connected with the carrying chassis 21, and the driving system 22 is used for receiving an instruction of a background control system and controlling the driving motor 23 to work; after the mobile device 2 receives the driving command and the docking command of the background control system, the driving system 22 controls the driving motor 23 to work according to the driving command and the docking command, so that the mobile device 2 moves to the corresponding cleaning device 1.
The mobile device 2 further comprises an alignment recognition system 25, the alignment recognition system 25 is disposed on the carrying chassis 21, and the alignment recognition system 25 is configured to recognize the corresponding cleaning device 1 according to the recognition identifier, so that the mobile device 2 is docked with the corresponding cleaning device 1 according to the recognition result of the alignment recognition system 25.
Further, the alignment recognition system 25 includes a vision sensor 251 and a laser radar 252, where the vision sensor 251 is configured to collect a recognition identifier and position the mobile device 2, and specifically, the vision sensor 251 can take a picture of an external environment and scan the external environment, collect the recognition identifier on the cleaning device 1, and position itself according to a relative distance and orientation between the recognition identifier and itself; the laser radar 252 is configured to collect the two-dimensional code of the identification mark to identify the ID number of the cleaning device 1, that is, after the vision sensor 251 collects the identification mark, the laser radar 252 can collect the two-dimensional code on the identification mark and identify the ID number of the cleaning device 1 according to the two-dimensional code; after the alignment recognition system 25 recognizes the recognition mark, the driving system 22 receives the recognition result output by the alignment recognition system 25, controls the moving device 2 to move to the corresponding sweeping device 1 according to the recognition result and the received driving instruction, places the sweeping device 1 on the carrying chassis 21, and then carries the sweeping device 1 by the moving device 2 according to a preset line for cleaning.
The moving device 2 further comprises a lifting mechanism 26, wherein the lifting mechanism 26 is used for lifting the corresponding sweeping device 1 to the carrying chassis 21; after the mobile device 2 moves to the corresponding sweeping device 1, the driving system 22 controls the lifting mechanism 26 to operate, and the lifting device lifts the sweeping device 1 onto the carrying platform, so that the mobile device 2 is connected with the sweeping device 1.
The split type outdoor unmanned sweeper further comprises a supporting device 3, and the supporting device 3 is detachably connected with the sweeping device 1. It should be noted that other machines, such as a disinfection cabinet, a security cabinet, a garbage collection can, etc., are also connected with the corresponding supporting devices 3, and are detachably connected with the corresponding supporting devices 3. When the moving device 2 is to place the sweeping device 1 on the carrying chassis 21, it is directly engaged with the supporting device 3 by the lifting mechanism 26 to lift the supporting device 3 and the sweeping device 1 connected with the supporting device 3 together onto the carrying platform.
Specifically, the supporting device 3 includes a supporting frame 31 and a plurality of supporting wheels 32, the supporting wheels 32 are connected to the supporting frame 31, and the supporting wheels 32 are all located below the supporting frame 31, for example, the supporting wheels 32 are universal wheels, the number of the supporting wheels 32 is four, the four supporting wheels 32 are distributed in a matrix below the supporting frame 31, and each supporting wheel 32 is disposed near the bottom edge of the supporting frame 31. The cleaning device 1 is detachably connected to the supporting frame 31, the cleaning device 1 is located on the upper surface of the supporting frame 31, and the supporting frame 31 may be detachably connected to the cleaning device 1 through a bolt or detachably connected to the cleaning device 1 through a buckle, which is not limited in this embodiment. Through with support frame 31 with cleaning device 1 can dismantle the connection, has made things convenient for cleaning device 1 not with removal when mobile device 2 is connected, simultaneously, loads various machines such as cleaning device 1, sterilizer and security protection cabinet through unified strutting arrangement 3, also is convenient for mobile device 2 can through with strutting arrangement 3 cooperatees and realizes the operation of lifting, avoids making because each machine shape is different lifting mechanism 26 can't be applicable to the shape of various machines. In addition, the upper surface of the supporting frame 31 should be larger than or equal to the area of the bottom of any one of the cleaning device 1, the disinfection cabinet and the security cabinet, so that the cleaning device 1, the disinfection cabinet or the security cabinet and the like are placed and connected on the upper surface of the supporting frame 31.
When the lifting device lifts the cleaning device 1, a lifting plate of the lifting device is extended to the lower part of the support frame 31, then the lifting plate is attached to the bottom of the support frame 31, the support device 3 and the cleaning device 1 are integrally lifted by driving the lifting plate to rise, finally, the bottom of the support frame 31 corresponds to the upper surface of the bearing chassis 21, the support frame 31 is placed on the bearing chassis 21, and at this time, the bearing chassis 21 is attached to the bottom of the support frame 31. Since each of the supporting wheels 32 is disposed at the bottom edge of the supporting frame 31, and in the width direction of the carrying chassis 21, the distance between two adjacent supporting wheels 32 is greater than the width of the carrying chassis 21, after the supporting frame 31 is placed on the carrying chassis 21, each of the supporting wheels 32 is suspended at two sides of the carrying chassis 21, and does not interfere with the placement of the supporting frame 31 on the carrying chassis 21.
The supporting device 3 further comprises a supporting plate 33, the supporting plate 33 is connected with the supporting frame 31 and is located below the supporting frame 31, and the identification mark is arranged on the supporting plate 33; a supporting plate 33 with the identification mark is correspondingly arranged corresponding to each supporting device, after the mobile device 2 receives an instruction of a background control system, the identification mark and the two-dimensional code of the identification mark are collected through the alignment identification system 25, so that the ID number of a corresponding machine placed on the supporting device 3 is identified, and the mobile device 2 can be docked according to the ID number.
The cleaning device 1 comprises a cleaning device 1 body 11, a dust collection box 12, a cleaning disc 13 and a cleaning rolling brush 14, wherein the dust collection box 12, the cleaning disc 13 and the cleaning rolling brush 14 are all connected with the cleaning device 1 body 11, and the cleaning disc 13 and the cleaning rolling brush 14 are all used for cleaning the garbage on the ground and collecting the garbage into the dust collection box 12. In a specific embodiment, there are two cleaning disks 13, there is one cleaning roller 14, the cleaning roller 14 is located at the middle position of the bottom of the cleaning device 1 body 11, the two cleaning disks 13 are located at two sides of the cleaning roller 14, and in the front-back direction of the cleaning device 1 body 11, the cleaning disks 13 and the cleaning roller 14 are arranged in a staggered manner, and the two cleaning disks 13 are located in front of the cleaning roller 14, that is, the two cleaning disks 13 and the cleaning roller 14 form a triangular garbage collection structure; when the moving device 2 carries the cleaning device 1 to move forward on a road surface and clean the road surface, the two cleaning discs 13 positioned at the two sides clean the garbage at the two sides to the middle, then the garbage is lifted up through the cleaning rolling brush 14, and the lifted garbage is blown into the dust collection box 12 by the fan in the cleaning device 1; by adopting the structure that the two cleaning discs 13 and the cleaning rolling brush 14 form the triangular garbage collection structure, the cleaning device 1 can clean a region wider than the cleaning device, the cleaning range is enlarged as much as possible, and the cleaning effect is good.
The background control system may be configured to send a driving command and an alignment recognition command to the mobile device 2 at a fixed time, or may manually input a control command, which is not limited in this embodiment. After the mobile device 2 receives the driving instruction and the alignment identification instruction and is in butt joint with the corresponding cleaning device 1, the background control system sends a cleaning instruction to a signal receiving system of the cleaning device 1 so as to perform subsequent automatic cleaning operation.
In summary, the invention discloses a split type outdoor unmanned sweeper, which comprises a cleaning device and a moving device, wherein the cleaning device and the moving device are arranged separately, an identification mark is arranged on the cleaning device, and the moving device identifies the corresponding cleaning device through the identification mark and moves to the corresponding cleaning device to be connected with the cleaning device. According to the split type outdoor unmanned sweeper disclosed by the invention, the cleaning device and the moving device are arranged in a split manner, so that when the ground is required to be cleaned, the moving device can be controlled to move to the corresponding cleaning device and be connected with the cleaning device, then cleaning operation is carried out, and when the cleaning operation is not required, the moving device can be controlled to be connected with other machines outside the cleaning device and carry other machines to operate, so that the time-sharing multiplexing of the moving device is realized, the utilization rate of the moving device is improved, and the integral use cost of each machine is reduced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a split type outdoor unmanned street sweeper, includes cleaning device and mobile device, its characterized in that, cleaning device with the mobile device phase separation sets up, the last discernment sign that is provided with of cleaning device, mobile device passes through the corresponding cleaning device of discernment sign discernment and remove to corresponding cleaning device and with cleaning device is connected.
2. The split type outdoor unmanned sweeper according to claim 1, wherein the moving device comprises a carrying chassis, a driving system, a driving motor and a plurality of driving wheels, the plurality of driving wheels are connected to the bottom of the carrying chassis, the driving motor is connected to the carrying chassis and is in driving connection with the driving wheels, the driving system is connected to the carrying chassis, and the driving system is used for receiving an instruction of a background control system and controlling the driving motor to work.
3. The split outdoor unmanned sweeper of claim 2, wherein the moving device further comprises an alignment recognition system disposed on the carrying chassis, the alignment recognition system configured to recognize the corresponding sweeping device according to the recognition identifier.
4. The split outdoor unmanned sweeper of claim 3, wherein the alignment recognition system comprises a vision sensor and a lidar, the vision sensor is configured to collect a recognition mark and locate the mobile device, and the lidar is configured to collect a two-dimensional code of the recognition mark to identify an ID number of the sweeping device.
5. The split outdoor unmanned sweeper of claim 2, wherein the moving device comprises a lifting mechanism for lifting the respective sweeping device onto the carrying chassis.
6. The split outdoor unmanned sweeper of claim 1, further comprising a support device detachably connected to the sweeping device.
7. The split outdoor unmanned sweeper according to claim 6, wherein the support device comprises a support frame and a plurality of support wheels, the support wheels are connected with the support frame, and the sweeping device is detachably connected with the support frame.
8. The split type outdoor unmanned sweeper of claim 6, wherein the support device further comprises a support plate, the support plate is connected with the support frame and located below the support frame, and the identification mark is arranged on the support plate.
9. The split outdoor unmanned sweeper of claim 1, wherein the sweeping device comprises a dust collection box, a sweeping disc and a sweeping roller brush, and the sweeping disc and the sweeping roller brush are used for sweeping the garbage on the ground and collecting the garbage into the dust collection box.
10. The split type outdoor unmanned sweeper according to claim 9, wherein the sweeping device further comprises a ground washing part, the ground washing part is arranged at the rear end of the sweeping disc or the sweeping roller brush, and the ground washing part is used for spraying clean water to the ground and scrubbing the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111536229.3A CN114197359A (en) | 2021-12-15 | 2021-12-15 | Split type outdoor unmanned street sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111536229.3A CN114197359A (en) | 2021-12-15 | 2021-12-15 | Split type outdoor unmanned street sweeper |
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| Publication Number | Publication Date |
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| CN114197359A true CN114197359A (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111536229.3A Pending CN114197359A (en) | 2021-12-15 | 2021-12-15 | Split type outdoor unmanned street sweeper |
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| CN111285293A (en) * | 2020-01-22 | 2020-06-16 | 拉扎斯网络科技（上海）有限公司 | Self-moving device, carrying device and dispensing device for dispensing articles |
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- 2021-12-15 CN CN202111536229.3A patent/CN114197359A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202009008719U1 (en) * | 2009-06-19 | 2009-09-03 | Fiedler Maschinenbau Und Technikvertrieb Gmbh | Sweeper with a sweeping roller |
| CN205450772U (en) * | 2016-01-05 | 2016-08-10 | 东莞市松迪智能机器人科技有限公司 | Automated guidance of qxcomm technology car |
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| CN215160737U (en) * | 2021-07-01 | 2021-12-14 | 上海肇观电子科技有限公司 | Mobile robot |
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Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |
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