CN1565343A - Vacuum cleaner control device and method - Google Patents
Vacuum cleaner control device and method Download PDFInfo
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- CN1565343A CN1565343A CNA031300685A CN03130068A CN1565343A CN 1565343 A CN1565343 A CN 1565343A CN A031300685 A CNA031300685 A CN A031300685A CN 03130068 A CN03130068 A CN 03130068A CN 1565343 A CN1565343 A CN 1565343A
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Abstract
The invention relates to an aspirator, it is characterized in that it controls the aspirator with a voice signal recognition mechanism. It comprises a voice recognition algorithm, a mechanism for inputting voice signal to digital form, a mechanism for transferring and sampling the digital voice signal by voice recognition algorithm, an action unit having said mechanism to recognize all kinds the control signal and control the sweeping action of the aspirator. The invention utilizes voice signal to control the aspirator, which make it simple and convenient for aspirator operation, and the clean time is reduced by absolution of the manual work.
Description
Technical field
The present invention relates to a kind of suction cleaner, relate in particular to the control device and the method for the suction cleaner of a kind of recognition of speech signals control suction cleaner action.
Background technology
Fig. 1 demonstrates the overall perspective view of general suction cleaner.
As shown in the figure, the suction cleaner on cleaning ground 1 comprises: the body of dust collector 20 that suction apparatus is installed; Suck the suction nozzle 39 of dust laden air by the suction air-flow of above-mentioned body 20 generations.Set gradually suction hose 36 between above-mentioned body 20 and the suction nozzle 39, be connected the handle 35 of above-mentioned suction hose 36 ends, connect the extension pipe 38 between above-mentioned handle 35 and the suction nozzle 39, make the suction air-flow that produces at above-mentioned body 20 be communicated to above-mentioned suction nozzle 39.
Above-mentioned handle 35 has the input button 37 that drives the suction motor 23 that is arranged on body 20 inside.If above-mentioned suction nozzle 39 inside are provided with brush motor 25, above-mentioned input button 37 also comprises the switch that drives above-mentioned brush motor 25.
Above-mentioned body 25 inside comprise: produce the suction motor 23 that sucks air-flow, fan 24; After the foreign matter filtration of above-mentioned suction hose 36 suctions, air is discharged to again the filtrator 35 of body exterior; The control circuit 33 of control suction cleaner etc.And have to above-mentioned control circuit 33 and the power lead 10 that sucks motor 23 power supply usefulness, said power 10 can be connected external power source by plug (plug) 15.
In addition, do not show in the drawings, the power supply of supplying with to body by said power 10 supplies on the input button 37 of handle 35 through the power lead that is arranged on suction hose 36 inside.And the above-mentioned suction hose 36 inner signal wires that contain make the actuating signal of above-mentioned input button 37 pass to above-mentioned control circuit 33.
Have in the existing suction cleaner of said structure, by power lead 10 with power supply supply in the body of dust collector suck motor 23 after, above-mentioned suction motor 23 drives and produces and suck air-flow.The suction air communication that produce this moment is crossed above-mentioned suction hose 36 and is communicated to suction nozzle 39 sides with extension pipe 38.
At this moment, the dust around above-mentioned suction nozzle 39 sucks, foreign matter etc.By the dust that above-mentioned suction nozzle 39 sucks, foreign matter etc. are drawn in the dust storage chamber (not shown) in the body 20 more again by above-mentioned extension pipe 38 suction hoses 36.
Simultaneously, in the existing suction cleaner, the user can grasp the handle 35 that forms at above-mentioned extension pipe 38 upsides.And utilize above-mentioned handle 35 to move extension pipe 38 and can finish cleaning neatly.And user's force transmission to suction hose 36 that above-mentioned handle 35 is connected on the mobile body 20 in back.
Existing suction cleaner and can being moved by user's acting force.So in the suction cleaner of prior art, the user can only mobile in person suction cleaner, suction cleaner oneself can not be carried out cleaning work.Use when having suction cleaner now in addition, the user always will clean, so the user will additionally vacate the time of cleaning.
Have said structure suction cleaner control structure as shown in Figure 2.
As shown in Figure 1, existing body of dust collector 20 inside have control circuit 33.Above-mentioned control circuit 33 is made of electronic components mounted on PCB substrates such as printed circuit board (PCB).
Describe in detail, above-mentioned control circuit 33 comprises: the various control programs of necessity and the storer 105 of control data when storing the control suction cleaner; Control part 106 according to all actions that are stored in the various Data Control suction cleaner on the above-mentioned storer 105; Under the control of above-mentioned control part 106, drive the suction motor driving part 133 of above-mentioned suction motor 23.The user can be conveyed to above-mentioned control part 106 to the selection signal by the input button 37 that is arranged on dust collector handle 35.
In having the suction cleaner of said structure, when the user will carry out the cleaning action of suction cleaner and other exercises, behind the various key signals of 37 selections of the input button on the handle 35, above-mentioned selecteed signal is conveyed to the control part 106 of body 20 by the signal wire that is connected suction hose 36 inside.
Behind the above-mentioned control part 106 identification input signals, read the data that need from storer 105 and carry out control corresponding.
After the user selected to be arranged on cleaning (" connecting ON ") key on the input button 37, input button 37 was sent to control part 106 to signal, and above-mentioned control part 106 drives and sucks motors and control the cleaning action by sucking motor driving part 133.
As mentioned above, the handle 35 of the extension pipe 38 of existing suction cleaner is provided with the input button 37 of control suction cleaner action usefulness, is controlled the ON/OFF action of suction cleaner by artificial action.And the body of suction cleaner also has the activation member that makes the suction cleaner action.In addition, as previously mentioned, existing suction cleaner moves under user's acting force.
So existing suction cleaner only can move under user's effect, and the action of suction cleaner also will be by the artificial control of user.So existing suction cleaner exists trouble that the user will clean in person and the problem of especially arranging the problem of cleaning time and needing user's operation.
And existing suction cleaner needs design cost in order to make the required activation member of artificial startup, die cost, and casting manufacturing expenses etc. cause cost to rise.
Summary of the invention
In order to solve above-mentioned purpose, the invention provides control device and the method for utilizing voice signal can control suction cleaner automatically.
To achieve these goals, the control device of suction cleaner provided by the invention comprises: the voice signal input device of input speech signal; Amplify above-mentioned voice signal and make it become manageable signal, and make its amplification that becomes digital form and analog/digital conversion device; The speech recognition algorithm that storage presets is analyzed the speech analysis means of above-mentioned audio digital signals according to this speech recognition algorithm; According to the cleaning control signal that above-mentioned speech analysis means is analyzed, the clearing apparatus of the cleaning action of control suction cleaner; According to the operation control signal that above-mentioned speech analysis means is analyzed, the running gear of the run action of control suction cleaner.
In addition, above-mentioned speech analysis means comprises: the store voice recognizer stores storage device with first of the various voice patterns that preset; Behind the voice signal of being imported by above-mentioned speech recognition algorithm analysis, second storage device of store voice pattern; Be stored in the voice pattern of above-mentioned second storage device and the storage values of above-mentioned first storage device and make comparisons, produce the microprocessor of its analysis result.
To achieve these goals, the control method of suction cleaner of the present invention comprises: near sound measuring, the stage of setting reference value; Monitor the stage whether voice signal is imported; Behind the input speech signal, make comparisons, only the numerical value bigger than reference value is extracted as the stage of voice signal with the said reference value; By speech recognition stage of voice signal of speech recognition algorithm analysis and identification said extracted; Control the stage of suction cleaner by the result of above-mentioned identification.
Aforesaid the present invention can bring following effect.
The first, suction cleaner of the present invention needn't additionally be provided with the operating portion of control suction cleaner.And then reduced in order to make the suction cleaner operating portion design that needs, make links such as mould, casting, reduced manufacturing expense.
The second, suction cleaner of the present invention needn't be controlled in person by the people.Control by voice signal execution suction cleaner makes it simple to operate, and convenience has also been saved the cleaning time, has also saved the trouble that will clean in person.Particularly, suction cleaner of the present invention can move automatically, has saved the user and has moved the needed strength of suction cleaner.
Description of drawings
Fig. 1 is the stereographic map of general suction cleaner.
Fig. 2 is the control structure figure of prior art suction cleaner.
Fig. 3 is the control structure figure of the speech recognition of suction cleaner of the present invention.
Fig. 4 is the control action process flow diagram of the speech recognition of suction cleaner of the present invention.
The critical piece description of reference numerals
200: microphone (micro phone) 203: amplifier
206: analog/digital signal conversion device 209: microprocessor (microprocessor)
210: signal input part 212: data storing unit
215: program reservoir 218: short-access storage (flash-memory)
221: revolver scrambler (encode) 224: right turbin generator drive division
227: right turbin generator 230: right wheel scrambler (encode)
233: suck motor driving part 236: suck motor
239: cleaning portion 242: power supply unit
245: revolver motor drive division 248: revolver motor
251: operation portion
Embodiment
With reference to the accompanying drawings, describe the control device and the method for suction cleaner of the present invention in detail.
Fig. 3 is the control structure figure of the speech recognition of suction cleaner of the present invention.
The characteristics of suction cleaner of the present invention are: utilized along with the fast-developing manufacturing cost of nearest semiconductor technology reduces the microprocessor that has popularity again.Above-mentioned microprocessor 209 is discerned the voice signal of suction cleaner of the present invention and is controlled the exercises of suction cleaner.
In addition, suction cleaner of the present invention also comprises: the microphone (microphone) 200 that is converted to electric signal behind the input speech signal; Voice signal by above-mentioned microphone 200 inputs is amplified to a certain size amplifier 203; The voice signal of above-mentioned amplifier 203 amplifications is converted to the analog/digital converter 206 of digital signal.Describe in detail then is that above-mentioned microphone 200 is installed in a side of suction cleaner, imports the outside various voice signals that produce of suction cleaner and it is converted to electric signal.Above-mentioned amplifier 203 is amplified to above-mentioned voice signal the needed size of signal Processing and converts digital signal to analog/digital converter 206.
The voice signal that converts digital signal like this to is communicated to microprocessor 209.Which kind of signal Processing is the data that above-mentioned microprocessor 209 needs to discern the voice signal of being imported need do.
And then suction cleaner of the present invention is provided with the speech recognition algorithm of discerning the voice signal of being imported under the control of above-mentioned microprocessor 209, and has the program reservoir 215 that stores above-mentioned speech recognition algorithm.Said procedure reservoir 215 also stores the various algorithms that other control suction cleaner need except storing above-mentioned speech recognition algorithm.For example, store the left side that automatically drives suction cleaner or the operation algorithm of right-hand wheel.And the cleaning algorithm of the cleaning action of storage control suction cleaner.Even the data of the storage of said procedure reservoir 215 should be stored in the permanent storage medium that also can keep storing behind the dump, and make it can not make any modification or deletion.
In addition, suction cleaner of the present invention also comprises the data storing unit 212 of storage by the various voice patterns of the speech recognition algorithm analysis of said procedure reservoir 215 storages.The voice signal that the data of the storage of above-mentioned data storing unit 212 begin to move for the order cleaning " cleaning beginning ", the voice signal that the order cleaning finishes " cleaning finishes ", the voice signal " left side " that suction cleaner is moved to the left, voice signal " right side " that suction cleaner is moved to the right or the like.And needed various voice pattern controlled in the voice that above-mentioned data storing unit 212 stores suction cleaner.The data that store in the above-mentioned data storing unit 212 are forever preserved.And can add new voice pattern by user's requirement.
After suction cleaner of the present invention comprises that also the speech recognition algorithm that is stored by said procedure reservoir 215 is analyzed the voice signal of user's input in the control action of current suction cleaner, conversion Cheng Yuyin pattern and the storage fast 218 that stores.Above-mentioned storage fast 218 can be by user's the data that requirement is revised and deletion stores.
Suction cleaner of the present invention also comprises the voice signal of being discerned the user by the control of above-mentioned microprocessor 209 from said structure, the operation portion 251 of the operation of control suction cleaner and the cleaning portion 239 that controls the suction cleaner cleaning.
The function of above-mentioned operation portion 251 is suction cleaner left, and the right side is preceding, and the rear is to the distance of advancing and necessarily needing.In order to realize this function, the downside of above-mentioned suction cleaner is equipped with the revolver and the right wheel of mobile suction cleaner.
Above-mentioned operation portion 251 comprises: drive installation is at the revolver of suction cleaner downside respectively, the revolver motor 248 of right wheel, right turbin generator 227; Control above-mentioned revolver motor 248 revolver motor drive division 245 that drives and the right turbin generator drive division 244 of controlling above-mentioned right turbin generator 227 drivings; The right side wheel scrambler 230 of the rotation status of the revolver scrambler 221 of the rotation status of the above-mentioned revolver motor 248 of perception and the above-mentioned right turbin generator 227 of perception.Utilize the structure of above-mentioned operation portion 251, can be left suction cleaner, the right side, preceding, the rear is to the distance of advancing and necessarily needing.
Above-mentioned cleaning portion 239 comprises and produces the suction motor 236 that sucks air-flow; Dust and foreign matter are drawn into the suction inlet of suction cleaner inside by the suction air-flow of above-mentioned suction motor 236 generations; The dust that sucks by above-mentioned suction inlet depository and the dust storage chamber (not shown) of foreign matter.And comprise the cleaning signal of exporting by the microprocessor 209 of the above-mentioned voice signal of identification, drive the suction motor driving part 233 of above-mentioned suction motor 236.
Above-mentioned suction inlet is expression in the drawings not, and it is arranged on the bottom of body of dust collector.Make the suction air-flow of above-mentioned suction inlet have with above-mentioned suction motor 236 in the same intensity of suction air-flow that produces.And then avoided the loss of the suction air-flow that prior art need produce by flexible pipe and extension pipe.So there is no need to resemble, suction cleaner of the present invention extension pipe is set, suction hose, handle etc. the suction cleaner of prior art.
In addition, above-mentioned cleaning portion 239 is cleanings of carrying out in the house, the structure of the dust of suction in the keeping cleaning.
The control procedure of the suction cleaner of the present invention with said structure is described below.
At first, suction cleaner of the present invention is analyzed the various voice signals of suction cleaner control, and the voice pattern of analyzing is stored.This process can be finished in the fabrication phase of product, also can be under service stage be instructed by the after sale service personnel after sale, and user oneself input.
After selecting the voice pattern key of signal input part 210, selected voice pattern lands signal and is provided on the microprocessor 209.The voice pattern login mode that above-mentioned microprocessor 209 is carried out according to above-mentioned signal.
Under above-mentioned voice pattern login mode, after converting electric signal to, the various voice signals of the suction cleaner by microphone 200 input input on the amplifier 203.Being amplified to a certain amount of voice signal at above-mentioned amplifier 203 converts digital signal to and inputs to microprocessor 209 by analog/digital converter 206.
At this moment, above-mentioned microprocessor 209 is carried out voice pattern login mode, so operation is stored in the speech recognition algorithm on the program reservoir 215, behind the audio digital signals that analysis is imported, the voice pattern is stored on the data storing unit 212.And store the control signal of corresponding voice pattern when being stored to above-mentioned data storing unit 212 simultaneously.For example, add the control signal that suction cleaner is moved to the left when storing the voice pattern to " left side ", drive the also storage in the lump of revolver motor 248 control signals to identification this moment.
In the said process, the voice pattern lands in order to carry out the various controls of suction cleaner, and the voice pattern is stored on the data storing unit 212.Following handle " cleaning beginning " is as the voice pattern of cleaning beginning, " left side " is as the voice pattern that suction cleaner is moved left, as the voice pattern that suction cleaner is moved to the right, " cleaning finishes " as the voice pattern that cleaning finishes, illustrates " right side ".
By said process, when various voice patterns all were stored in above-mentioned data storing unit 212, suction cleaner was finished speech recognition controlled by following process.
Fig. 4 is the control action process flow diagram of the speech recognition of suction cleaner of the present invention.
After the power supply of power supply unit 242 supplied to microprocessor 209, microprocessor 209 was in the holding state of execution according to the control of voice signal.
Under above-mentioned holding state, microprocessor 209 is carried out the control of measuring ambient sound.During with voice signal input suction cleaner action control, the signal bigger than the ambient sound of above-mentioned measurement is identified as voice signal.Using the residing space of people of suction cleaner is not to keep invariable sound value.
For example, the people of loud place life produce and the proportional voice signal of self residing surrounding environment around place that sound is little around and the metropolis etc.As loud around place, to send big voice signal in the time of being communicated to other people or suction cleaner to the sound of oneself.But send little voice signal around under the sound circlet border and also can be communicated to other people or suction cleaner.
So microprocessor 209 is at first carried out under holding state and measured ambient sound, its value is set at the process of reference value.Specifically, microprocessor 209 is set at reference value (the 300th stage, the 303rd stage) to its value after being amplified to certain value by the sound around microphone 200 inputs with amplifier 203 and analog/digital converter 206.Whether the voice signal that the reference value of setting in above-mentioned the 303rd stage is controlled the input of usefulness as suction cleaner is effective judgment standard value.
Then, microprocessor 209 monitors whether voice signal imports (the 306th stage).
The voice signal in above-mentioned the 306th stage is converted to electric signal by microphone 200, after amplifier 203 is amplified to setting value, inputs to microprocessor 209 after converting digital signal to analog/digital converter 206.Above-mentioned microprocessor 209 judges whether the digital signal of above-mentioned input is bigger than the reference value of above-mentioned the 303rd stage setting, and only extract big voice signal (the 309th stage), and signal littler than reference value in the signal of being imported is judged as invalid signals eliminates.
The voice signal that above-mentioned the 309th stage extracts temporarily is stored in storage fast 218 under the control of above-mentioned microprocessor 209.
At this moment, above-mentioned microprocessor 209 is carried out the speech recognition algorithm that is stored in program reservoir 215, and identification is stored in the voice pattern (the 312nd stage) of the voice signal on the above-mentioned storage fast 218.
Above-mentioned then microprocessor 209 exports result relatively to each control part after the voice pattern of above-mentioned the 312nd stage identification and several voice patterns that are stored in above-mentioned data storing unit 212 are made comparisons.
If when above-mentioned voice pattern was the voice signal of corresponding " cleaning beginning ", microprocessor 209 passed through to suck motor driving part 233 supply powers to sucking motor 236, begins to drive suction motor 236.
After sucking motor 236 drivings, the generation cleaning is conveyed to suction inlet with a suction air-flow and a suction air-flow.Above-mentioned suction inlet sucks foreign matter and dust on every side with above-mentioned suction air-flow.
In the said process, when above-mentioned voice pattern was the voice signal in corresponding " left side ", microprocessor 209 was given revolver motor 248 supply powers by revolver motor drive division 245.Driving by revolver motor 248 is moved suction cleaner to the left.On the contrary, in said process, when above-mentioned voice pattern was the voice signal on corresponding " right side ", microprocessor 209 was given right turbin generator 227 supply powers by right turbin generator drive division 224.Driving by right turbin generator 248 is moved suction cleaner to the right.The driving of turbin generator 227 is moved suction cleaner to the right.
In addition, by the voice signal of " cleaning finishes ", above-mentioned microprocessor 209 is carried out the control of the cleaning action that stops suction cleaner.
As mentioned above, above-mentioned microprocessor 209 compared the voice pattern of identification and several voice patterns that are stored in above-mentioned data storing unit 212 in above-mentioned the 312nd stage, behind the affirmation result, and output control signal corresponding (the 315th stage).Above-mentioned microprocessor 209 drives operation portion 251 for the run action of suction cleaner, carries out the control (the 318th stage) that drives cleaning portion 239.
As mentioned above, suction cleaner of the present invention is characterized as recognition of speech signals, carries out the control action of suction cleaner.Suction cleaner of the present invention comprises speech recognition algorithm; Make it become the device of digital form after importing various voice signals; Above-mentioned audio digital signals is converted to the device of voice pattern by above-mentioned speech recognition algorithm.By the various control signals of these structure identification suction cleaner, the cleaning action of control suction cleaner.And suction cleaner of the present invention makes suction cleaner to move automatically by speech recognition.
The invention describes voice signal converted to the audio digital signals that can do signal Processing after, under the control of microprocessor, form the embodiment of voice pattern.But also can not be subjected to the control of above-mentioned microprocessor, utilize speech recognition element to form the voice pattern, only analysis result is passed to microprocessor.At this moment, above-mentioned signal by above-mentioned microphone 200 inputs directly provides to speech recognition element, above-mentioned speech recognition element analysis, and the sampling back exports its analysis result to microprocessor.In said process, microprocessor is carried out the control according to the suction cleaner of analysis result.
Claims (3)
1, a kind of control device of suction cleaner comprises:
The voice signal input device of input speech signal;
Amplify above-mentioned voice signal and make it become manageable signal, and make its amplification that becomes digital form and analog/digital conversion device;
The speech recognition algorithm that storage presets is analyzed the speech analysis means of above-mentioned audio digital signals according to this speech recognition algorithm;
According to the cleaning control signal that above-mentioned speech analysis means is analyzed, the clearing apparatus of the cleaning action of control suction cleaner;
According to the operation control signal that above-mentioned speech analysis means is analyzed, the running gear of the run action of control suction cleaner.
2, the control device of suction cleaner according to claim 1 is characterized in that, above-mentioned speech analysis means comprises:
The store voice recognizer stores storage device with first of the various voice patterns that preset;
Behind the voice signal of being imported by above-mentioned speech recognition algorithm analysis, second storage device of store voice pattern;
The storage values of voice pattern that is stored in above-mentioned second storage device and above-mentioned first storage device is made comparisons, produce the microprocessor of its analysis result.
3, a kind of control method with suction cleaner of speech recognition algorithm comprises:
Sound around measuring, the stage of setting reference value;
Monitor the stage whether voice signal is imported;
Behind the input speech signal, make comparisons, only the numerical value bigger than reference value is extracted as the stage of voice signal with the said reference value;
By speech recognition stage of voice signal of speech recognition algorithm analysis and identification said extracted;
Control the stage of suction cleaner by the result of above-mentioned identification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA031300685A CN1565343A (en) | 2003-06-17 | 2003-06-17 | Vacuum cleaner control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA031300685A CN1565343A (en) | 2003-06-17 | 2003-06-17 | Vacuum cleaner control device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1565343A true CN1565343A (en) | 2005-01-19 |
Family
ID=34469452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA031300685A Pending CN1565343A (en) | 2003-06-17 | 2003-06-17 | Vacuum cleaner control device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1565343A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1731072A2 (en) * | 2005-06-07 | 2006-12-13 | LG Electronics Inc. | Apparatus and method for notifying state of self-moving cleaning robot |
| WO2010083768A1 (en) * | 2009-01-24 | 2010-07-29 | 泰怡凯电器(苏州)有限公司 | Speech system used for robot and robot with speech system |
| CN102452062A (en) * | 2010-10-20 | 2012-05-16 | 汤政 | Sound control dust collector for electric hammer |
| WO2014187290A1 (en) * | 2013-05-24 | 2014-11-27 | Wen Xia | Intelligent robot |
| CN105212839A (en) * | 2010-06-18 | 2016-01-06 | 苏州宝时得电动工具有限公司 | Dust catcher |
| CN105377100A (en) * | 2013-05-24 | 2016-03-02 | 文霞 | Intelligent robot |
| RU2646024C1 (en) * | 2017-01-12 | 2018-02-28 | Вячеслав Сергеевич Перфильев | Blocker for action of robotized systems |
-
2003
- 2003-06-17 CN CNA031300685A patent/CN1565343A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1731072A2 (en) * | 2005-06-07 | 2006-12-13 | LG Electronics Inc. | Apparatus and method for notifying state of self-moving cleaning robot |
| EP1731072A3 (en) * | 2005-06-07 | 2011-11-16 | LG Electronics Inc. | Apparatus and method for notifying state of self-moving cleaning robot |
| WO2010083768A1 (en) * | 2009-01-24 | 2010-07-29 | 泰怡凯电器(苏州)有限公司 | Speech system used for robot and robot with speech system |
| CN105212839A (en) * | 2010-06-18 | 2016-01-06 | 苏州宝时得电动工具有限公司 | Dust catcher |
| CN102452062A (en) * | 2010-10-20 | 2012-05-16 | 汤政 | Sound control dust collector for electric hammer |
| WO2014187290A1 (en) * | 2013-05-24 | 2014-11-27 | Wen Xia | Intelligent robot |
| CN105377100A (en) * | 2013-05-24 | 2016-03-02 | 文霞 | Intelligent robot |
| CN105377100B (en) * | 2013-05-24 | 2017-10-10 | 文霞 | Intelligent robot |
| RU2646024C1 (en) * | 2017-01-12 | 2018-02-28 | Вячеслав Сергеевич Перфильев | Blocker for action of robotized systems |
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