CN203226772U - Intelligent cleaning robot - Google Patents

Intelligent cleaning robot Download PDF

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Publication number
CN203226772U
CN203226772U CN 201320179290 CN201320179290U CN203226772U CN 203226772 U CN203226772 U CN 203226772U CN 201320179290 CN201320179290 CN 201320179290 CN 201320179290 U CN201320179290 U CN 201320179290U CN 203226772 U CN203226772 U CN 203226772U
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CN
China
Prior art keywords
intelligent cleaning
mop
robot
controller
disposal box
Prior art date
Application number
CN 201320179290
Other languages
Chinese (zh)
Inventor
张明辉
陈庆光
禚宝海
潘福强
宗继颖
张健健
Original Assignee
山东科技大学
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Application filed by 山东科技大学 filed Critical 山东科技大学
Priority to CN 201320179290 priority Critical patent/CN203226772U/en
Application granted granted Critical
Publication of CN203226772U publication Critical patent/CN203226772U/en

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Abstract

The utility model provides an intelligent cleaning robot which solves the problem that existing dust collectors and electric mops still need manual operation, thereby being incapable of help people to be free from tedious household work. The intelligent cleaning robot comprises a casing with an inner cavity, a dust collection mechanism is arranged at the bottom of the front end of the inner cavity of the casing, a dust collecting box is communicated in the dust collection mechanism, a mopping mechanism is arranged at the bottom of the rear end of the inner cavity of the casing, a travelling mechanism is arranged at the bottom of the casing, a storage battery for providing power and energy is mounted inside the casing and connected with a charging plug through a circuit, and a controller is mounted inside the casing, controls and connects power units in the mechanisms, and is provided with a signal transmission port externally connected with a remote controller. The intelligent cleaning robot achieves multifunctional intelligent cleaning by integrating the travelling mechanism, the dust collecting mechanism, the mopping mechanism, a garbage dumping mechanism, an automatic charging mechanism and a control system.

Description

A kind of intelligent cleaning robot
Technical field
The utility model belongs to technical field of electric appliances, relates to a kind of cleaning equipment, particularly a kind of intelligent cleaning robot.
Background technology
The flooring cleaning is a repeated labor dry as dust, but be requisite work in the daily life, progressively quickening along with social rhythm, the people's work time seems particularly precious, so more thirst for from daily cleaning work, freeing, carry out more valuable and work or leisure meaning.And conventional cleaners work the time not only needs people's participation, and operation lays inconvenience, and noise is big, and cleaning efficiency is low.In addition, what conventional cleaners almost all adopted is the dust bag structure, because dust bag inside is invisible, the control of dust amount is uncontrollable, causes cleaning and replacing dirt bag frequent easily, or clears up the untimely suction decline that makes.Therefore how to realize that cleaning operation automation and intellectuality are the effective ways of efficient high-quality cleaning.But automation cleaning equipment in the market is also more single on function, and it is poor to keep away the barrier ability, and price is higher.
The utility model content
The purpose of this utility model is to have the problems referred to above at existing technology, proposed a kind of with cleaning, dust suction, mop floor, rubbish is toppled over and the integrated multifunctional cleaning equipment of automatic charging, and adopts programme-control to realize the intelligent cleaning robot of automated job simultaneously.
The purpose of this utility model can realize by following technical proposal: a kind of intelligent cleaning robot, comprise the body with inner chamber, it is characterized in that, the front bottom end of described body inner chamber arranges dust collection mechanism, be communicated with disposal box in the described dust collection mechanism, the bottom, rear end of described body inner chamber arranges the mechanism that mops floor, the bottom of described body arranges walking mechanism, install be used to the battery that power source is provided the inside of described housing, described battery connects charging plug by circuit, the inner installing of described body controller, the power-equipment in each mechanism of described controller control connection, described controller has the signal transmission port of external remote controller.
The body of this intelligent cleaning robot is cylindrical shell, and it is made up of drain pan and loam cake.The inside of body is the relative set silencing means also, to reach the purpose that reduces each power-equipment running noise.Battery is specially chargeable 12 volts of lithium batteries.Controller is specifically selected the C51 series monolithic for use, and signal transmission port receives or transmit signal by infrared ray.
In above-mentioned intelligent cleaning robot, the charging positioning rail is set on the bottom surface of described body, the workplace arranges charging socket, and the side of described charging socket arranges locating piece, and described charging positioning rail and locating piece are identical complementary setting of shape.Charging plug is arranged on the advance side of part of body, when controller detects battery and need charge, and then control walking and position by the charging positioning rail, make charging plug be communicated with charging with the charging socket interlock.
In above-mentioned intelligent cleaning robot, the outer distolateral case lid that is hinged with of described disposal box, the below of described disposal box sets firmly support on the body bottom surface, described disposal box is installed on support by hinged crank and rocking bar, and described crank is rotation by the swing motor and drives connection.
In above-mentioned intelligent cleaning robot, install infrared sensor on the inwall of described disposal box, described infrared sensor has infrared location port, and described infrared sensor is connected by the signal transmission with controller.
In above-mentioned intelligent cleaning robot, described dust collection mechanism comprises the dust sucting pipeline with suction port and air outlet, import and the outlet that is communicated with dust sucting pipeline offered in the two sides of described disposal box, described exit arranges filter, install blower fan in the dust sucting pipeline of described outlet outer end, the described suction port place round brush that be arranged in parallel, described round brush are driven by the belt wheel drive mechanism by the round brush motor and connect, and described round brush is winding bristle in the shape of a spiral circumferentially.The suction port of dust sucting pipeline is the bar shaped cuboid, and its suction inlet aperture is bigger, is enough to general paper scrap and fragment and dust are absorbed; Round brush is straight and is positioned over the suction port place, and the bristle on the round brush can stretch out suction port downwards.Fill active carbon in the filter, active carbon is a kind of very good adsorbent, and various materials in the absorbed air selectively are to reach purpose such as disinfecting, deodorizing.
In above-mentioned intelligent cleaning robot, the rear end of described body inside is flat raft two mechanisms that mop floor is set, the described mechanism that mops floor comprises the reel frame, the central shaft of described reel frame connects the mop motor by axle sleeve, wear positioning compression spring in the described central shaft, uniform some mop pieces on the disk bottom surface of described reel frame.Positioning compression spring provides the elasticity pretightning force for mop, and raised or sunken if the bottom surface has, mop all can keep contacting with the good of ground.
In above-mentioned intelligent cleaning robot, on the disk bottom surface of described reel frame with 120 ° of three mop locating racks uniformly at intervals, offer T type groove on the described mop locating rack, the top side of described mop piece has the symmetry that wears into T type groove transplants a cutting, and described mop piece is connected by securing member mutually with the mop locating rack.The fixing assembling of mop piece and mop locating rack, preventing in turning effort, because of the influence that is subjected to centrifugal force with the mop piece by throwing away in the T type groove.
In above-mentioned intelligent cleaning robot, described walking mechanism comprises a universal wheel that is positioned at body bottom surface front end, and with two driving wheels of rear end flat raft, each drives connection by a stepper motor described two driving wheels.Each is taken turns acting in conjunction and supports body and keep its balance, further realizes corresponding movement by functional requirement.
In above-mentioned intelligent cleaning robot, install ultrasonic sensor on the bottom surface of described body, described ultrasonic sensor has the obstacle detection port, and described ultrasonic sensor is connected by the signal transmission with controller.
Compared with prior art, this intelligent cleaning robot becomes one by walking mechanism, dust collection mechanism, the mechanism that mops floor, rubbish tipping mechanism, automatic charger structure and control system, realizes the cleaning operation of multifunctional intelligent; Simultaneously it possesses intensive, the scientific and technological level top grade of technology content, reaches cleaning operation efficient height, effective, and automaticity is high and do not stay characteristics such as working angle.
Description of drawings
Fig. 1 be this intelligent cleaning robot overlook the internal structure schematic diagram.
Fig. 2 be this intelligent cleaning robot face the internal structure schematic diagram.
Fig. 3 is the structural representation of looking up of this intelligent cleaning robot.
Fig. 4 is the schematic diagram of roller brushes structure in this intelligent cleaning robot.
Fig. 5 is the schematic diagram of Mop structure in this intelligent cleaning robot.
Among the figure, 1, body; 2, round brush motor; 3, round brush; 4, dust sucting pipeline; 5, disposal box; 6, crank; 7, rocking bar; 8, swing motor; 9, blower fan; 10, mop motor; 11, reel frame; 12, positioning compression spring; 13, mop piece; 14, universal wheel; 15, stepper motor; 16, driving wheel; 17, charging positioning rail; 18, charging plug; 19, battery.
The specific embodiment
Below be specific embodiment of the utility model and by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiment.
As Fig. 1, Fig. 2 and shown in Figure 3, this intelligent cleaning robot comprises body 1, the front end of body 1 inside arranges dust collection mechanism, the rear end of body 1 inner chamber arranges the mechanism that mops floor, the bottom of body 1 arranges walking mechanism, body 1 inner installing controller, the power-equipment in each mechanism of controller control connection, controller has the signal transmission port of external remote controller.
Body 1 is cylindrical shell, and has inner chamber, and it is fastened up and down by drain pan and loam cake forms.The inside of body 1 is the relative set silencing means also, to reach the purpose that reduces each power-equipment running noise.
Dust collection mechanism comprises the dust sucting pipeline 4 with suction port and air outlet, be communicated with disposal box 5 in the dust sucting pipeline 4, import and the outlet that is communicated with dust sucting pipeline 4 offered in the two sides of disposal box 5, and wherein the exit arranges filter, installs blower fan 9 in the dust sucting pipeline 4 of outlet outer end.The suction port of dust sucting pipeline 4 is the bar shaped cuboid, and its suction inlet aperture is bigger, is enough to general paper scrap and fragment and dust are absorbed.The suction port place round brush 3 that be arranged in parallel, round brush 3 be winding bristle in the shape of a spiral circumferentially, and bristle can stretch out suction port downwards.As shown in Figure 4, the end of round brush 3 sets firmly roller bearing, sheathed bearing on the roller bearing; The top of round brush 3 arranges the round brush motor 2 that is assemblied on the support, and round brush motor 2 drives the roller bearing that connects round brush 3 by the belt wheel drive mechanism.
The outer distolateral case lid that is hinged with of disposal box 5, and the top margin of case lid is hinged limit.The below of disposal box 5 sets firmly support on body 1 bottom surface, disposal box 5 is installed on support by hinged crank 6 and rocking bar 7, and namely the two ends of crank 6 and rocking bar 7 all are and are rotationally connected, and wherein crank 6 is rotation by swing motor 8 and drives and connect.The upper inside wall installing infrared sensor of disposal box 5, infrared sensor has infrared location port, and infrared sensor is connected by the signal transmission with controller.
The rear end of body 1 inside is flat raft two mechanisms that mop floor is set, and the mechanism that mops floor comprises reel frame 11, on the disk bottom surface of reel frame 11 with 120 ° of three mop locating racks uniformly at intervals.As shown in Figure 5, all offer T type groove on each mop locating rack, each mop piece 13 is stainless steel substrates, this stainless steel substrates is drawer-like, and the top side of stainless steel substrates drawer-like is the symmetry that wears into T type groove and transplants a cutting, the mop bar is fixedly arranged on the bottom surface of stainless steel substrates, and mop piece 13 is pegged graft also to assemble by securing member behind the mop locating rack and is connected.The central shaft of reel frame 11 connects mop motor 10 by axle sleeve, wears positioning compression spring 12 in the central shaft.
Walking mechanism comprises a universal wheel 14 that is positioned at body 1 bottom surface front end, with two driving wheels 16 of rear end flat raft.Universal wheel 14 plays the support effect, and two driving wheel 16 each self contained functions of back row all adopt stepper motor 15 directly to drive separately, lean on the speed discrepancy of two driving wheels 16 to carry out steering, make clean robot can realize turning round flexibly among a small circle.Turn to flexibly because three wheeled travel mechanisms of two driving wheel 16 drivings have, the characteristics that radius of turn is little make it can both thoroughly clean broad zone and narrow corner.
Install ultrasonic sensor on the bottom surface of body 1, this ultrasonic sensor has the obstacle detection port, and ultrasonic sensor is connected by the signal transmission with controller.
Install be used to the battery 19 that power source is provided the inside of housing, and this battery 19 is specially chargeable 12 volts of lithium batteries.Battery 19 connects charging plug 18 by circuit, and charging plug 18 is arranged on the advance side of part of body 1.Charging positioning rail 17 is set on the bottom surface of body 1, and the workplace arranges and the charging positioning rail 17 shapes complementary locating piece that coincide, and the fixing charging socket of the terminal position of locating piece.Charging positioning rail 17 is specially the angle that is arranged with that two arcs intersect, and locating piece is specially the angle that is convexly equipped with that two arcs intersect, and is convexly equipped with the angle and enters fully and be arranged with the angle, i.e. the charging location is namely finished in two jiaos of tablings contacts.
Controller is specifically selected the C51 series monolithic for use, and the pass of C51 single-chip microcomputer and other each several part circuit is: its signal transmission port is by the order of infrared receiving module reception from remote controller; Receive the status information of external environment condition by each sensor; Voltage is provided for stepper motor 15 by the two-way pwm signal, speed and the direction of two driving wheels 16 of control; Detect wheel speed by catching two stepper motor 15 code device signals; Driven the round brush motor 2 and blower fan 9 of cleaning, dust-absorbing function by I/O mouth signal control triode and then control relay; Utilize serial ports to become a plurality of LED lights of parallel port chip controls and button etc.
The process that this intelligent cleaning robot carries out cleaning operation is: two stepper motors of controller control 15 cooperate 16 walkings of two driving wheels of driving, and the auxiliary walking under driving of the universal wheel 14 in the place ahead.In walking, the barrier of ultrasonic sensor by running in the obstacle detection port perception road, and then obstacle signal is passed to controller, control track route by controller and realize keeping away the barrier operation.
Controller control round brush motor 2 drives round brush 3 and rotates cleaning ground, opens blower fan 9 synchronously and carries out the exhausting dust suction, and ground foreign material and dust are sucked in the disposal box 5 by entrance open relatively between the bristle.Through the filter of disposal box 5 outlets, clean air is discharged by air outlet.
After by dust collection mechanism that the ground cleaning in the place ahead is clean, controller control continues to move ahead, open two mop motors 10 synchronously and drive two reel frame 11 average rates rotations, make the 13 pairs of ground of a plurality of mop pieces on it carry out wiping, and the scope of the mop mechanism wiped clean of two flat rafts is wide, eliminates the cleaning dead angle.
In case the infrared sensor perception at position, top side is collected the foreign material that hold and is arrived the top desired location in the disposal box 5, just can be to the controller alarm.After controller control runs to the position of dustbin, control swing motor 8 drives crank 6 rotation laterally, drive rocking bar 7 auxiliary rotations, make the outer end of disposal box 5 reduce, and the inner raises under the support of rocking bar 7, and then distolateral hinged case lids are opened under the gravity effect outside the disposal box 5, and the rubbish foreign material in the disposal box 5 pour into dustbin thus.
When cleaning mop piece 13, only need the be connected securing member of assembling of dismounting, the stainless steel substrates of mop piece 13 is got final product by extracting out in the T type groove; After cleaning finishes, set by step plug-in mounting fixedly mop piece 13 get final product.
When controller detects battery 19 brownouts by its inner AD passage, namely send the charge position that triggering signal makes the clean robot walking be back to the workplace and charge.In the charging position fixing process, at first making the charging positioning rail 17 of body 1 bottom surface face with locating piece contacts, and straight line moving is chimeric fully until two identical complementary shape, makes that the charging plug 18 on body 1 outer wall is communicated with the charging socket interlock just, carries out charging operations.
The user commands clean robot by RPB, realizes walking, cleaning, dust suction, mops floor, dumps rubbish and every operation such as charging.
Specific embodiment described herein only is that the utility model spirit is illustrated.The utility model person of ordinary skill in the field can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present utility model or surmount the defined scope of appended claims.
Although this paper has used body 1 morely; Round brush motor 2; Round brush 3; Dust sucting pipeline 4; Disposal box 5; Crank 6; Rocking bar 7; Swing motor 8; Blower fan 9; Mop motor 10; Reel frame 11; Positioning compression spring 12; Mop piece 13; Universal wheel 14; Stepper motor 15; Driving wheel 16; Charging positioning rail 17; Charging plug 18; Battery 19 terms such as grade, but do not get rid of the possibility of using other term.Using these terms only is in order to describe and explain essence of the present utility model more easily; They are construed to any additional restriction all is contrary with the utility model spirit.

Claims (9)

1. intelligent cleaning robot, comprise the body with inner chamber, it is characterized in that, the front bottom end of described body inner chamber arranges dust collection mechanism, be communicated with disposal box in the described dust collection mechanism, the bottom, rear end of described body inner chamber arranges the mechanism that mops floor, the bottom of described body arranges walking mechanism, install be used to the battery that power source is provided the inside of described housing, described battery connects charging plug by circuit, the inner installing of described body controller, the power-equipment in each mechanism of described controller control connection, described controller has the signal transmission port of external remote controller.
2. intelligent cleaning according to claim 1 robot, it is characterized in that the charging positioning rail is set on the bottom surface of described body, and the workplace arranges charging socket, the side of described charging socket arranges locating piece, and described charging positioning rail and locating piece are identical complementary setting of shape.
3. intelligent cleaning according to claim 1 robot, it is characterized in that, the outer distolateral case lid that is hinged with of described disposal box, the below of described disposal box sets firmly support on the body bottom surface, described disposal box is installed on support by hinged crank and rocking bar, and described crank is rotation by the swing motor and drives connection.
4. intelligent cleaning according to claim 3 robot is characterized in that install infrared sensor on the inwall of described disposal box, described infrared sensor has infrared location port, and described infrared sensor is connected by the signal transmission with controller.
5. intelligent cleaning according to claim 1 robot, it is characterized in that, described dust collection mechanism comprises the dust sucting pipeline with suction port and air outlet, import and the outlet that is communicated with dust sucting pipeline offered in the two sides of described disposal box, described exit arranges filter, installs blower fan in the dust sucting pipeline of described outlet outer end, the described suction port place round brush that be arranged in parallel, described round brush drive to be connected by the belt wheel drive mechanism by the round brush motor, and described round brush is winding bristle in the shape of a spiral circumferentially.
6. intelligent cleaning according to claim 1 robot, it is characterized in that, the rear end of described body inside is flat raft two mechanisms that mop floor is set, the described mechanism that mops floor comprises the reel frame, the central shaft of described reel frame connects the mop motor by axle sleeve, wear positioning compression spring in the described central shaft, uniform some mop pieces on the disk bottom surface of described reel frame.
7. intelligent cleaning according to claim 6 robot, it is characterized in that, on the disk bottom surface of described reel frame with 120 ° of three mop locating racks uniformly at intervals, offer T type groove on the described mop locating rack, the top side of described mop piece has the symmetry that wears into T type groove transplants a cutting, and described mop piece is connected by securing member mutually with the mop locating rack.
8. intelligent cleaning according to claim 1 robot is characterized in that described walking mechanism comprises a universal wheel that is positioned at body bottom surface front end, and with two driving wheels of rear end flat raft, each is driven described two driving wheels by a stepper motor and connect.
9. according to each described intelligent cleaning robot in the claim 1 to 8, it is characterized in that, install ultrasonic sensor on the bottom surface of described body, described ultrasonic sensor has the obstacle detection port, and described ultrasonic sensor is connected by the signal transmission with controller.
CN 201320179290 2013-04-11 2013-04-11 Intelligent cleaning robot CN203226772U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN 201320179290 CN203226772U (en) 2013-04-11 2013-04-11 Intelligent cleaning robot

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CN203226772U true CN203226772U (en) 2013-10-09

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103944239A (en) * 2014-05-06 2014-07-23 太仓万冠涂装设备有限公司 Automatically chargeable powder recovery device and charger
CN103977982A (en) * 2014-05-06 2014-08-13 太仓万冠涂装设备有限公司 Automated powder recycling device
CN104068796A (en) * 2014-07-12 2014-10-01 襄垣县树元电器有限公司 Direct current charging type dust collector
CN104068797A (en) * 2014-07-12 2014-10-01 襄垣县树元电器有限公司 Direct current charging type automatic dust collector
CN104970738A (en) * 2015-07-31 2015-10-14 苏州蓝王机床工具科技有限公司 Power self-learning dust collector
CN105249889A (en) * 2015-11-18 2016-01-20 广东溢达纺织有限公司 Automatic cleaning equipment
CN106618387A (en) * 2016-09-27 2017-05-10 阜阳科技工程学校 Full-automatic intelligent household robot cleaner
CN107007202A (en) * 2017-04-17 2017-08-04 袁超 A kind of barber shop ground hair automatic cleaning apparatus
CN108065870A (en) * 2018-01-31 2018-05-25 金华菁英科技服务有限公司 A kind of ground cleaning robot and its control method
WO2018108144A1 (en) * 2016-12-16 2018-06-21 云翊智能科技(东莞)有限公司 Cleaning robot and cleaning robot system
WO2020082952A1 (en) * 2018-10-24 2020-04-30 高翔 Floor mopping machine

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103944239A (en) * 2014-05-06 2014-07-23 太仓万冠涂装设备有限公司 Automatically chargeable powder recovery device and charger
CN103977982A (en) * 2014-05-06 2014-08-13 太仓万冠涂装设备有限公司 Automated powder recycling device
CN104068796A (en) * 2014-07-12 2014-10-01 襄垣县树元电器有限公司 Direct current charging type dust collector
CN104068797A (en) * 2014-07-12 2014-10-01 襄垣县树元电器有限公司 Direct current charging type automatic dust collector
CN104970738A (en) * 2015-07-31 2015-10-14 苏州蓝王机床工具科技有限公司 Power self-learning dust collector
CN105249889A (en) * 2015-11-18 2016-01-20 广东溢达纺织有限公司 Automatic cleaning equipment
CN106618387A (en) * 2016-09-27 2017-05-10 阜阳科技工程学校 Full-automatic intelligent household robot cleaner
WO2018108144A1 (en) * 2016-12-16 2018-06-21 云翊智能科技(东莞)有限公司 Cleaning robot and cleaning robot system
CN107007202A (en) * 2017-04-17 2017-08-04 袁超 A kind of barber shop ground hair automatic cleaning apparatus
CN108065870A (en) * 2018-01-31 2018-05-25 金华菁英科技服务有限公司 A kind of ground cleaning robot and its control method
WO2020082952A1 (en) * 2018-10-24 2020-04-30 高翔 Floor mopping machine

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20131009

Termination date: 20160411