CN208259654U - A kind of clean robot - Google Patents
A kind of clean robot Download PDFInfo
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- CN208259654U CN208259654U CN201720454330.7U CN201720454330U CN208259654U CN 208259654 U CN208259654 U CN 208259654U CN 201720454330 U CN201720454330 U CN 201720454330U CN 208259654 U CN208259654 U CN 208259654U
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Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The utility model discloses a kind of clean robots, comprising: fuselage, cleaning head, cleaning assemblies, sensor group and controller, wherein: the cleaning head is at least two, is removably mounted on the bottom of the fuselage, and the cleaning head is driven by independent drive motors and rotated；The cleaning assemblies is at least two, is mounted on cleaning head by detachable connecting part respectively；The sensor group and controller are installed in the accommodation space of the fuselage interior；The sensor group is used to sense the operating state data of the clean robot, and sends obtained operating state data to controller；The controller is connect with sensor group and drive motor, for generating control instruction according to the operating state data received, is sent to sensor group and drive motor.The utility model clean robot cleaning effect is good, not will cause dirt residual, brings great convenience for the use of user.
Description
Technical field
The utility model relates to robot field, especially a kind of clean robot.
Background technique
Clean robot can be automatically completed cleaning work, save a large amount of time and efforts for people, therefore clear
Clean robot is produced more and more and is come into operation into the home life of people.But clean robot currently on the market, especially
It is that mopping robot mostly uses double crawler travels and steering mode, the cleaning mode cleaning of this flat push type to be not thorough,
It is easy to cause dirt to remain.
Utility model content
Of the existing technology in order to solve the problems, such as, the utility model proposes a kind of clean robots.The utility model is clear
Clean robot uses spin-cleaning head itself spin-cleaning mode, also achieves walking function while cleaning and cleaning.
The utility model proposes a kind of clean robot include: fuselage, cleaning head, cleaning assemblies, sensor group and control
Device processed, in which:
The cleaning head is at least two, is removably mounted on the bottom of the fuselage, the cleaning head is by independence
Drive motor driving rotation；
The cleaning assemblies is at least two, is mounted on cleaning head by detachable connecting part respectively；
The sensor group and controller are installed in the accommodation space of the fuselage interior；
The sensor group is used to sense the operating state data of the clean robot, and the working condition number that will be obtained
According to sending controller to；
The controller is connect with sensor group and drive motor, for generating control according to the operating state data received
System instruction, is sent to sensor group and drive motor.
Optionally, the cleaning head can be rotated in the forward direction or be reversely rotated.
Optionally, the sensor group includes obstacle avoidance sensor and hanging sensor, in which:
The obstacle avoidance sensor is mounted on the periphery of clean robot fuselage, for sensing collision accident, and will sense
Data transmission to controller；
The hanging sensor is mounted on the periphery and/or center of clean robot fuselage bottom, and fuselage is outstanding for identification
Dummy status, and when fuselage is in vacant state by the data transmission sensed to controller, controller is according to the number received
According to sending pause and/or steering order.
Optionally, the obstacle avoidance sensor is Sun-shading type photoelectric sensor.
Optionally, the sensor group further includes drive motor speed probe and drive motor current sensor, difference
It is connected with corresponding drive motor, the drive motor speed probe and drive motor current sensor are for sensing corresponding drive
The tach signal and current signal of dynamic motor, and the signal that sensing obtains is sent to controller.
Optionally, the sensor group further includes ambient light intensity sensors, for the power of sense ambient light, and will sense
The light intensity signal measured is sent to controller.
Optionally, the drive motor can drive cleaning head and then be driven according to the instruction of controller and be moved down on cleaning assemblies
It is dynamic.
Optionally, the clean robot further includes cleaning liquid receptacle, and the cleaning liquid receptacle is mounted on the cleaning head
Top, the top of the cleaning liquid receptacle is equipped with sealing cover, and bottom is provided with adjustable metering hole.
Optionally, the clean robot further includes power supply unit, and the power supply unit is connect with the component of power supply is needed,
To provide power supply for it.
Optionally, the clean robot further includes human-computer interaction device, and the human-computer interaction device is connect with controller,
Controller is sent to for receiving extraneous instruction, and the working condition of clean robot is fed back into user.
The utility model clean robot uses spin-cleaning head itself spin-cleaning mode, goes back while cleaning and cleaning
Walking function is realized, i.e., is constantly in rotation scouring state during walking；Skill is perceived using cleaning head working condition
Art realizes real-time regulation and control；The cleaning mode treated using automatic ground identification subregion；It is automatic to carry out obstacle positions identification
Course changing control is carried out in time, realizes a variety of walking cleaning modes.The utility model clean robot cleaning effect is good, will not
It causes dirt to remain, brings great convenience for the use of user.
Detailed description of the invention
Fig. 1 is the structural schematic diagram according to the clean robot of an embodiment of the present invention.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with specific embodiment, and
Referring to attached drawing, the utility model is further described.
Fig. 1 is according to the structural schematic diagram of the clean robot of an embodiment of the present invention, as shown in Figure 1, described clear
Clean robot includes: fuselage 1, cleaning head 2, cleaning assemblies 3, sensor group 4 and controller, in which:
The cleaning head 2 is at least two, is removably mounted on the bottom of the fuselage 1, and the cleaning head 2 is by only
Vertical drive motor driving rotation；
The cleaning assemblies 3 is at least two, is mounted on cleaning head 2 by detachable connecting part respectively；
The sensor group 4 and controller are installed in the accommodation space inside the fuselage 1；
The sensor group 4 is used to sense the operating state data of the clean robot, and the working condition that will be obtained
Data transmission is to controller；
The controller is connect with sensor group 4 and drive motor, for being generated according to the operating state data received
Control instruction is sent to sensor group 4 and drive motor.
Wherein, the cleaning head 2 can be rotated in the forward direction or be reversely rotated, the rotation that controller passes through control drive motor
Direction and velocity of rotation can be realized the straight line walking of clean robot and turn to.
Wherein, the quantity of the cleaning assemblies 3 is corresponding with the quantity of cleaning head 2.
In an embodiment of the utility model, the cleaning head 2 with buckle structure (such as Elastic plastic-rubber lock) or other
Detachable structure is mounted on the bottom of the fuselage 1, can easily dismantle in this way to cleaning head 2, be convenient to clean, ties up
It repairs and replaces.
In an embodiment of the utility model, the clean robot further includes cleaning liquid receptacle, the cleaning liquid receptacle
It is mounted on the top of the cleaning head, the top of the cleaning liquid receptacle is equipped with sealing cover, and bottom is provided with adjustable metering hole.
In use, opening the sealing cover of cleaning liquid receptacle for disassembling with the cleaning head slave, water or other cleanings are injected
Liquid is then shut off sealing cover, adjusts the size of metering hole, then cleaning head is installed on fuselage, water in cleaning liquid receptacle or
Other cleaning solutions can soak automatically cleaning assemblies by metering hole in a manner of infiltration, realize the function that hygrometric state is cleaned, from
And cleaning can be allowed more efficient more thoroughly.
In this embodiment, further, the cleaning head includes: decelerating motor, shaft coupling locking seat, and cleaning liquid receptacle is close
Capping, cleaning liquid receptacle upper casing and cleaning liquid receptacle lower casing, in which:
Shaft coupling locking seat side and decelerating motor detachable connection, realize the effect of shaft coupling, the other side and clear
Clean liquid container upper casing detachable connection realizes the handling of the cleaning members such as cleaning liquid receptacle；
Liquid injection port is provided on the cleaning liquid receptacle upper casing；
Cleaning liquid receptacle sealing cover is installed in the liquid injection port, cleaning liquid receptacle sealing cover can be tied closely with liquid injection port
It closes；
The cleaning liquid receptacle upper casing is combined with the sealing of cleaning liquid receptacle lower casing；
Cleaning liquid receptacle sealing cover, cleaning liquid receptacle upper casing and cleaning liquid receptacle lower casing assembly sealing cleaning solution jointly
Container；
One or more metering holes are provided on the cleaning liquid receptacle lower casing；
The cleaning assemblies 3 is removably installed on the cleaning liquid receptacle lower casing.
Wherein, the decelerating motor can be rotated in the forward direction and also be reversely rotated, and can thus drive entire cleaning head, and then band
Dynamic cleaning assemblies is rotated in the forward direction or is reversely rotated.
In an embodiment of the utility model, the shaft coupling locking seat is using lock catch connector and decelerating motor and cleaning solution
Container upper casing is engaged connection, at this point, the shaft coupling locking seat is both the shaft coupling of power transmission and the lock of each cleaning member
Part.
In an embodiment of the utility model, the shaft coupling locking seat uses hexagonal prism tenon structure.
In an embodiment of the utility model, the cleaning liquid receptacle sealing cover uses rubber parts, and resistance to switch is curved to be torn open and close
It seals；The cleaning liquid receptacle upper casing is connect with cleaning liquid receptacle lower casing using ultrasonic wave welding procedure of hot pressing phase welded seal,
Ensure cleaning liquid receptacle sealing without leakage.
In an embodiment of the utility model, the dimension adjustable of the metering hole is usually arranged on a cleaning head
The metering hole in 2~4 or multiple symmetrical impartial orientation.
In an embodiment of the utility model, equipped with closeouts at the metering hole, for example porous can be used
Sponge is as closeouts, to block metering hole, the speed that control cleaning liquid receptacle cleaning inside liquid stream goes out；The cleaning solution holds
The venthole of dimension adjustable is offered on device upper casing.In this way, using the characteristic of sponge porous water-absorbing, cleaning liquid receptacle entirety
The aeration of air-tightness and venthole adjusts metering hole and venthole to size appropriate, it will be able to obtain suitable clear
The clean liquid rate of outflow, and then obtain suitable cleaning assemblies degree of soaking, be suitable for cleaning and clean.
In an embodiment of the utility model, the cleaning assemblies 3, such as rag, pass through the detachable connections such as thread gluing
Part is mounted on cleaning head 2, to be convenient to that cleaning assemblies 3 is cleaned or replaced.
In an embodiment of the utility model, hygroscopic, the wiper of multilayered structure can be used in the cleaning assemblies 3, outside
The cloth of soft material can be used in layer cleaning surface layer, and the cloth of harder material can be used in internal layer.The cleaning assemblies 3 both can be
Monolith wiper is coated on cleaning head, or one end of multiple strip wipers, each strip wiper is removably attached to
On cleaning head, the utility model is not especially limited the specific implementation form of cleaning assemblies 3, as long as can connect with cleaning head
It connects, and the cleaning solution of cleaning head metering hole outflow can be accepted.
By upper, the utility model clean robot uses dual rotary cleaning head or more spin-cleaning heads, is driven by setting
The different direction of rotation of motor and rotation speed drive entire clean robot to walk towards scheduled direction, while walking
Rag on spin-cleaning head is to complete the cleaning and scouring on ground.
In an embodiment of the utility model, the sensor group 4 includes obstacle avoidance sensor and hanging sensor, in which:
The obstacle avoidance sensor is mounted on the periphery of clean robot fuselage, for sensing collision accident, and will sense
Data transmission to controller；
In an embodiment of the utility model, the obstacle avoidance sensor is Sun-shading type photoelectric sensor, the avoidance sensing
The collision accident data that perception obtains are sent to controller by device, and controller issues steering order according to the data received, are led to
The rotation direction and velocity of rotation for crossing control drive motor realize that avoidance turns to and the clean function that walks on, so as to
Under the premise of not influencing cleaning, the anticollision of comprehensive 360 angle is realized.
Further, when the obstacle avoidance sensor is one or more Sun-shading type photoelectric sensors, the cleaning machine
People further includes impact absorption spring, barn door and silica gel shock-absorption piece, in which:
One or more of Sun-shading type photoelectric sensors are mounted on around the clean robot fuselage or bottom, use
Whether it is collided in sensing clean robot, and sensing signal is sent to the controller of clean robot；
The barn door is mounted on the periphery of the clean robot fuselage, described in changing after by external world's collision
The incident light-path of Sun-shading type photoelectric sensor；
The silica gel shock-absorption piece is mounted on the periphery of the barn door, for buffering extraneous collision.
In an embodiment of the utility model, the clean robot further includes impact absorption spring, the impact absorption
Spring is mounted between the fuselage and barn door of the clean robot, for further buffering extraneous collision.
The hanging sensor is mounted on the periphery and/or center of clean robot fuselage bottom, such as clean robot
Four angles of fuselage bottom and center, fuselage vacant state for identification, and will be sensed when fuselage is in vacant state
Data transmission is to controller, and controller issues pause according to the data received and/or steering order controls drive motor, thus
Protect clean robot will not be there is a situation where falling damage, and the cleaning that can walk on after steering.
The above-mentioned clean robot for being equipped with hanging sensor can identify the fuselage vacant state at any one place, thus
It can accurately and timely make pause and/or steering reaction.
In an embodiment of the utility model, the hanging sensor is reflective type photoelectric sensor.
Further, when the hanging sensor is one or more reflective type photoelectric sensors, the cleaning machine
People further includes reflector, in which:
The reflector is mounted on the bottom of clean robot fuselage, while also can be used as the bottom case of clean robot, uses
In reflection light, the light reflex path of reflective type photoelectric sensor is constructed；
One or more of reflective type photoelectric sensors are mounted on the bottom of clean robot fuselage, such as cleaning machine
Multiple corners of people's fuselage bottom, the variation of the light reflex path for being constructed according to reflector generate sensing signal, and by its
It is sent to the controller of clean robot.
By upper, can be perceived in clean robot fuselage operational process by above-mentioned obstacle avoidance sensor and hanging sensor
Various situations, then avoidance walking can effectively be realized and the dropproof function of pause steering that falls through by the processing of processor feedback control
Energy.
In an embodiment of the utility model, the sensor group 4 further includes range sensor, the range sensor peace
Mounted in the periphery of clean robot fuselage, for sense barrier relative to clean robot orientation and barrier and fuselage it
Between distance, and by the data transmission sensed to controller.
In an embodiment of the utility model, the sensor group 4 further includes drive motor speed probe and driving horse
Up to current sensor, connected respectively with corresponding drive motor.The drive motor speed probe and drive motor electric current pass
Sensor is used to sense the tach signal and current signal of respective drive motor, and the signal that sensing obtains is sent to controller,
Whether the controller is analyzed according to the signal received determines in clean robot operational process by from extraneous obstruction
Effect, if so, steering order can be issued, the rotation direction and velocity of rotation for adjusting drive motor, which are realized, to be turned to, and puts machine
The de- obstruction from the external world.
In an embodiment of the utility model, the sensor group 4 further includes ambient light intensity sensors, for sensing ring
The power of border light, and the light intensity signal sensed is sent to controller, controller judges respective area according to the signal received
The clean level in domain, and corresponding cleaning mode is selected accordingly, such as strength cleaning mode or common cleaning mode, it is clear in strength
Under clean mode, the velocity of rotation of drive motor is more faster.
In an embodiment of the utility model, the drive motor includes: motor and reduction gearbox, in which:
The reduction gearbox includes: reduction box upper cover, second level deceleration duplex helical gear, input helical gear, first order deceleration
Duplex helical gear, copper bearing, third level reduction helical gears and reduction box lower cover；
The first order deceleration duplex helical gear and second level deceleration duplex helical gear include by gear axis connection
Gear wheel and pinion gear；
The motor is fixed in reduction box upper cover by connector；
The input helical gear is anchored on the output shaft end of motor；
The input helical gear is engaged with the gear wheel of first order deceleration duplex helical gear, realizes first order deceleration transmission；
The pinion gear of first order deceleration duplex helical gear is engaged with the gear wheel of second level deceleration duplex helical gear, realizes the
Double reduction transmission；
The pinion gear of second level deceleration duplex helical gear is engaged with the gear wheel of third level reduction helical gears, realizes the third level
Deceleration transmission；
Third level reduction helical gears pass through copper bearing and reduction box lower cover and cleaning head 2 links, and realize that the shaft coupling of power is defeated
Out, while the cleaning head 2 is mounted on the fuselage bottom case of clean robot, final that cleaning head 2 is driven to work.
Wherein, reduction box upper cover, second level deceleration duplex helical gear, input helical gear, first order deceleration duplex helical gear,
Copper bearing, third level reduction helical gears and reduction box lower cover constitute an expansion three-level involute profile cylindric spiral gear and subtract
Fast case.
Correspondingly also can by cleaning head 2 by being connected for above-mentioned each component when the motor converts rotation direction
Convert rotation direction, wherein the rotation of positive and negative both direction can be achieved in motor and cleaning head 2.
In an embodiment of the utility model, the connector is removable connector, such as screw.
In an embodiment of the utility model, motor is the low-power machine of high revolving speed small size low cost, for example, revolving speed
For the motor that 5000~15000RPM, volume are ∮ 24mm*30mm, power is 4~15W.
In an embodiment of the utility model, the input helical gear passes through cold pressing fastening procedure fastening after motor shaft annular knurl
In the output shaft end of motor.
In an embodiment of the utility model, the third level reduction helical gears pass through hexagonal mortise and tenon knot with by driving assembly
Structure linkage.
In an embodiment of the utility model, all gears all use involute profile.
In an embodiment of the utility model, the gear is plastic cement material, such as POM plastic gear, this plastic cement material
The gear of matter is easier to manufacture and cost is lower.
In another embodiment of the utility model, the drive motor can drive cleaning head in turn according to the instruction of controller
It drives cleaning assemblies to move up and down, for example, controller can control drive motor to move down under strength cleaning mode, is driving
Under the drive of dynamic motor, direction is mobile to the ground for cleaning head and the cleaning assemblies being mounted on cleaning head, such cleaning head
With cleaning assemblies in rotation, it will be able to increase the frictional force between cleaning assemblies and ground, play clean to ground strength
Effect.
It finds after study, the movable frequency with environmental light intensity of mankind's different zones on the ground are weak related, usual environment
The strong ground of illuminance corresponds to the high region of mankind's activity frequency, and the high localized ground of movable frequency can be because the mankind's be frequent
Activity can be dirtier.Controller carrys out decision use in conjunction with the current working condition of fuselage according to the light intensity signal of current region
Which kind of cleaning mode carries out automatic identification for ground cleaning procedure to realize, and accordingly selects the ground of varying strength clear
Clean mode, it is final to realize efficiently thorough clean purpose comprehensively.
In an embodiment of the utility model, the clean robot further includes power supply unit, the power supply unit and drive
Dynamic motor, sensor group 4, controller and other need the component of power supply to connect, to provide power supply for it.The power supply unit
It can be had concurrently for chargeable power supply unit, replaceable battery or the two, user can voluntarily select as needed, when
So, it if selecting chargeable power supply unit, also needs to be equipped with corresponding charging unit and component 5.
In an embodiment of the utility model, the clean robot further includes human-computer interaction device, the human-computer interaction
Device is connect with controller, sends controller to for receiving extraneous instruction, and the working condition of clean robot is fed back to
User.
In an embodiment of the utility model, the human-computer interaction device includes input unit, color output unit, sound
Output unit and communication unit, in which:
The input unit sends it to controller, including switch button 6, Working mould for inputting extraneous instruction
The input units such as formula select button；
The color output unit for by such as indicator light color come export clean robot working condition or
Other information；
The voice output unit for by such as buzzer sound come export clean robot working condition or
Other information；
The communication unit includes infrared communication subelement, WIFI communication subelement, Bluetooth communication subelement, NFC logical
Believe the communication subelement such as subelement, mobile communication subelement, for receiving and handling from extraneous instruction, and sends it to
Controller.
In this embodiment, user can be instructed by input unit input control, such as the choosing of time-of-the-day order, cleaning mode
Select etc., the working condition that clean robot can be current by indicator light or auditory tone cues clean robot at any time can also pass through
The instruction that communication unit short distance or distance reception user send, so that realizing can also be for cleaner when user stays out
Device people controls.
In an embodiment of the utility model, the clean robot further includes dust exhaust apparatus, the dust exhaust apparatus installation
In the bottom of the fuselage, for being carried out by negative-pressure adsorption technology for the ground before or after wiping ground by vacuum motor
Dust suction, the dust exhaust apparatus are connect with controller, to be worked according to the instruction of controller.
The utility model clean robot uses spin-cleaning head itself spin-cleaning mode, goes back while cleaning and cleaning
Walking function is realized, i.e., is constantly in scouring state during walking；It is real using cleaning head working condition cognition technology
Regulation and control when real；The cleaning mode treated using automatic ground identification subregion；It is automatic to carry out obstacle positions identification in time
Course changing control is carried out, realizes a variety of walking cleaning modes.The utility model clean robot reduces production cost, for
Family brings great convenience.
Particular embodiments described above has carried out into one the purpose of this utility model, technical scheme and beneficial effects
Step is described in detail, it should be understood that being not limited to this foregoing is merely specific embodiment of the utility model
Utility model, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done should all wrap
Containing being within the protection scope of the utility model.
Claims (7)
1. a kind of clean robot, which is characterized in that the clean robot includes: fuselage, cleaning head, cleaning assemblies, sensing
Device group, controller and human-computer interaction device, in which:
The cleaning head is at least two, is removably mounted on the bottom of the fuselage, the cleaning head is by independently driving
Motor driving rotation；
The cleaning assemblies is at least two, is mounted on cleaning head by detachable connecting part respectively；
The sensor group and controller are installed in the accommodation space of the fuselage interior；
The sensor group is used to sense the operating state data of the clean robot, and obtained operating state data is passed
Give controller；
The controller is connect with sensor group and drive motor, is referred to for generating control according to the operating state data received
It enables, is sent to sensor group and drive motor；
The sensor group includes obstacle avoidance sensor and hanging sensor, in which:
The obstacle avoidance sensor is mounted on the periphery of clean robot fuselage, for sensing collision accident, and the number that will be sensed
According to sending controller to；
The obstacle avoidance sensor is Sun-shading type photoelectric sensor, and the clean robot further includes impact absorption spring, barn door
With silica gel shock-absorption piece；
The hanging sensor is mounted on the periphery and/or center of clean robot fuselage bottom, for identification fuselage hanging shape
State, and when fuselage is in vacant state by the data transmission sensed to controller, controller is sent out according to the data received
Pause and/or steering order control drive motor out；
The hanging sensor is reflective type photoelectric sensor, and the clean robot further includes reflector；
The human-computer interaction device is connect with controller, sends controller to for receiving extraneous instruction, and by clean robot
Working condition feed back to user；
The human-computer interaction device includes input unit, color output unit, voice output unit and communication unit.
2. clean robot according to claim 1, which is characterized in that the cleaning head can be rotated in the forward direction or reversely be revolved
Turn.
3. clean robot according to claim 1, which is characterized in that the sensor group further includes drive motor revolving speed
Sensor and drive motor current sensor, respectively with corresponding drive motor connect, the drive motor speed probe and
Drive motor current sensor is used to sense the tach signal and current signal of respective drive motor, and the signal that sensing is obtained
It is sent to controller.
4. clean robot according to claim 1, which is characterized in that the sensor group further includes that ambient light intensity passes
Sensor is sent to controller for the power of sense ambient light, and by the light intensity signal sensed.
5. clean robot according to claim 1, which is characterized in that the drive motor can be according to the instruction of controller
It drives cleaning head and then cleaning assemblies is driven to move up and down.
6. clean robot according to claim 1, which is characterized in that the clean robot further includes that cleaning solution holds
Device, the cleaning liquid receptacle are mounted on the top of the cleaning head, and the top of the cleaning liquid receptacle is equipped with sealing cover, and bottom is set
It is equipped with adjustable metering hole.
7. clean robot according to claim 1, which is characterized in that the clean robot further includes power supply unit,
The power supply unit is connect with the component of power supply is needed, to provide power supply for it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454330.7U CN208259654U (en) | 2017-04-27 | 2017-04-27 | A kind of clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454330.7U CN208259654U (en) | 2017-04-27 | 2017-04-27 | A kind of clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208259654U true CN208259654U (en) | 2018-12-21 |
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ID=64672067
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| CN201720454330.7U Active CN208259654U (en) | 2017-04-27 | 2017-04-27 | A kind of clean robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118426317A (en) * | 2024-07-03 | 2024-08-02 | 浙江三锋实业股份有限公司 | Adaptive mowing control method for mowing robot |
-
2017
- 2017-04-27 CN CN201720454330.7U patent/CN208259654U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118426317A (en) * | 2024-07-03 | 2024-08-02 | 浙江三锋实业股份有限公司 | Adaptive mowing control method for mowing robot |
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Effective date of registration: 20240707 Address after: Room 402, 4th Floor, No. 1111 Huihe South Street, Banbidian Village, Gaobeidian Township, Chaoyang District, Beijing, 100000 Patentee after: Beijing bovine Robot Technology Co.,Ltd. Country or region after: China Address before: Floor 17, Huanneng Technology Building, No. 17 Gaoxin Street, High tech Zone, Taiyuan City, Shanxi Province, 030032 Patentee before: Niu Ligeng Country or region before: China |