CN2565058Y - Intelligent domestic cleaner - Google Patents
Intelligent domestic cleaner Download PDFInfo
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- CN2565058Y CN2565058Y CN 02256566 CN02256566U CN2565058Y CN 2565058 Y CN2565058 Y CN 2565058Y CN 02256566 CN02256566 CN 02256566 CN 02256566 U CN02256566 U CN 02256566U CN 2565058 Y CN2565058 Y CN 2565058Y
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- scavenging machine
- switch
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- cleaner
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Abstract
The utility model relates to an intelligent domestic cleaner which comprises a computer, sensors, motors, a power transmission mechanism, a power supply, a dust collector, a power supply switch, an operation potentiometer, etc. Three ultrasonic distance sensors are arranged at the top of the cleaner, five proximity switches are arranged at the front edge of the bottom of the cleaner, and the proximity switches and the ultrasonic distance sensors form a distance measurement system of the cleaner together. The cleaner is provided with two direct current motors, and a dust collector mechanism is arranged at the bottom of the cleaner. The intelligent domestic cleaner has the function that the utility model automatically finishes the cleaning and dust removal tasks of the open ground of rooms, especially the open ground of homes. Before the room is cleaned, objects in the room are impacted with circumjacent walls to vacate the open ground. The cleaner has the main finished functions that the utility model can automatically walk through all rooms which can be entered, the utility model can automatically clean and remove dust, and the utility model can clean and remove dust under the states of remote control and manual control.
Description
Technical field:
The utility model relates to a kind of scavenging machine, is specifically related to a kind of intelligent domestic scavenging machine, belongs to International Classification of Patents B25J11/00 " mechanical arm " technical field.
Background technology:
Present household cleaning also is difficult to realize intelligent, generally only use common manual cleaning device, and the area that Modern Family need clean is increasing, and the kinsfolk is more and more busier again, very needs intelligent cleaning device.
Goal of the invention:
The purpose of this utility model provides a kind of spacious ground, room of finishing automatically and especially cleans the intelligent domestic scavenging machine of dedusting task in the spacious ground of household.
The technical solution adopted in the utility model is as follows:
A kind of intelligent scavenging machine, its composition comprises: computing machine, sensor, motor and power drive mechanism, power supply, suction cleaner, power switch, operation pot etc., top at scavenging machine is provided with ultrasonic sensor, be provided with three ultrasonic distance sensors altogether, be installed on dead ahead, the front-left at scavenging machine top respectively and just going up top side; Edge, the place ahead, scavenging machine bottom is equipped with 5 near switch; With the ultrasonic distance sensor, constitute the scavenging machine range measurement system near switch; Scavenging machine is equipped with two direct current motors, drives two wheels of the right and left respectively; In the bottom of scavenging machine suction cleaner mechanism is installed, its suction port aligns with the edge, left side in the bottom, and 10 centimetres of bores are by relay control suction cleaner working power switch.
The ultrasonic probe that ultrasonic sensor is provided with can transmit and receive, and its maximum distance of reaction is 6m, minimum distance of reaction 0.15m, and analog quantity output, cable connects.
Near the switch output switching signal, the distance that can respond to is 15mm.
Power supply provides for accumulator, DC voltage 24V.Can guarantee that continuous working period was greater than 4 hours.
10 centimetres of suction cleaner mechanism bores.By relay control suction cleaner working power switch; Relay is by the I/O switching signal output control of host scm.
Scavenging machine is provided with total power switch, suction cleaner operating switch and manual control, remote control and automatic control function switch, is provided with pot and controls the object track of walking about when switch is in manual position.
Intelligence scavenging machine computer control system hardware configuration is as follows:
(1) host scm adopts 8098 control and testing boards
This single-chip computer control system is finished scavenging machine Navigation Control task, can link to each other with PC, wherein has: four tunnel 8 A/D, i.e. AD
1, AD
2, AD
3, AD
4Two tunnel 8 D/A, i.e. DA
1, DA
2Eight way switch amount I/O input, i.e. DI
0～DI
7Seven way switch amount I/O output, i.e. DO
0～DO
6Two-way D/A passage is set, and wherein route PWM (P2.5) pin provides, and another route HSO.O pin provides; PWM pin output pulse signal, its cycle is fixed as 64us (12MHZ clock), and pulse duty factor is variable, depends on the value of PWM register; The pulse signal that HSO provides, its cycle and dutycycle are all variable, need to write 2 data to the content addressable memories CAM of HSO, and data make HSO..O become high level, another data make HSO..O become low level, and timer is as the time reference of Event triggered among the HSO; PWM pin and HSO.O are used to provide two road D/A output DC simulation signal in the native system, can be used for controlling two direct current generators on the left and right both sides of scavenging machine after power amplification;
(2) from single-chip microcomputer 8098 minimum systems
By CPU, 74LS373, compositions such as EProm2764 are finished the distance that meter is calculated preceding, left, the top between the walls in scavenging machine and room; Two Single Chip Microcomputer (SCM) system are carried out communication each other by serial ports.
Finishing of the correct navigation of scavenging machine is to provide scavenging machine self to the range information wall or the barrier from Single Chip Microcomputer (SCM) system equipment Range Measurement System.
Its telechirics is provided with the break-make of individual palpation key and infrared remote control device control two-way load.
The function of the utility model intelligent domestic scavenging machine is to finish the especially cleaning dedusting task on the spacious ground of household of spacious ground, room automatically, before sweeping, vacate spacious ground the object in the room near surroundings wall.The major function that scavenging machine is finished is as follows:
1. can go over all enterable rooms automatically.
2. cleaning dust absorption automatically.
3. can be under remote control and manual state cleaning dust absorption.
Description of drawings:
Fig. 1 is main 8098 scm observe and control interface board wiring diagrams;
Fig. 2 is from 8098 microcontroller serial port communication minimum system wiring diagrams;
Fig. 3 is the computer control system chart;
Fig. 4 is the scavenging machine schematic appearance;
Fig. 5 is from 8098 single-chip microcomputer supersonic sounding circuit diagrams (three tunnel);
Fig. 7 a is the Infrared Remote-Control Sending circuit diagram;
Fig. 7 b is infrared remote control receiving circuit figure;
Fig. 8 is power amplification circuit figure (a tunnel);
Among Fig. 4: 1. ultrasonic sensor, 2. near switch sensor, 3. suction cleaner suction inlet.
Embodiment:
The domestic intelligent scavenging machine, its composition comprises: computing machine, sensor, motor and power drive mechanism, power supply, suction cleaner, power switch, operation pot etc.Ultrasonic sensor is positioned at the scavenging machine top, and scavenging machine has three ultrasonic distance sensors, is installed on dead ahead, front-left, the just last top side at scavenging machine top respectively.Its used ultrasonic probe both can be launched, and also can receive, maximum distance of reaction 6m, and minimum distance of reaction 0.15m, analog quantity output, cable connects.
Edge, the place ahead in the scavenging machine bottom is equipped with 5 near switch.But should be 15mm near the switch distance of reaction, output switching signal.Constitute the scavenging machine range measurement system with the ultrasonic distance sensor.
Scavenging machine is equipped with two direct current motors, and control signal is after power amplification, and two motors about control drive two wheels on the left and right both sides of scavenging machine respectively through speed reduction unit.The control signal of this motor is provided by host scm 8098, and after power amplification, the control motor is in good time with the proper speed forward or reverse.Every power of motor 120W.
This scavenging machine uses battery feed, and DC voltage 24V is provided.Can guarantee that continuous working period is on 4 hours.
In the scavenging machine bottom suction cleaner mechanism is installed.Suction port aligns with the edge, left side in the bottom, 10 centimetres of bores.By relay control suction cleaner working power switch.Relay is controlled by the I/O switching signal output of host scm, the relay adhesive, and suction cleaner mechanism can work.Relay disconnects, and suction cleaner can not be worked.Telepilot can be by control J during use
1, J
2The coil conducting, J
1May command scavenging machine power supply electrifying, scavenging machine startup work.Work as J
2When coil closure or disconnection, after host scm 8098 detected, the control dust collection mechanism powered on or cuts off the power supply.
Switch: scavenging machine is provided with total power switch, suction cleaner operating switch, manual and automatic control function switch.
Pot: when manual when being in manual position, walk about and keep the radius distance of appointment around object with its left side, can just change, also can reverse around the object pot may command scavenging machine of walking about with the automatic control function switch.This depends on that pot provides the positive and negative of signal.The distance to a declared goal pot provides scavenging machine and target to 18 centimetres ~ 38 centimetres of the distance to a declared goal between the picture.The pot that falls back that advances, may command scavenging machine straight ahead and retreating.See Figure 15.
Show: battery tension demonstration, suction cleaner work demonstration etc.
The scavenging machine outward appearance: the scavenging machine outward appearance is cylindrical, and 4 wheels are arranged at the bottom.Three of ultrasonic ranging sensors are equipped with and near five on switch in the outside.See Fig. 4.The suction nozzle of dust collection mechanism is center-left in the scavenging machine bottom, aligns with left margin.36 centimetres of physical dimension cross-sectional diameters are high 30 centimetres.
Ultrasonic ranging system:
In order correctly to navigate for scavenging machine, make it must equip Range Measurement System so that it can in time obtain self to the range information between wall or the barrier accurately by appointment requirement work, this a part of task is by finishing from Single Chip Microcomputer (SCM) system.See Fig. 5.
1. ultrasonic ranging principle
The aerial velocity of propagation of ultrasound wave is 340 meter per seconds.Therefore, if can measure the aerial travel-time of ultrasound wave, just can calculate the distance of its propagation.Ultrasonic ranging is exactly to measure the distance that sound wave transmits, mistiming telemetry that Here it is by the time interval of measuring ultrasonic propagation.Concrete principle is as follows:
Transmitter is to a certain direction emission ultrasound wave, in x time, pick up counting, running into barrier (or wall) during ultrasound wave is propagated on the way in air just returns immediately, receiver receives reflection wave and just stops timing immediately, at this moment timer just meter descended the back and forth travel-time t of ultrasound wave between from the scavenging machine to the barrier, thereby the scavenging machine transmitter calculates to the available following formula of distance between the barrier:
s＝vt/2
The circuit design of range measurement system: ultrasound wave control head is a piezoelectric transducer, can send, and also can receive.Transceiver adopts industrial integrated circuit LM1812 ultrasonic transmitter-receiver; It is the minimal application system that core is formed that controller adopts the Intel8098 single-chip microcomputer.Mainly finish and determine taking turns to operate of three transducers, control launch time, distance calculation and with work such as the mutual serial communication of host scm.See Fig. 5.The LM1812 ultrasonic transmitter-receiver is an industrial integrated circuit.Can be used in various range findings, orientation and the communication applications.Comprise a pulsed modulation C class transmitter, high-gain receiver, pulsed modulation detecting device and noise suppression circuit on the chip.Wherein the external LC network of pin one is that transmitter and receiver are fixed frequency of operation.Pin 8 is control ends, carries out LM1812 is switched to the function that emission mode still is a receiving mode.When 8 pin were high level, chip just was in emission mode; When 8 pin kept low level, chip just was in receiving mode.Pin one 6 provides a logic output compatible mutually with CMOS, as long as the voltage of transmitted wave or reception echo surpasses 1.4V
P-p, detecting device is action just, makes 16 pin become low electricity, otherwise just becomes high voltage.Obviously if can write down this pin becomes the low level time for twice, just know from being transmitted into to receive echo during this period of time; Ultrasound wave time of propagating back and forth just, thus just know the distance of its propagation; The function of pin one 4 is with pin one 6.Pin one 4 is as a power take-off in the drawings.
With the mode of operation of the HSO of 8098 single-chip microcomputers control LM1812, No. 8 required control signals of pin of LM1812 promptly are provided, launch hyperacoustic moment with 8098 single-chip microcomputer HSI record LM1812 and receive the moment of echo with it.The particular hardware circuit is seen shown in Figure 5.Propagation efficiency when propagating with the frequency of 40KHZ in air because of ultrasound wave is the highest, so external its oscillation frequency of LC network 40KHZ, its vibration frequency of selected piezoelectric transducer also is 40KHZ.
The range measurement system software design: software is divided into two parts, i.e. master routine and interrupt service routine.See Fig. 6.Master routine is finished initial work, and each road ultrasonic emitting is with the reception sequential control and write down hyperacoustic x time.Reading of the main deadline value of interrupt service routine, distance calculation, result export work such as demonstration.
The measuring distance of ultrasonic ranging system can reach 6 meters among Fig. 5, and its maximum error＜0.5cm and repeatability are better.Only provided three-route road figure among the figure.
Communication between principal and subordinate's Single Chip Microcomputer (SCM) system:
The scavenging machine control system has two covers based on 8098 Single Chip Microcomputer (SCM) system, is respectively main single-chip microcomputer system and from Single Chip Microcomputer (SCM) system.Main single-chip microcomputer system is finished scavenging machine Navigation Control task, finishes ultrasonic measurement from Single Chip Microcomputer (SCM) system and calculates apart from task.Realize exchanges data by serial communication between the two.Be exactly after calculating the distance value of a scavenging machine left side, preceding, last three directions from Single Chip Microcomputer (SCM) system, to give main single-chip microcomputer system every 1 time in second with distance measure (before a d left side, the d, on the d), specifically for its Navigation Control scavenging machine.The hardware line of principal and subordinate's Single Chip Microcomputer (SCM) system communication is seen Fig. 3.Wherein these three lines of transmitting terminal, receiving end and ground wire are to be connected.Transmission, reception program are seen block diagram 7.Adopt the communication of serial ports interrupt mode, be i.e. carry out interrupt service routine after the reception of data and transmission interrupted by the response serial port and realize.
Individual palpation key and infrared remote control device: this telechirics is only used the switching of button may command two-way load.Principle of work is as follows:
1. transmitter
Fig. 7 (a) is depicted as the transmitter circuit schematic diagram, and wherein the keyed oscillator of 38KHZ is by Sheffer stroke gate NA
1, NA
2Form.After the switch S closure, NA
1, NA
2Qi Zhen, NA is passed through in its output
3, NA
4Buffering rear drive V
1Incremental, drive infraluminescence pipe SE303 at last with the radiation of infrared light form.If S is continuous closure, then SE303A exports the infrared light by the 38KHZ modulation continuously; If S is the crawl closure, then SE303A intermittently exports infrared light.
2. receiver
Fig. 7 (b) is the receiver schematic diagram.IC forms infrared reception, gives and putting and demodulator circuit among the figure.N
1, N
2, and ES
1, N
4, N
5With ES
3Form pulse and DC level identification circuit, ES
2, N
3With ES
4, N
6Form bistable switch, V
1, V
2Be used to drive J
1, J
2, its contact output directly is connected with the I/O input end of main single-chip microcomputer system.
The course of work of pulse and DC level identification circuit is: work as IC
17 pin output pulse signals the time, will make N
2Output low level, and then ES1 ends and the output high level.Because R
5, C
6Duration of charging long, C
8, D
3Discharge time short, therefore, C
8On voltage do not reach N all the time
5V
TH, make N
5Output keep high level, and ES
3Output low level.When 7 pin of IC were low level, the anti-phase output high level of N1 was because C
6Have every straight effect, and jump along deficiency so that C on the pulsatile once
7On voltage reach V
THLevel, therefore, N
2Output keeps high level and ES
1Conducting output low level, and N
4The high level of anti-phase output is through R
6To C
8After the charging, can make C
8Last voltage reaches V
THValue makes N
5Output low level, ES
3End and the output high level.The bi-stable electronic switch course of work is: circuit is by R at ordinary times
9, R
10With N
3Input end be offset to (1/2) V
DDVoltage, N
3Output keep ortho states (" 0 " or " 1 ").When ES1 by conducting turn to by the time, export a high level, jump on it along making ES
2Conducting supposes that original N3 is output as " 0 ", and the voltage on the C9 is 0, then N during the ES2 conducting
3Incoming level instantaneous be " 0 ", the input voltage of N3 is less than V like this
TL(the low Fujian value that triggers), N
3Upset output " 1 "; Work as ES
1When the high level of output finishes, ES
2End, at this moment N
3Input voltage get back to (1/2) V
DD, this shows that V is always arranged
TL＜(1/2) V
DD＜V
THRelation is set up, so N
3Keep the output high level, at this moment C
9Through R
13Charge to high level; Work as ES
1When exporting second high level to, ES
2Instantaneous admittance, N
3Incoming level be " 1 ", promptly input voltage is greater than V
TH, N at this moment
3Upset output " 1 ": same, work as ES
1When the high level of output finishes, N
3Keep the output high level, ES
4, N
6The principle of work of the bi-stable electronic switch of forming Deng element is same as described above.
Like this, when transmitter button S was closed, the IC1 pin 7 of receiver was a low level, ES
3End N
6Upset output " 1 ", the J2 adhesive; When closed S once more, N
6Upset output " 0 ", J
2Discharge.When crawl transmitter S, receiver IC
1Pin 7 demodulate pulse signal, ES
1End N
3Output " 1 ", the J1 adhesive, when second time during crawl S, N
3Output " 0 ", J
1Discharge.So promptly realize the process of individual palpation key control binary channels load break-make.When practical application, after closed transmitter S reaches 2 seconds, J
2Be adhesive (or release); Crawl S reaches three times, J
1Be adhesive (or release).
In the scavenging machine system, J
1The electric power loop of coil control scavenging machine.Work as J
1During adhesive, power connection, system powers on.Work as J
1During release, electric power loop disconnects.And J
2Coil links to each other with the I/O input end of main single-chip microcomputer system.Main single-chip microcomputer system detects J
2During adhesive, promptly output signal makes the work of suction cleaner mechanism.Work as J
2During release, the main single-chip microcomputer system output signal disconnects suction cleaner mechanism, and suction cleaner mechanism is not worked.
The function of intelligent domestic scavenging machine is to finish the especially cleaning dedusting task on the spacious ground of household of spacious ground, room automatically, before sweeping, vacate spacious ground the object in the room near surroundings wall.The major function that scavenging machine is finished: can go over all enterable rooms automatically, cleaning dust absorption automatically, can be under remote control and manual state cleaning dust absorption.
Claims (9)
1, a kind of intelligent scavenging machine, its composition comprises: computing machine, sensor, motor and power drive mechanism, power supply, suction cleaner, power switch, operation pot etc., it is characterized in that: the top at scavenging machine is provided with ultrasonic sensor, be provided with three ultrasonic distance sensors altogether, be installed on dead ahead, the front-left at scavenging machine top respectively and just going up top side; Edge, the place ahead, scavenging machine bottom is equipped with 5 near switch; With the ultrasonic distance sensor, constitute the scavenging machine range measurement system near switch; Scavenging machine is equipped with two direct current motors, drives two wheels of the right and left respectively; In the bottom of scavenging machine suction cleaner mechanism is installed, its suction port aligns with the edge, left side in the bottom, and 10 centimetres of bores are by relay control suction cleaner working power switch.
2, intelligent scavenging machine according to claim 1 is characterized in that: the ultrasonic probe that ultrasonic sensor is provided with, can transmit and receive, and its maximum distance of reaction is 6m, minimum distance of reaction 0.15m, analog quantity output, cable connects.
3, intelligent scavenging machine according to claim 1 is characterized in that: it is near the switch output switching signal, and the distance that can respond to is 15mm.
4, intelligent scavenging machine according to claim 1, it is characterized in that: its power supply provides for accumulator, and DC voltage 24V can guarantee that continuous working period was greater than 4 hours.
5, intelligent scavenging machine according to claim 1 is characterized in that: 10 centimetres of its suction cleaner mechanism bores, by relay control suction cleaner working power switch; Relay is by the I/O switching signal output control of host scm.
6, intelligent scavenging machine according to claim 1, it is characterized in that: it is provided with total power switch, suction cleaner operating switch and manual control, remote control and automatic control function switch, is provided with pot and controls the object track of walking about when switch is in manual position.
7, intelligent scavenging machine according to claim 1 is characterized in that: its computer hardware configuration is as follows:
(1) host scm adopts 8098 control and testing boards
This single-chip computer control system is finished scavenging machine Navigation Control task, can link to each other with PC, wherein has: four tunnel 8 A/D, i.e. AD
1, AD
2, AD
3, AD
4Two tunnel 8 D/A, i.e. DA
1, DA
2Eight way switch amount IO input, i.e. DI
0～DI
7Seven way switch amount IO output, i.e. DO
0～DO
6Two-way D/A passage is set, and wherein route PWM (P2.5) pin provides, and another route HSO.O pin provides; PWM pin output pulse signal, its cycle is fixed as 64us (12MHZ clock), and pulse duty factor is variable, depends on the value of PWM register; The pulse signal that HSO provides, its cycle and dutycycle are all variable, need to write 2 data to the content addressable memories CAM of HSO, and data make HSO..O become high level, another data make HSO..O become low level, and timer is as the time reference of Event triggered among the HSO; PWM pin and HSO.O are used to provide two road D/A output DC simulation signal in the native system, can be used for controlling two direct current generators on the left and right both sides of scavenging machine after power amplification;
(2) from single-chip microcomputer 8098 minimum systems
By CPU, 74LS373, compositions such as EProm2764 are finished the distance that meter is calculated preceding, left, the top between the walls in scavenging machine and room; Two Single Chip Microcomputer (SCM) system are carried out communication each other by serial ports.
8, intelligent scavenging machine according to claim 1 is characterized in that: finishing of the correct navigation of scavenging machine is to provide scavenging machine self to the range information wall or the barrier from Single Chip Microcomputer (SCM) system equipment Range Measurement System.
9, intelligent scavenging machine according to claim 1 is characterized in that: its telechirics is provided with the break-make of individual palpation key and infrared remote control device control two-way load.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02256566 CN2565058Y (en) | 2002-09-26 | 2002-09-26 | Intelligent domestic cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02256566 CN2565058Y (en) | 2002-09-26 | 2002-09-26 | Intelligent domestic cleaner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2565058Y true CN2565058Y (en) | 2003-08-06 |
Family
ID=33724760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02256566 Expired - Fee Related CN2565058Y (en) | 2002-09-26 | 2002-09-26 | Intelligent domestic cleaner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2565058Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101516245B (en) * | 2007-08-14 | 2012-01-04 | Lg电子株式会社 | Vacuum dust collector with capability of automatically moving and controlling posture and control method thereof |
| CN102834345A (en) * | 2010-03-25 | 2012-12-19 | 库卡实验仪器有限公司 | Method for operating an autonomous industrial truck |
| CN101596889B (en) * | 2008-06-02 | 2013-08-14 | 罗伯特·博世有限公司 | Method for configuration of ultrasonic-based driver assistance system and corresponding ultrasonic sensor |
| CN106226771A (en) * | 2016-08-31 | 2016-12-14 | 兰州交通大学 | A kind of alignment system and method |
| CN106093948B (en) * | 2016-06-03 | 2018-06-22 | 南阳中衡智能科技有限公司 | A kind of sweeping robot is stranded detection method |
| CN111184897A (en) * | 2020-02-25 | 2020-05-22 | 四川大学华西第二医院 | Intelligent sterilization frame with automatic control function |
-
2002
- 2002-09-26 CN CN 02256566 patent/CN2565058Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101516245B (en) * | 2007-08-14 | 2012-01-04 | Lg电子株式会社 | Vacuum dust collector with capability of automatically moving and controlling posture and control method thereof |
| CN101596889B (en) * | 2008-06-02 | 2013-08-14 | 罗伯特·博世有限公司 | Method for configuration of ultrasonic-based driver assistance system and corresponding ultrasonic sensor |
| CN102834345A (en) * | 2010-03-25 | 2012-12-19 | 库卡实验仪器有限公司 | Method for operating an autonomous industrial truck |
| CN102834345B (en) * | 2010-03-25 | 2015-07-15 | 库卡罗伯特有限公司 | Method for operating an autonomous industrial truck |
| CN106093948B (en) * | 2016-06-03 | 2018-06-22 | 南阳中衡智能科技有限公司 | A kind of sweeping robot is stranded detection method |
| CN106226771A (en) * | 2016-08-31 | 2016-12-14 | 兰州交通大学 | A kind of alignment system and method |
| CN111184897A (en) * | 2020-02-25 | 2020-05-22 | 四川大学华西第二医院 | Intelligent sterilization frame with automatic control function |
| CN111184897B (en) * | 2020-02-25 | 2020-11-10 | 四川大学华西第二医院 | Intelligent sterilization frame with automatic control function |
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| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |