CN107717948A - Glass curtain wall intelligence cleaning robot based on Android - Google Patents
Glass curtain wall intelligence cleaning robot based on Android Download PDFInfo
- Publication number
- CN107717948A CN107717948A CN201711180396.2A CN201711180396A CN107717948A CN 107717948 A CN107717948 A CN 107717948A CN 201711180396 A CN201711180396 A CN 201711180396A CN 107717948 A CN107717948 A CN 107717948A
- Authority
- CN
- China
- Prior art keywords
- cleaning robot
- curtain wall
- cleaning
- android
- water
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of glass curtain wall intelligence cleaning robot based on Android, control unit module is housed on cleaning robot, minisize pick-up head, water sensor, wireless telecommunications system, the cleaning robot gathers the image or video information of outer curtain wall and visual field environment by minisize pick-up head, water-holding quantity data and cleaning liquid measure in sensor collection cleaning robot, and image or video information and the data of collection are transferred to cell-phone customer terminal by built-in wireless telecommunications system and gateway device, the cell-phone customer terminal receives image or video information and the data of sensor collection that cleaning robot is sent by Android client interface module, and water-holding quantity in cleaning robot is shown by display screen, and cleaning liquid measure；Control unit module transfer operation control instruction of the user by cell-phone customer terminal into cleaning robot, control cleaning robot move ahead mobile cleaning glass curtain wall of turning, and intelligent control its water storage.
Description
Technical field
The present invention relates to a kind of cleaning robot, especially a kind of glass curtain wall intelligence cleaning robot.
Background technology
With expanding economy, city high rise building mansion rise abruptly ground and rise, the application of skyscraper outdoor glass curtain wall is general all the more
Time, the cleaning outdoor of high building glass curtain wall of the task is also just heavy all the more.Domestic use mostly manually cleans outdoor curtain wall at present, this
There is very big potential safety hazard for kind method.Outdoor curtain wall is manually cleaned, not merely it is difficult to ensure that cleanup crew's is perfectly safe,
Simultaneously cumbersome construction link may also can produce many operation rubbish, pollute urban environment.
The popularization and development of contemporary mobile phone, the Working Life to people bring huge convenience, use Android phone
Application software control novel glass curtain cleaning robot (hereinafter referred to as " cleaning robot "), and then complete high-rise scavenger
Make, be exactly a very potential and selection for market value to reduce the work risk manually cleaned.The present invention is exactly with this
Global design is completed for breach and innovative point, it is intended to solves the difficulty that artificial cleaning high-rise glass curtain wall has potential safety hazard
Topic, a kind of new thinking is released, controls intelligent cleaning robot efficiently to complete cleaning task by cell-phone customer terminal, it is final to solve
Artificial cleaning problem, increases a color for " smart city ".
The content of the invention
The present invention proposes a kind of glass based on Android using the cell phone system Android popularized at present as research direction
Curtain wall intelligence cleaning robot, Robot Selection STM32F107 embedded chips add necessary as microprocessor
Peripheral circuit and interface circuit build the hardware platform of gateway；Using Zigbee module as wireless communication module, design and real
Existing sensor data acquisition module and from controller module.Handheld terminal is that Android phone APP passes through bluetooth/4G/WiFi nets
Network is communicated with gateway, and gateway is communicated by Zigbee module with each sensor in cleaning robot in addition, robot
Upper installation camera, then can observe cleaning device surrounding environment by cell phone application interface, avoids cleaning blind area, it is last so as to
Realize accurate control of the mobile phone to outdoor installation and management.
To achieve the above object, the technical scheme is that：A kind of glass curtain wall intelligence cleaning machine based on Android
Device people, including cleaning robot, cell-phone customer terminal, wireless telecommunications system and gateway device, in filling on the cleaning robot
Equipped with control unit module, minisize pick-up head, water sensor, wireless telecommunications system, the cleaning robot is taken the photograph by miniature
As head gathers the image or video information of outer curtain wall and visual field environment, sensor gather in cleaning robot water-holding quantity data and
Liquid measure is cleaned, and image or video information and the data of collection are passed by built-in wireless telecommunications system and gateway device
It is defeated by cell-phone customer terminal, the figure that the cell-phone customer terminal is sent by Android client interface module reception cleaning robot
Picture or video information and the data of sensor collection, and pass through display screen and show water-holding quantity in cleaning robot, and cleaning solution
Amount；Control unit module transfer operation control instruction of the user by cell-phone customer terminal into cleaning robot, control cleaning machine
Device people moves ahead mobile cleaning glass curtain wall of turning, and intelligent control its water storage.
The Android client interface module of the cell-phone customer terminal has a software interface, on software interface
Provided with shooting display screen, shooting switching push button, water tank volume scale, water capacity, remote area, water storage button, exit button, sensing control
Button, advance key, left lateral key, right lateral key, back spacer, walking mode, cleaning model, video mode.
The cleaning robot has headstock, leads in headstock containing internal battery offer stabilized power source, headstock
Cross wire connection control unit module；Control unit module connects sensor, master switch, hairbrush in water tank by wire respectively
Headstock and minisize pick-up head.
For the cleaning robot by the sucker suction on crawler belt on vertical glass, crawler belt connects power by gear
Case, drive crawler belt rotation by the gear teeth on headstock drive gear so that cleaning robot is kept straight on, equipped with poor between two gears
Fast device, the turning for cleaning robot.
For the cleaning robot built with hairbrush headstock, hairbrush headstock connects hairbrush activity by rotating shaft with motion bar
Device and hairbrush, expansion link is also equipped between motion bar and hairbrush headstock, hairbrush direction is adjusted by expansion link；It is described miniature
Camera gathers the cleaning situation of hairbrush brush glass in real time, arrives cell-phone customer terminal by control unit module feedback information in time
Using in the shooting display screen of software interface, auxiliary user adjusts hairbrush direction in real time.
The sensor is built in the water tank of cleaning robot, and sensor is by water-holding quantity data feedback in water tank to mobile phone
Shown in water capacity in the software interface of client；When in interior water-holding quantity deficiency, user is by clicking on application software
Water storage button in interface, control water tank controlling switch are opened, and are water tank water storage.
Described control unit module includes Zigbee wireless communication modules, STM32F107 embedded chips.
The beneficial effects of the invention are as follows：
The present inventor select STM32F107 embedded chips as microprocessor, while plus necessary peripheral circuit with
Interface circuit builds the hardware platform of gateway；Using Zigbee module as wireless communication module, sensor number is designed and Implemented
According to acquisition module and from controller module.Handheld terminal is that Android phone APP is entered by bluetooth/4G/WiFi networks with gateway
Row communication, gateway is communicated by Zigbee module with each sensor in cleaning robot in addition, and shooting is installed in robot
Head, then cleaning device surrounding environment can be observed by cell phone application interface, avoid cleaning blind area, finally so as to realizing mobile phone pair
The accurate control of outdoor installation and management.
Brief description of the drawings
Fig. 1 is the cleaning robot overall structure figure of embodiment in the present invention；
Fig. 2 is active force driving structure sketch；
Fig. 3 is differential design figure；
Fig. 4 is sucker structure figure；
Fig. 5 is software interface figure；
Fig. 6 is hairbrush handle figure；
Fig. 7 is cleaning robot inner chamber component diagram；
Fig. 8 is cleaning robot driving trace figure.
Embodiment
Describe the preferred embodiments of the present invention in detail below in conjunction with the accompanying drawings.
As shown in Fig. 1 to Fig. 8, the glass curtain wall intelligence cleaning robot of the invention based on Android, including cleaning machine
Device people, wireless telecommunications system and gateway device, sucker 1, gear 2, crawler belt 3, the gear teeth 4, movable axis 5, minisize pick-up head 6, storage
Water pipe 7, hairbrush 8, hairbrush mobilizer 9, motion bar 10, knuckle point 11, expansion link 12, rotating shaft 13, hairbrush headstock 14, robot
Inner chamber 15, differential mechanism 16, gear shaft 17, gear transmission axle 18, headstock 19, gear wheel 20, linkage gear 21, little gear 22,
Power shaft gear 23, cell-phone customer terminal 24, hairbrush water service pipe 41, control unit module 42, water tank 43, wire 44, water-supply-pipe 45,
Water tank controlling switch 46, master switch 47.
Set in being filled on cleaning robot equipped with control unit module 42, minisize pick-up head 6, water sensor, wireless telecommunications
Standby, cleaning robot gathers the image or video information of glass curtain wall 48 and visual field environment by minisize pick-up head 6, and sensor is adopted
Collect water-holding quantity data and cleaning liquid measure in cleaning robot, and the data of image or video information and collection are passed through built-in
Wireless telecommunications system and gateway device be transferred to cell-phone customer terminal 24, cell-phone customer terminal 24 passes through Android client circle
Face mould block receives image or video information and the data of sensor collection that cleaning robot is sent, and is shown by display screen
Water-holding quantity in cleaning robot, and cleaning liquid measure；Control unit mould of the user by cell-phone customer terminal 24 into cleaning robot
The transfer operation control instruction of block 42, control cleaning robot move ahead mobile cleaning glass curtain wall of turning, and intelligent control its water storage.
The design of the main modular of the present invention is as follows：
Cleaning robot --- by camera collection image/video information, pass through built-in various types of sensors point
Corresponding ports not with CC2530 modules are connected, and CC2530 periodically reads the data that sensor collects, such as cleaning robot
Water-holding quantity in people；Whether need by mobile phone control is device water storage；The image information that observation mobile phone receives, confirms outdoor curtain
Whether wall, which has, is not cleaned part and visual field environment etc..Built-in wireless telecommunications system and gateway device, establish mobile phone and cleaning
The command communication communication of device.
In control unit module microprocessor and cell-phone customer terminal (Android intelligent terminal) --- microprocessor need to lead to
Cross serial ports to communicate with telegon, data are transmitted mutually by WiFi and Android intelligent terminal, so it must have serial ports and nothing
Gauze card is supported, and is provided with corresponding driving.Android intelligent terminal needs WiFi transmission-receiving functions, and is mounted with intelligence
Cell-phone customer terminal is cleaned, into program, user can see the sensing data transmitted by server.The instruction of user can simultaneously
To be sent to microprocessor service end by Android ends, final cleaning robot completes dependent instruction.
Android client interface module --- Android client needs the function realized to be：Receive cleaning robot
The image/video information sent, robot memory water, cleaning liquid measure etc. can be shown；Cleaning machine is controlled by cell-phone customer terminal
Device people moves ahead to turn and moved, and intelligent control is its water storage.
Cleaning robot has headstock 19, contains internal battery offer stabilized power source, headstock 19 in headstock 19
Control unit module 42 is connected by wire 44；Control unit module 42 connects the sensing in water tank 43 by wire 44 respectively
Device, master switch 47, hairbrush headstock 14 and minisize pick-up head 6.Cleaning robot is adsorbed vertical by the sucker 1 on crawler belt 3
Glass on, crawler belt 3 by gear 2 connect headstock 19, drive crawler belt 3 to revolve by the gear teeth 4 on the drive gear 2 of headstock 19
Turn so that cleaning robot is kept straight on, and differential mechanism 16, the turning for cleaning robot are housed between two gears 2.Cleaning robot
People connects hairbrush mobilizer 9 and hairbrush 8 built with hairbrush headstock 14, hairbrush headstock 14 by rotating shaft 13 and motion bar 10,
Expansion link 12 is also equipped between motion bar 10 and hairbrush headstock 14, the direction of hairbrush 8 is adjusted by expansion link 12.
The Android client interface module of cell-phone customer terminal 24 has software interface 25, software interface 25
It is provided with shooting display screen 26, shooting switching push button 27, water tank volume scale 28, water capacity 29, remote area 30, water storage button
31st, exit button 32, sensing control button 33, advance key 34, left lateral key 35, right lateral key 36, back spacer 37, walking mode 38, cleaning
Pattern 39, video mode 40.
Overall cooperating process is as follows：Stabilized power source is provided containing internal battery in cleaning robot inner chamber headstock 19,
Headstock 19 connects control unit module 42 by wire 44；Control unit module 42 (include Zigbee wireless communication modules,
STM32F107 embedded chips etc., mobile phone can be made by software programming, by bluetooth/4G/WiFi networks and gateway communication) it is logical
Cross wire 44 connect water tank 43 in sensor, by wire 44 connect master switch 47, pass through wire 44 connect hairbrush headstock
14, minisize pick-up head 6 is connected by wire 44.
Cleaning robot is adsorbed on vertical glass by the sucker 1 on crawler belt 3, and the gear teeth 4 on gear 2 drive crawler belt
3 rotations so that robot moves ahead, and in straight trip, the rotation of gear 2 is to directly drive tooth by gear transmission axle 18 by headstock 19
Wheel shaft 17, only when cleaning robot needs to turn, cornering operation (wherein robot is realized indirectly by the driving of differential mechanism 16
Linkage gear 21 and little gear place side are consistent in differential mechanism 16 on front and rear gear shaft 17) so that cleaning robot is pressed
Travelled according to optimal trajectory.
The hairbrush headstock 14 of cleaning robot connects motion bar 10, by hairbrush mobilizer 9, is adjusted by expansion link 12
Whole hairbrush direction, minisize pick-up head 6 gather the cleaning situation of glass under hairbrush, fed back in time by control unit module 42 in real time
For information into the shooting display screen 26 of the application software 25 of mobile phone 24, auxiliary user adjusts hairbrush direction in real time.
Water tank built-in sensors, show in the water capacity 29 that interior water-holding quantity can be fed back in the application software 25 of mobile phone 24.
In interior water-holding quantity deficiency, user, can be by controlling water tank controlling switch 46 by clicking on the key of water storage 31 in application software 25
Open, be water tank water storage.
Software interface 25 clicks on sensing control button 33, switches cleaning robot when user clicks on selection walking mode 38
The walking of people and turn command；When user clicks on selection cleaning model 39, four buttons and sensing control button 33 in remote area 30
The motion of co- controlling hairbrush 8 and expansion link 12；When user clicks on selection video mode 40, clicking on sensing control button 33 can cut
Changing display mode of two minisize pick-up heads 6 in display screen 26 is imaged, (minisize pick-up head 1, minisize pick-up head 2 or 1,2 are common
It is shown in display screen 26).
Claims (7)
1. a kind of glass curtain wall intelligence cleaning robot based on Android, including it is cleaning robot, cell-phone customer terminal, wireless
Communication apparatus and gateway device, it is characterised in that：Equipped with control unit module, miniature video camera in being filled on the cleaning robot
Head, sensor, wireless telecommunications system, the cleaning robot gather the image of outer curtain wall and visual field environment by minisize pick-up head
Or video information, water-holding quantity data and cleaning liquid measure in sensor collection cleaning robot, and by image or video information with
And the data of collection are transferred to cell-phone customer terminal, the cell-phone customer terminal by built-in wireless telecommunications system and gateway device
The number that the image or video information and sensor sent by Android client interface module reception cleaning robot gather
According to, and water-holding quantity in cleaning robot, and cleaning liquid measure are shown by display screen；User is by cell-phone customer terminal to cleaning robot
Control unit module transfer operation control instruction in people, the forward mobile cleaning glass curtain wall of turning of control cleaning robot, and
Its water storage of intelligent control.
2. the glass curtain wall intelligence cleaning robot according to claim 1 based on Android, it is characterised in that：It is described
The Android client interface module of cell-phone customer terminal has software interface, and software interface is provided with shooting and shown
Screen, shooting switching push button, water tank volume scale, water capacity, remote area, water storage button, exit button, sensing control button, advance
Key, left lateral key, right lateral key, back spacer, walking mode, cleaning model, video mode.
3. the glass curtain wall intelligence cleaning robot according to claim 1 based on Android, it is characterised in that：It is described
Cleaning robot has headstock, passes through wire containing internal battery offer stabilized power source, headstock in headstock and connects control
Unit module processed；Control unit module connects sensor, master switch, hairbrush headstock and miniature in water tank by wire respectively
Camera.
4. the glass curtain wall intelligence cleaning robot according to claim 1 based on Android, it is characterised in that：It is described
Cleaning robot is by the sucker suction on crawler belt on vertical glass, and crawler belt connects headstock by gear, by headstock
The gear teeth on drive gear drive crawler belt rotation so that cleaning robot is kept straight on, and differential mechanism is housed between two gears, for clear
Wash the turning of robot.
5. the glass curtain wall intelligence cleaning robot according to claim 1 based on Android, it is characterised in that：It is described
Cleaning robot connects hairbrush mobilizer and hairbrush with motion bar built with hairbrush headstock, hairbrush headstock by rotating shaft, living
Expansion link is also equipped between lever and hairbrush headstock, hairbrush direction is adjusted by expansion link；The minisize pick-up head is real-time
The cleaning situation of hairbrush brush glass is gathered, it is soft by the application application of control unit module feedback information to cell-phone customer terminal in time
In the shooting display screen at part interface, auxiliary user adjusts hairbrush direction in real time.
6. the glass curtain wall intelligence cleaning robot according to claim 1 based on Android, it is characterised in that：It is described
Sensor is built in the water tank of cleaning robot, and sensor is by water-holding quantity data feedback in water tank to the application of cell-phone customer terminal
Shown in water capacity in software interface；When in interior water-holding quantity deficiency, user is by clicking on the water storage in software interface
Button, control water tank controlling switch are opened, and are water tank water storage.
7. according to any described glass curtain wall intelligence cleaning robots based on Android of claim 1-6, its feature exists
In：Described control unit module includes Zigbee wireless communication modules, STM32F107 embedded chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711180396.2A CN107717948A (en) | 2017-11-23 | 2017-11-23 | Glass curtain wall intelligence cleaning robot based on Android |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711180396.2A CN107717948A (en) | 2017-11-23 | 2017-11-23 | Glass curtain wall intelligence cleaning robot based on Android |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107717948A true CN107717948A (en) | 2018-02-23 |
Family
ID=61219050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711180396.2A Pending CN107717948A (en) | 2017-11-23 | 2017-11-23 | Glass curtain wall intelligence cleaning robot based on Android |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107717948A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110089973A (en) * | 2019-06-14 | 2019-08-06 | 陕西中建建乐智能机器人有限公司 | A kind of robot for glass curtain wall cleaning |
| CN110151071A (en) * | 2019-06-14 | 2019-08-23 | 合肥尘洁清洁技术服务有限公司 | A kind of robot for cleaning wall surface |
| CN110946526A (en) * | 2019-12-16 | 2020-04-03 | 广西华保盛物业服务集团有限公司 | Remote control type high-altitude curtain wall outer window cleaning equipment |
| CN111806646A (en) * | 2020-06-23 | 2020-10-23 | 燕山大学 | Intelligent ship wall cleaning robot and cleaning method thereof |
| CN112568777A (en) * | 2020-12-24 | 2021-03-30 | 郭倩宇 | Glass wiping device |
| CN113103233A (en) * | 2021-04-14 | 2021-07-13 | 北京铁道工程机电技术研究所股份有限公司 | Cleaning robot system and force-controlled cleaning method |
| CN113232030A (en) * | 2021-05-31 | 2021-08-10 | 王正琼 | Automatic cleaning robot for highway toll portal equipment |
| CN114429707A (en) * | 2022-02-08 | 2022-05-03 | 戴荣俊 | Intelligent building system based on wireless internet of things |
| CN116225294A (en) * | 2023-05-06 | 2023-06-06 | 科沃斯家用机器人有限公司 | Remote control method, device and equipment for surface cleaning robot and readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101782254A (en) * | 2009-01-20 | 2010-07-21 | 中芯国际集成电路制造(上海)有限公司 | Air-conditioning cabinet and air cleaning device |
| CN202247751U (en) * | 2011-08-19 | 2012-05-30 | 武汉沃世科技有限公司 | Railing cleaning machine with twin roll structure |
| CN205338822U (en) * | 2016-01-04 | 2016-06-29 | 金陵科技学院 | Robot is used in window clearance |
| CN205563204U (en) * | 2016-04-29 | 2016-09-07 | 深圳市博来美电子有限公司 | High -temperature steam cleaner positioning monitoring system |
| CN107336243A (en) * | 2017-08-24 | 2017-11-10 | 安徽工大信息技术有限公司 | robot control system and control method based on intelligent mobile terminal |
-
2017
- 2017-11-23 CN CN201711180396.2A patent/CN107717948A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101782254A (en) * | 2009-01-20 | 2010-07-21 | 中芯国际集成电路制造(上海)有限公司 | Air-conditioning cabinet and air cleaning device |
| CN202247751U (en) * | 2011-08-19 | 2012-05-30 | 武汉沃世科技有限公司 | Railing cleaning machine with twin roll structure |
| CN205338822U (en) * | 2016-01-04 | 2016-06-29 | 金陵科技学院 | Robot is used in window clearance |
| CN205563204U (en) * | 2016-04-29 | 2016-09-07 | 深圳市博来美电子有限公司 | High -temperature steam cleaner positioning monitoring system |
| CN107336243A (en) * | 2017-08-24 | 2017-11-10 | 安徽工大信息技术有限公司 | robot control system and control method based on intelligent mobile terminal |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110151071A (en) * | 2019-06-14 | 2019-08-23 | 合肥尘洁清洁技术服务有限公司 | A kind of robot for cleaning wall surface |
| CN110089973A (en) * | 2019-06-14 | 2019-08-06 | 陕西中建建乐智能机器人有限公司 | A kind of robot for glass curtain wall cleaning |
| CN110946526A (en) * | 2019-12-16 | 2020-04-03 | 广西华保盛物业服务集团有限公司 | Remote control type high-altitude curtain wall outer window cleaning equipment |
| CN110946526B (en) * | 2019-12-16 | 2023-10-31 | 广西华保盛物业服务集团有限公司 | Remote control type high-altitude curtain wall outer window cleaning equipment |
| CN111806646A (en) * | 2020-06-23 | 2020-10-23 | 燕山大学 | Intelligent ship wall cleaning robot and cleaning method thereof |
| CN112568777B (en) * | 2020-12-24 | 2023-02-24 | 郭倩宇 | Glass wiping device |
| CN112568777A (en) * | 2020-12-24 | 2021-03-30 | 郭倩宇 | Glass wiping device |
| CN113103233A (en) * | 2021-04-14 | 2021-07-13 | 北京铁道工程机电技术研究所股份有限公司 | Cleaning robot system and force-controlled cleaning method |
| CN113232030A (en) * | 2021-05-31 | 2021-08-10 | 王正琼 | Automatic cleaning robot for highway toll portal equipment |
| CN114429707B (en) * | 2022-02-08 | 2023-09-15 | 山西信通联科工贸有限公司 | Intelligent building system based on wireless internet of things |
| CN114429707A (en) * | 2022-02-08 | 2022-05-03 | 戴荣俊 | Intelligent building system based on wireless internet of things |
| CN116225294A (en) * | 2023-05-06 | 2023-06-06 | 科沃斯家用机器人有限公司 | Remote control method, device and equipment for surface cleaning robot and readable storage medium |
| CN116225294B (en) * | 2023-05-06 | 2023-08-18 | 科沃斯家用机器人有限公司 | Remote control method, device and equipment for surface cleaning robot and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107717948A (en) | Glass curtain wall intelligence cleaning robot based on Android | |
| CN103324100B (en) | A kind of emotion on-vehicle machines people of information-driven | |
| CN106552782B (en) | A kind of cleaning method of flying disc type photovoltaic battery panel washer | |
| CN102490172B (en) | Indoor intelligent cleaning robot | |
| CN102388791B (en) | Center pivot sprinkling irrigation machine control system and method | |
| CN204366968U (en) | Based on the multiple degrees of freedom anthropomorphic robot of said three-dimensional body sense video camera | |
| CN105194877A (en) | Toy tank remotely controlled through first perspective | |
| CN104407610A (en) | Ground cleaning robot system and control method thereof | |
| CN105014651B (en) | Living water washing robot of transformer station and method | |
| CN106152298A (en) | A kind of air purifier | |
| CN104175308A (en) | Self-service robot | |
| CN103324178A (en) | Wireless robot long-range control system based on WIFI | |
| CN106527469A (en) | Interactive intelligent robot control system, control method and interactive intelligent robot | |
| CN109605401A (en) | A kind of robot system for wall surface environment sensing | |
| CN105549595A (en) | Robot control system based on intelligent mobile terminal and control method | |
| CN107901040A (en) | Robot myoelectric control system based on ROS | |
| CN109479705A (en) | A kind of self-action crop pollinating device | |
| CN104998847B (en) | A kind of system that sprays water with high pressure for living water washing robot of transformer station | |
| CN210546838U (en) | Wireless pipeline cleaning robot | |
| CN104181838B (en) | Gesture control windowpane cleaning device based on technology of Internet of things | |
| CN107995279A (en) | A kind of intelligent robot and remote control thereof of remote control cleaning | |
| CN107397511A (en) | A kind of Intelligent robot for sweeping floor | |
| CN207249755U (en) | It is a kind of based on the construction site of Internet of Things attendance real time monitoring apparatus | |
| CN205923916U (en) | Floor sweeping robot | |
| CN107853271A (en) | Hillside orchard multiple road conditions mix medicine spraying mobile platform online |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180223 |