CN114081389A - Intelligent glass cleaning robot and control method thereof - Google Patents
Intelligent glass cleaning robot and control method thereof Download PDFInfo
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- CN114081389A CN114081389A CN202111416310.8A CN202111416310A CN114081389A CN 114081389 A CN114081389 A CN 114081389A CN 202111416310 A CN202111416310 A CN 202111416310A CN 114081389 A CN114081389 A CN 114081389A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 64
- 239000011521 glass Substances 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000001179 sorption measurement Methods 0.000 claims abstract description 11
- 238000005086 pumping Methods 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 239000007788 liquid Substances 0.000 claims description 12
- 229920000742 Cotton Polymers 0.000 claims description 11
- 241000219146 Gossypium Species 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000005357 flat glass Substances 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Images
Classifications
-
- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses an intelligent glass cleaning robot and a control method thereof, wherein the robot comprises a micro water tank, a water pipe, a shell, a motion transmission system, a first execution unit, a second execution unit and a control system, wherein the first execution unit and the second execution unit are the same in structure; an air outlet is arranged on the shell; the first execution unit comprises a first adsorption system component and a first cleaning wheel; the first adsorption system component comprises a first soft rubber sucker, a first centrifugal fan and a first air duct; the first chuck is fixed outside the bottom end of the machine shell. The control system controls the first execution unit and the second execution unit to move alternately, and the glass is wiped clean during the moving process. The control method comprises the steps of switch detection, adsorption, pumping cleaning solution, glass cleaning and obstacle avoidance. The window cleaning robot is high in reliability, stable in operation and high in working efficiency, solves the problems of high labor intensity and low efficiency of manual window cleaning, is suitable for being widely applied to cleaning work of household glass, and completely meets the inner urgent requirements of the industry.
Description
Technical Field
The invention relates to a glass cleaning robot and a control method thereof, in particular to an intelligent glass cleaning robot and a control method thereof, and belongs to the technical field of intelligent home furnishing.
Background
With the rapid development of automation control technology and computer technology, the robot intelligent technology is more mature, and the industrial robot gradually advances to the field of service robots, so that a feasible research scheme is provided for cleaning high-rise window glass. The manual cleaning of glass is not only inefficient and labor intensive, but also associated with hazards. In order to ensure that indoor and outdoor glass is fresh and clean and the lighting effect is better, a small window cleaning robot with flexible movement and high working efficiency is urgently needed to be designed, so that the efficiency is improved, and the labor intensity is reduced. The design and research on the window-cleaning robot not only has the challenge and charm in scientific research, but also has wide market demand and great economic benefit, and has important significance and value for improving the intelligent living standard of human beings.
Disclosure of Invention
The invention aims to provide an intelligent window cleaning robot and a control method thereof.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent glass wiping robot comprises a micro water tank, a water pipe, a shell, a motion transmission system, a first execution unit and a second execution unit, wherein the first execution unit and the second execution unit are identical in structure; an air outlet is arranged on the shell;
the first execution unit comprises a first adsorption system component and a first cleaning wheel;
the first adsorption system component comprises a first soft rubber sucker, a first centrifugal fan and a first air duct; the first chuck is fixed outside the bottom end of the machine shell;
the first soft rubber sucker is in a horn mouth shape, a small port of the first soft rubber sucker is fixed on the first chuck, and the outer edge of a large port of the first soft rubber sucker is embedded into the inner edge of the first cleaning sponge; the first air duct is fixed in the shell, an air inlet of the first air duct is communicated with a small port of the first soft rubber sucker, and an air outlet of the first air duct is communicated with an air inlet of the first centrifugal fan;
the first cleaning wheel consists of a first micro water pump, a first spray head, a first chuck and a first cleaning sponge; the first miniature water pump is fixed on the lower shell; the first spray head penetrates through the shell; the first micro water pump extracts cleaning liquid from the micro water tank, and the cleaning liquid is sprayed out of the first spray head through the water pipe and is sprinkled on the first cleaning cotton;
the miniature water tank is arranged in the shell and is respectively connected with the first miniature water pump and the second miniature water pump;
the motion transmission system comprises a driving motor, a coupler, a transmission shaft and first to second motion transmission assemblies with the same structure; the first motion transmission assembly comprises a first large toothed belt wheel, a first small toothed belt wheel, a first synchronous belt and a first shaft; the driving motor is fixed on a motor shell in the shell, and a main shaft of the driving motor drives the transmission shaft to rotate through the coupler; the first small toothed belt wheel is assembled on the transmission shaft, and the first large toothed belt wheel is driven to rotate through the first synchronous belt; the first large toothed belt wheel is in key connection with a first shaft, and two ends of the first shaft are respectively fixed on the side wall of the shell; the bottom end of the first shaft is provided with a small threaded hole which is fixedly connected with the first chuck;
the control system comprises a controller and a detection module; the I/O port of the controller is respectively connected with a driver of the driving motor, a driver of the first centrifugal fan, a driver of the second centrifugal fan, a driver of the first micro water pump, a driver of the second micro water pump, an output end of the detection module and a switch button.
Further, the driving motor is a stepping motor.
Furthermore, the intelligent glass cleaning robot further comprises a power supply module, wherein the power supply module is connected to corresponding pins of the controller and provides power for equipment needing power supply in the whole system.
Further, the first synchronous belt and the second synchronous belt are tooth-shaped synchronous belts.
Further, the case includes an upper case, a lower case, and an inner case; a first air duct, a first micro water pump and a second micro water pump are fixedly arranged inside the lower shell; the first spray head penetrates through the lower shell; a motor shell is fixedly arranged on the inner shell; the inner shell and the upper shell are provided with air outlets; two ends of the first shaft are respectively fixed at the top of the inner shell and the bottom of the lower shell; first chuck fixed connection is located the inferior valve outside at the bottom of primary shaft.
The second technical scheme adopted by the invention is as follows:
a control method for the intelligent glass wiping robot in the technical scheme I comprises the following specific steps:
step 1: switch detection: the controller detects whether the switch button is pressed, if yes, the step 2 is carried out, and if not, the step 1 is carried out;
step 2: the controller controls a driver of the first centrifugal fan and a driver of the second centrifugal fan, the first centrifugal fan and the second centrifugal fan are respectively started, and air in the first soft rubber sucker and air in the second soft rubber sucker are respectively exhausted out of the shell through the first air duct and the second air duct; the first soft rubber sucker and the second soft rubber sucker adsorb the glass;
and step 3: pumping cleaning liquid: the controller controls a driver of the first micro water pump and a driver of the second micro water pump to start and stop the first micro water pump and the second micro water pump respectively according to a preset time interval; intermittently extracting the cleaning liquid from the micro water tank to the first and second cleaning cottons respectively;
and 4, step 4: cleaning glass: the controller alternately controls a driver of the first centrifugal fan and a driver of the second centrifugal fan to stop and start the first centrifugal fan and the second centrifugal fan; and simultaneously, a driver for controlling the driving motor starts the driving motor, and the first to second motion transmission assemblies drive the first and second cleaning wheels to rotate.
Further, the method also comprises the step of obstacle avoidance: the controller detects whether the detection module outputs obstacle information or not, and if so, performs obstacle avoidance path planning.
Compared with the prior art, the invention has the outstanding effects that:
(1) the invention can realize automatic cleaning of the window glass and effectively reduce the labor intensity.
(2) The window cleaning robot has the advantages of reasonable design, safe and reliable performance, stable operation, low cost, few faults and high efficiency.
(3) The invention utilizes the control system for automatic control, can be flexibly applied to cleaning work in multiple fields, and completely meets the urgent requirements in the industry.
(4) The invention has wide application and wide market prospect.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a sectional view of embodiment 1 of the present invention;
FIG. 3 is an internal structural view of embodiment 1 of the present invention;
FIG. 4 is a view showing a structure of a motion transmission system according to the novel embodiment 1 of the present invention;
fig. 5 is a first execution unit configuration diagram of the novel embodiment 1 of the present invention;
in the figure: 1-first cleaning cotton; 2-a first chuck; 3-a lower shell; 4-inner shell; 5-upper shell; 6-first large synchronizing wheel; 7-a first one-way bearing; 8-a first clamp spring; 9-a first flange bearing; 10-a first axis; 11-a first round head screw; 12-a first synchronization belt; 13-a second round head screw; 14-a drive motor; 15-a coupler; 16-a third round head screw; 17-a motor base; 18-a drive shaft; 19-a fourth round head screw; 20-a second synchronous belt; 21-a second clamp spring; 22-a second flange bearing; 23-a second axis; 24-a second one-way bearing; 25-a second large synchronizing wheel; 26-a second air duct; 27-a water pipe; 28-a second chuck; 29-second cleaning cotton; 30-a third clamp spring; 31-fifth round head screw; 32-a second soft rubber suction cup; 33-third flange bearing; 34-a first small synchronizing wheel; 35-a fourth clamp spring; 36-a fourth flange bearing; 37-a second small synchronizing wheel; 38-a first centrifugal fan; 39-first soft rubber suction cup; 40-a first air duct; 41-sixth round head screw; 42-a fifth clamp spring; 43-a fifth flanged bearing; 44-a miniature water tank; 45-a second centrifugal fan; 46-a seventh round head screw; 47-eighth round head screw; 48-first countersunk screw; 49-second countersunk screw; 50-a second micro water pump; 51-third countersunk screw; 52-a second showerhead; 53-first micro water pump; 54-a fourth countersunk screw; 55-first showerhead.
Detailed Description
Example 1:
referring to fig. 1-5, an intelligent glass wiping robot comprises a housing, a first execution unit and a second execution unit with the same structure, a motion transmission system, a micro water tank 44 and a water pipe 27.
The housing comprises an upper shell 5, a lower shell 3 and an inner shell 4. The upper and inner shells 5, 4 serve as a protective and the lower shell 3 serves as a support.
The first execution unit comprises a first adsorption system component and a first cleaning wheel. The first adsorption system component comprises a first soft rubber suction cup 39, a first centrifugal fan 38 and a first air duct 40; the first chuck 2 is fixed outside the lower shell 3; the first soft rubber suction cup 39 is in a horn mouth shape, a small port of the first soft rubber suction cup is fixed on the first chuck 2, and an outer edge of a large port of the first soft rubber suction cup is embedded into an inner edge of the first cleaning sponge 1, so that the sealing reliability of the adsorption process is ensured. The first air duct 40 is fixed on the lower shell 3, and the air inlet thereof is communicated with the small port of the first soft rubber suction cup 39, and the air outlet thereof is communicated with the air inlet of the first centrifugal fan 38. The first centrifugal fan 38 is started to draw out the air in the first soft rubber suction cup 39 through the first air duct 40, and then the air is discharged to the outside of the casing through the air outlets on the inner casing 4 and the upper casing 5, so that the inner cavity of the first soft rubber suction cup 39 generates negative pressure to suck the glass.
The first cleaning wheel is composed of a first micro water pump 53, a first spray nozzle 55, a first chuck 2 and a first cleaning sponge 1, and is a work execution part. The first micro water pump 53 is fixed to the lower case 3. The first spray head 52 penetrates the lower case 3. The first micro water pump 53 extracts the cleaning liquid from the micro water tank 44, and sprays the cleaning liquid from the first nozzle 52 through the water pipe 27 to the first cleaning cotton 1. The first cleaning cotton 1 is in close contact with the glass and moves relatively to perform a cleaning task.
The micro water tank 44 is installed on the lower case 3, is located at a side of the second centrifugal fan 45, and is connected to the first micro water pump 53 and the second micro water pump 50, respectively.
The motion transmission system comprises a driving motor 14, a coupler 15, a transmission shaft 18 and first to second motion transmission components with the same structure; the first motion transmission assembly comprises a first large toothed pulley 6, a first small toothed pulley 37, a first timing belt 12, a first shaft 10. The driving motor 14 is fixed in the motor housing 17 of the inner housing 4, and the main shaft thereof drives the transmission shaft 18 to rotate through the coupling 15. A first pinion pulley 37 is fitted on the drive shaft 18. The first large toothed belt wheel 6 is driven to rotate by the first synchronous belt 12. The first large toothed belt wheel 6 is in key connection with the first shaft 10, the top end of the first shaft 10 is fixed to the top of the inner shell 4, a small threaded hole is formed in the bottom end of the first shaft, the first shaft is fixedly connected with the first chuck 2 through a round head screw, and the first cleaning cotton 1 is assembled on the first chuck 2. When the drive motor 14 is operated to rotate, motion is transferred to the first cleaning wheel by the first motion transfer assembly, with the final motion being accomplished by the first cleaning wheel. The drive motor 14 moves in synchronism with the drive shaft 18.
The driving motor 14, the first centrifugal fan 38, the second centrifugal fan 45, the first micro water pump 50 and the second micro water pump 53 are all automatically controlled by the control system to operate. The control system includes a controller and a detection module. The I/O port of the controller is respectively connected with a driver of the driving motor 14, a driver of the first centrifugal fan 38, a driver of the second centrifugal fan 45, a driver of the first micro water pump 50, a driver of the second micro water pump 53, an output end of the detection module and a switch button. The detection module senses the external environment in real time, and the power supply module is connected to corresponding pins of the controller and supplies power to the equipment needing power supply in the whole system. The switch button has a start-stop function.
The driving motor 14 in this embodiment is a stepping motor, but is not limited to the stepping motor. The first synchronous belt 12 and the second synchronous belt 20 adopt tooth-shaped synchronous belts, so that the stability of conveying is ensured.
Example 2:
a control method for the intelligent glass wiping robot in the embodiment 1 comprises the following specific steps:
step 1: switch detection: the controller detects whether the switch button is pressed, if yes, the step 2 is carried out, and if not, the step 1 is carried out;
step 2: adsorption: the controller controls the driver of the first centrifugal fan and the driver of the second centrifugal fan, respectively starts the first centrifugal fan 38 and the second centrifugal fan 50, and respectively exhausts the air in the first soft rubber suction cup 39 and the second soft rubber suction cup 32 out of the shell through the first air duct 40 and the second air duct 26; the first soft rubber suction cup 39 and the second soft rubber suction cup 32 suck the glass;
and step 3: pumping cleaning liquid: the controller controls a driver of the first micro water pump and a driver of the second micro water pump to start and stop the first micro water pump 53 and the second micro water pump 50 respectively according to a preset time interval; intermittently extracting the cleaning liquid from the micro water tank to the first cleaning cotton 1 and the second cleaning cotton 29;
and 4, step 4: cleaning glass: the controller alternately controls the driver of the first centrifugal fan and the driver of the second centrifugal fan to stop and start the first centrifugal fan 38 and the second centrifugal fan 50; a drive for simultaneously controlling the drive motors activates the drive motors 14 to rotate the first and second cleaning wheels via the first through second motion transfer assemblies.
The embodiment further comprises an obstacle avoidance step: the controller detects whether the detection module outputs obstacle information or not, and if so, performs obstacle avoidance path planning.
The above-mentioned embodiments are only examples of the present invention, and are not intended to limit the scope of the present invention, and all technical solutions formed by equivalent substitutions or equivalent transformations and technical solutions according to the spirit of the present invention are within the scope of the present invention.
Claims (7)
1. The utility model provides a glass robot is wiped to intelligence which characterized in that: comprises a micro water tank (44), a water pipe (27), a machine shell, a motion transmission system, a first execution unit and a second execution unit which have the same structure; an air outlet is arranged on the shell;
the first execution unit comprises a first adsorption system component and a first cleaning wheel;
the first adsorption system component comprises a first soft rubber suction cup (39), a first centrifugal fan (38) and a first air duct (40); the first chuck (2) is fixed outside the bottom end of the machine shell;
the first soft rubber sucker (39) is in a horn mouth shape, the small port of the first soft rubber sucker is fixed on the first chuck (2), and the outer edge of the large port of the first soft rubber sucker is embedded into the inner edge of the first cleaning sponge (1); the first air duct (40) is fixed in the shell, the air inlet of the first air duct is communicated with the small port of the first soft rubber sucker (39), and the air outlet of the first air duct is communicated with the air inlet of the first centrifugal fan (38);
the first cleaning wheel consists of a first micro water pump (53), a first spray head (55), a first chuck (2) and a first cleaning sponge (1); the first miniature water pump (53) is fixed on the lower shell (3); the first spray head (52) penetrates through the shell; the first micro water pump (53) extracts cleaning liquid from the micro water tank (44), and the cleaning liquid is sprayed out of the first spray head (52) through the water pipe (27) and is sprinkled on the first cleaning cotton (1);
the micro water tank (44) is arranged in the shell and is respectively connected with the first micro water pump (53) and the second micro water pump (50);
the motion transmission system comprises a driving motor (14), a coupler (15), a transmission shaft (18) and first to second motion transmission components with the same structure; the first motion transmission component comprises a first large toothed belt wheel (6), a first small toothed belt wheel (37), a first synchronous belt (12) and a first shaft (10); the driving motor (14) is fixed on a motor shell (17) in the shell, and a main shaft of the driving motor drives a transmission shaft (18) to rotate through a coupling (15); the first small toothed belt wheel (37) is assembled on the transmission shaft (18), and the first large toothed belt wheel (6) is driven to rotate by the first synchronous belt (12); the first large toothed belt wheel (6) is in key connection with a first shaft (10), and two ends of the first shaft (10) are respectively fixed on the side wall of the shell; the bottom end of the first shaft (10) is provided with a small threaded hole which is fixedly connected with the first chuck (2);
the control system comprises a controller and a detection module; the I/O port of the controller is respectively connected with a driver of the driving motor (14), a driver of the first centrifugal fan (38), a driver of the second centrifugal fan (45), a driver of the first micro water pump (50), a driver of the second micro water pump (50), an output end of the detection module and a switch button.
2. The intelligent glass wiping robot of claim 1, wherein: the drive motor (14) is a stepper motor.
3. The intelligent glass wiping robot of claim 1, wherein: the power supply module is connected to corresponding pins of the controller and supplies power to equipment needing power supply in the whole system.
4. A window wiping robot as defined in claim 1, wherein: the first synchronous belt (12) and the second synchronous belt (20) adopt tooth-shaped synchronous belts.
5. A window wiping robot as defined in claim 1, wherein: the shell comprises an upper shell (5), a lower shell (3) and an inner shell (4); a first air duct (40), a first micro water pump (53) and a second micro water pump (50) are fixedly arranged inside the lower shell (3); the first spray head (52) penetrates through the lower shell (3); a motor shell (17) is fixedly arranged on the inner shell (4); the inner shell (4) and the upper shell (5) are provided with air outlets; two ends of the first shaft (10) are respectively fixed on the top of the inner shell (4) and the bottom of the lower shell (3); the first chuck (2) is fixedly connected to the bottom end of the first shaft (10) and is positioned outside the lower shell (3).
6. A control method for the intelligent glass wiping robot as claimed in claims 1-5, comprising the following specific steps:
step 1: switch detection: the controller detects whether the switch button is pressed, if yes, the step 2 is carried out, and if not, the step 1 is carried out;
step 2: the controller controls a driver of the first centrifugal fan and a driver of the second centrifugal fan, the first centrifugal fan (38) and the second centrifugal fan (50) are respectively started, and air in the first soft rubber sucker (39) and the second soft rubber sucker (32) is respectively exhausted out of the shell through the first air duct (40) and the second air duct (26); the first soft rubber sucker (39) and the second soft rubber sucker (32) suck the glass;
and step 3: pumping cleaning liquid: the controller controls a driver of the first micro water pump and a driver of the second micro water pump to start and stop the first micro water pump (53) and the second micro water pump (50) respectively according to a preset time interval; intermittently pumping cleaning liquid from the micro water tank to the first and second cleaning cottons (1, 29);
and 4, step 4: cleaning glass: the controller alternately controls a driver of the first centrifugal fan and a driver of the second centrifugal fan to stop and start the first centrifugal fan (38) and the second centrifugal fan (50); a drive for simultaneously controlling the drive motor activates the drive motor (14) to rotate the first and second cleaning wheels via the first through second motion transfer assemblies.
7. The control method of the intelligent glass wiping robot as claimed in claim 6, wherein: further comprises the step of obstacle avoidance: the controller detects whether the detection module outputs obstacle information or not, and if so, performs obstacle avoidance path planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111416310.8A CN114081389A (en) | 2021-11-26 | 2021-11-26 | Intelligent glass cleaning robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111416310.8A CN114081389A (en) | 2021-11-26 | 2021-11-26 | Intelligent glass cleaning robot and control method thereof |
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| Publication Number | Publication Date |
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| CN114081389A true CN114081389A (en) | 2022-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111416310.8A Pending CN114081389A (en) | 2021-11-26 | 2021-11-26 | Intelligent glass cleaning robot and control method thereof |
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| JPH0810190A (en) * | 1994-06-30 | 1996-01-16 | Suzuki Motor Corp | Suction type wall face cleaning device |
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| CN104905728A (en) * | 2015-06-17 | 2015-09-16 | 上海缘盟自动化技术有限公司 | Swing type self-walking window-cleaning robot and control method thereof |
| CN106235952A (en) * | 2016-11-01 | 2016-12-21 | 山西嘉世达机器人技术有限公司 | A kind of novel intelligent glass-cleaning robot and traveling method thereof |
| CN107224242A (en) * | 2017-06-01 | 2017-10-03 | 曲鹏 | A kind of glass door and window clean robot |
| CN212788376U (en) * | 2020-05-13 | 2021-03-26 | 山东迪威尔光电科技有限公司 | Anti-falling window cleaning robot |
| CN112690690A (en) * | 2020-12-30 | 2021-04-23 | 北京福玛特科技有限公司 | Glass wiping robot |
| CN112741563A (en) * | 2021-01-04 | 2021-05-04 | 成都职业技术学院 | Indoor ground wall cleaning device |
| CN217244048U (en) * | 2021-11-26 | 2022-08-23 | 河北科技大学 | Intelligent glass cleaning robot |
-
2021
- 2021-11-26 CN CN202111416310.8A patent/CN114081389A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0810190A (en) * | 1994-06-30 | 1996-01-16 | Suzuki Motor Corp | Suction type wall face cleaning device |
| CN103505143A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning robot and walking method thereof |
| CN104905728A (en) * | 2015-06-17 | 2015-09-16 | 上海缘盟自动化技术有限公司 | Swing type self-walking window-cleaning robot and control method thereof |
| CN106235952A (en) * | 2016-11-01 | 2016-12-21 | 山西嘉世达机器人技术有限公司 | A kind of novel intelligent glass-cleaning robot and traveling method thereof |
| CN107224242A (en) * | 2017-06-01 | 2017-10-03 | 曲鹏 | A kind of glass door and window clean robot |
| CN212788376U (en) * | 2020-05-13 | 2021-03-26 | 山东迪威尔光电科技有限公司 | Anti-falling window cleaning robot |
| CN112690690A (en) * | 2020-12-30 | 2021-04-23 | 北京福玛特科技有限公司 | Glass wiping robot |
| CN112741563A (en) * | 2021-01-04 | 2021-05-04 | 成都职业技术学院 | Indoor ground wall cleaning device |
| CN217244048U (en) * | 2021-11-26 | 2022-08-23 | 河北科技大学 | Intelligent glass cleaning robot |
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