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WO2008007830A1 - Robot de nettoyage à la vapeur - Google Patents

Robot de nettoyage à la vapeur Download PDF

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Publication number
WO2008007830A1
WO2008007830A1 PCT/KR2006/004500 KR2006004500W WO2008007830A1 WO 2008007830 A1 WO2008007830 A1 WO 2008007830A1 KR 2006004500 W KR2006004500 W KR 2006004500W WO 2008007830 A1 WO2008007830 A1 WO 2008007830A1
Authority
WO
WIPO (PCT)
Prior art keywords
steam
water
robot cleaner
inhaling
heater
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.)
Ceased
Application number
PCT/KR2006/004500
Other languages
English (en)
Inventor
Jungun Jang
Manhee Lee
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HANULKID CO Ltd
Original Assignee
HANULKID CO Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by HANULKID CO Ltd filed Critical HANULKID CO Ltd
Publication of WO2008007830A1 publication Critical patent/WO2008007830A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • 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
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/20—Floor surfacing or polishing machines combined with vacuum cleaning devices
    • 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
    • A47L11/34—Machines for treating carpets in position by liquid, foam, or vapour, e.g. by steam
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4086—Arrangements for steam generation
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to a steam robot cleaner. More particularly, it relates to a steam robot cleaner collecting contaminants with brushes, vacuum-inhaling contaminants, and wiping remaining contaminants stuck onto the floor surface with a rag sprayed with steam.
  • a robot cleaner is a device automatically cleaning an area to be cleaned by moving around within an area to be cleaned by itself and inhaling contaminants such as dust, etc. from the surface to be cleaned without the user's operation. That is, a robot cleaner is a device performing cleaning by itself by figuring the size of the area to be cleaned and cleaning time through a highly sensitive sensor. Such robot cleaner determines its distance to obstacles such as furniture, office supplies, wall, etc., in the area to be cleaned through a distance sensor, and accordingly cleans the area to be cleaned changing directions by itself by operating the motor of the robot cleaner.
  • the robot cleaner of said cited reference 1 cleans the floor surface by inhaling contaminants on the floor into the vacuum-inhaling portion and spraying water on the rotating brush, and inhales the moisture on the floor surface cleaned with water as above together with the contaminants or wipes them with a rotating mop.
  • improved cleaning can be obtained when compared with the conventional method of performing only vacuum cleaning or only brush cleaning; however, since contaminants remain attached to the rotating brush or mop, the contaminants can be scattered in all directions while cleaning, and since water can be left on the floor after cleaning, it would be difficult to achieve the effect of perfect cleaning.
  • a detachable rag is attached to it so that it can be used for a variety of objects. That is, when cleaning a linoleum floor, etc., after a rag is attached to it, contaminants are vacuum-inhaled and the floor is cleaned by wiping the floor surface with a rag by spraying steam on the rag. Unlike the above, when cleaning the floor surface of a carpet, etc., after the rag is detached, contaminants are vacuum-cleaned and the floor is cleaned by spraying steam on the floor surface without a rag.
  • the conventional robot cleaner can to some extent remove dust scattered on the surface to be cleaned; however, there are still difficulties in removing foreign substances or smudged dirt, etc. stuck onto the surface to be cleaned.
  • those remaining foreign substances or smudged dirt, etc. stuck onto the floor is removed by the user wiping the surface to be cleaned using a rag. Therefore, there are problems such that a longer period of cleaning time is required, and that the user takes the trouble to clean the surface. Disclosure of Invention
  • the steam robot cleaner according to the present invention comprises an inhaling portion for collecting and vacuum-inhaling contaminants; and a steaming portion for heating water with electric power from built-in batteries to generate steam, wherein said steaming portion is automatically supplied with as much water as consumed.
  • another embodiment of the steam robot cleaner according to the present invention comprises an inhaling portion for collecting and vacuum-inhaling contaminants; a steaming portion, disposed at the back of said inhaling portion, for heating water with electric power from built-in batteries to generate steam; a sensing portion, disposed at the front of said inhaling portion, for transmitting/receiving signals detecting obstacles; and a controlling portion for controlling the operation of said robot cleaner according to the obstacle-detecting signals from said sensing portion, wherein said sensing portion includes a plurality of bumper sensors comprising a left bumper sensor, a right bumper sensor, and a center bumper sensor, and said controlling portion controls the wheel of the driving part according to the signals which said bumper sensors transmits/receives, and said steaming portion comprises a heater to heat water and said steaming portion is automatically supplied with as much water as consumed.
  • the steaming portion of the present invention does not generate steam by boiling a great amount of water at one time like the conventional steam cleaner, but supplies only as much water as consumed little by little. Therefore, unlike the conventional steam cleaner, since a small amount of water is supplied, the time necessary to generate steam is reduced, and since steam is supplied only to an extent proper to the rag attached to the cleaner, there are fewer cases where contaminants remain on the mop. Accordingly, since no water stains, etc. are left after cleaning, perfect cleaning effect can be achieved.
  • said sensing portion is configured to transmit/receive obstacle detecting signals when said left bumper sensor is driven, when said right bumper sensor is driven, when said center bumper sensor is driven, when said left and said center bumper sensors are simultaneously driven, or when said right and said center bumper sensors are simultaneously driven.
  • the present invention can detect the distance to an obstacle (wall) and adjust the distance to the obstacle, therefore, allowing an efficient clearing.
  • the present invention since it further comprises a center bumper sensor that can receive center inputs in addition to the conventional left and right bumper sensors, it can basically receive inputs from three directions. Also, since inputs from a total of five directions can be received when said left and said center bumper sensors are simultaneously driven, or when said right and said center bumper sensors are simultaneously driven, adjusting the distance to the obstacles is more efficient. Accordingly, more efficient cleaning is possible.
  • said steaming portion disposed on the top of said heater, comprises a steam pipe for spraying steam; a thermistor for automatically cutting off power when, after measuring the temperature of said heater, said temperature is above a predetermined temperature; a steam distributor for widely spraying the steam from said steam pipe; and a rag attaching portion for fixing a rag where stream is sprayed through said steam distributor.
  • the thermistor of the present invention can efficiently use a DC battery and prevent the heater from getting overheated, by on/off controlling the heater in a short period of time.
  • said steaming portion further comprises a water pail, a water pail cover, a water pail check valve, and a water pail sealing ring, wherein said water pail supplies as much water as to be consumed by said heater, and wherein said water pail check valve and said water pail sealing ring are successively arranged so that said water pail cover is wrapped, and wherein said water pail cover provided at the lower part of the water pail can be opened and said water pail is detachable.
  • said inhaling portion comprises a brush and a vacuum inhaling hole, wherein said brush collects contaminants on the floor and said vacuum-inhaling hole inhales said collected contaminants.
  • the steam robot cleaner further comprises a humidity sensor for measuring humidity after steam cleaning, wherein said humidity sensor measures the humidity of the area where the steam cleaning has been performed and said steam robot cleaner does not perform cleaning when said measured humidity is above a predetermined level.
  • said steaming portion comprises: a boiler body for containing water being heated; a rotating separation membrane for sending back to said heater the amount of water in excess of a predetermined amount; and a heater gasket for preventing leakage of water supplied to said heater.
  • said controlling portion controls the power supplied to said heater by turning it on/off when the current of the heater exceeds a predetermined value.
  • the present invention does not generate steam by boing a great amount of water at one time, but is automatically supplied with as much water as consumed so that steam is generated by heating thus supplied amount of water with power from the built-in battery. Therefore, the time for generating steam is reduced, more efficient cleaning can be performed with less cleaning time, and foreign substance or smudged dirt stuck onto the surface can be removed more efficiently.
  • the present invention widens the range of area the robot cleaner can cover.
  • the present invention can perform cleaning and sterilization at the same time by sweeping contaminants by using a brush and vacuum-inhaling contaminants, and then removing the stains stuck onto the surface, which the conventional cleaner cannot remove, by spraying steam and using a steam sprayed rag attached to the bottom surface.
  • FIG. 1 is a schematic drawing of a steam robot cleaner.
  • FIG. 2 is a schematic drawing of a steam robot cleaner.
  • FIG. 3 is a schematic drawing of the external appearance of the steam robot cleaner according to an embodiment of the present invention.
  • FIG. 4 is an exploded view of the steam robot cleaner according to an embodiment of the present invention without its cover.
  • Fig. 5 is an exploded view of the steaming portion of the steam robot cleaner according to an embodiment of the present invention.
  • FIGs. 1 & 2 are schematic drawings of the steam robot cleaner.
  • Fig. 3 is a schematic drawing of the external appearance of the steam robot cleaner according to an embodiment of the present invention.
  • the robot cleaner according to an embodiment of the present invention comprises a sensing portion (1), a wheel (2), an inhaling portion (3), a steaming portion (4), a battery (16), and a controlling portion.
  • the sensing portion (1) comprises a detecting sensor transmitting and receiving signals detecting obstacles, spaced at a predetermined interval along the side surface of the main body of the cleaner so that it can transmit signals outward and receive transmitted signals.
  • the sensing portion (1) is disposed at the front of the robot cleaner.
  • This may be configured to comprise a sensor detecting obstacles and a sensor for logging mileage.
  • the sensor detecting obstacles may comprise infrared sensors wherein emitting elements for emitting infrared rays and receiving elements for receiving reflected light can be perpendicularly arranged in pairs along the circumference surface, and the sensor detecting obstacles may be ultrasonic wave sensors configured to emit ultrasonic waves and receive reflected ultrasonic waves.
  • the sensor for logging mileage may be configured to calculate the number of rotation of the wheels, e.g., by using an encoder configured to detect the rotation number of the motor.
  • the wheel (2) comprises the left wheel mounted on the left side of the robot cleaner and the right wheel mounted on the right side.
  • a plurality of wheels is installed for driving at both sides of the main body of the robot which has a round plate shape.
  • the cleaner is driven by delivering the power generated by the motor mounted on the main body of the robot cleaner to the wheels.
  • a timing belt may be further provided in order to deliver power.
  • the inhaling portion (3) inhales dust on a floor surface by strong suction by the inhaling port (inhaling hole or inhaling pipe) formed at the main body of the robot. It is installed at the center lower surface of the robot cleaner to be connected with the inhaling port so as to collect and vacuum-inhale the contaminants attached to the opposite floor.
  • the inhaling portion (3) comprises a brush (24) for collecting contaminants on a floor surface, and depending on the embodiment, it may comprise an inhaling motor and a collecting room for collecting dust inhaled by the operation of the inhaling motor through the inhaling hole or inhaling pipe facing the floor surface.
  • the steaming portion (4) is the portion for obtaining steam by heating water, which comprises a heater for heating water. According to the present invention, since water is boiled using DC power, unlike conventional cleaners using an AC heater, steam is not generated by boiling the entire water, but generated by boiling the required amount of water only. That is, the steaming portion (4) is configured to generate steam by being automatically supplied with as much water as necessary and heating said amount of water with power from the batteries (16) built in the cleaner. The constitution of the steaming portion (4) will be described in detail in the following referring to Fig. 5.
  • a battery (16) is installed in the main body to allow an easy connection to an external charger.
  • This battery (16) can be charged through the battery charging terminal installed on the exterior of the main body.
  • the battery (16) detects its own level of charge and generates signals informing that the battery needs to be charged when the level of charge of the battery falls below a predetermined level.
  • FIG. 4 is an exploded view of the steam robot cleaner according to an embodiment of the present invention without its cover, which illustrates the detailed constitution of the steam robot cleaner of Figs. 1 to 3.
  • the steam robot cleaner comprises a sensing portion (1), a wheel (2), an inhaling portion (3), a steaming portion (4), and a battery (16).
  • the sensing portion (1) comprises a right bumper sensor (18), a center bumper sensor (20) and a left bumper sensor (21). Further, it comprises a bumper sensor recognition band (21), a left bumper fixing frame, and a right bumper fixing frame (17), which support the said bumper sensors.
  • the right bumper sensor (18) and left bumper sensor (21) are attached to the main body (11) of the cleaner through the left bumper fixing frame and right bumper fixing frame (17), and the center bumper sensor (20) is connected with other bumper sensors through the bumper sensor recognition band (21).
  • the sensing portion may further comprise a stair detecting sensor to prevent the robot from falling from high places including stairs, and a movement sensor for enabling the robot to move smoothly.
  • the conventional cleaning robot has a structure wherein the bumper is one whole thing, undivided, and receives inputs from two directions only.
  • the sensing portion (1) of the present application is configured to transmit/receive inputs from a total of five directions, i.e., from left (when the left bumper sensor (21) is driven), from right (the right bumper sensor (18) is driven), from center (the center bumper sensor (20) is driven), from left and center (the left bumper sensor (21) and center bumper sensor (20) are simultaneously driven), and from right and center (the right bumper sensor (18) and center bumper sensor (20) are simultaneously driven).
  • the sensing portion (1) divides the bumper sensor into three parts, it can receive inputs basically from three directions, and it can receive inputs from five directions in maximum when two bumpers are driven simultaneously. Thus, it can cover a wide range of area.
  • the bumper according to the present invention can receive inputs from three directions, i.e., from the center, left and right sides.
  • the robot cleaner performs cleaning while turning in the counterclockwise direction, using the right-hand rule, when meeting obstacles. Also, when the center bumper bumps into an obstacle, an input is received by the center bumper sensor (20) and it turns 90 degrees to the left. Also, when the left bumper bumps into an obstacle, an input is received by the left bumper sensor (21), and it cleans along the obstacle while turning at least 100 degrees to the left. Further, when an input is received by the right bumper sensor (18), it turns its direction less than 30 degrees.
  • inputs can be received from three directions. Also, as described in the above, since inputs can be received from two more directions, it is more efficient than the conventional bumper. Also, it enables efficient cleaning by adjusting the distance to the obstacle by a sensor at the right side for detecting the distance to the obstacle (wall).
  • the wheel (2) comprises the right wheel (13) and the left wheel (14), and is driven by the power of the motor. Although it is not illustrated in Fig. 4, it may further comprise subsidiary wheels at the front center.
  • FIG. 4 is an explode view of the steam robot cleaner according to an embodiment of the present invention without its cover.
  • Fig. 4 in order to collect contaminants on a floor surface, it comprises not only a brush (24), but also a brush motor (22), a brush support (23), an inhaling motor (15) and a dust box (12).
  • the inhaling portion (3) is provided in the center lower surface of the main body (11) of the robot cleaner, between the right wheel (13) and left wheel (14).
  • the brush (24) is installed on the center lower surface of the main body (11) of the robot cleaner, so as to first collect contaminants on the floor surface.
  • collected contaminants are again collected and vacuum-inhaled by suction by the main body of the robot using an inhaling motor (15).
  • the inhaled dust is finally stored at the dust box (12). That is, since the inhaling portion (3) of the present invention first collects contaminants on the floor surface by using a brush (24), and then vacuum-inhales the contaminants, a more efficient cleaning effect can be achieved.
  • the vacuum-cleaned floor surface is cleaned again by the steaming portion (4), which will be described below, it is more efficient in removing foreign substances or smudged dirt stuck onto the surface to be cleaned (floor surface).
  • the controlling portion (25) controls the movement of the robot cleaner according to the obstacle-detecting signals from the sensing portion (1). That is, the controlling portion controls each element through the transmitted and received signals. Also, the amount of charge the battery of the robot cleaner is controlled by detecting signals from the battery (16). For example, in a stand-by status, when the robot cleaner is connected to an external charger the controlling portion keeps the level of charge of the battery within a predetermined range. Also, when, in or after use, a signal is received informing that battery charge is necessary, the wheels can be controlled so that it can return to an external charger.
  • controlling portion (25) can control the power supplied to the heater by turning it on or off when the current of the heater of the steaming portion (4), which will be described in the following, exceeds a predetermined value, and by such on/off control, the heater can be prevented from being heated more than necessary.
  • FIG. 5 is an exploded view of the steaming portion of the steam robot cleaner according to an embodiment of the present invention.
  • the steaming portion (4) provided with such steam spraying function comprises a water pail (30), and the specific constitutional elements spraying steam are located at the lower surface of the water pail (30).
  • the steaming portion (4) comprises a water pail (30), a water pail cover (31) opening and closing the water pail, a water pail check valve (32) preventing water from leaking when lifting the water pail (30) is lifted, and a water pail sealing ring (33).
  • a water supplying portion (36) for supplying water for steam is disposed at the bottoms of the water pail check valve (32) and the water pail sealing ring (33). Said water supplying portion (36) adjusts the level of water.
  • a water pail check valve (32) and a water pail sealing ring (33) are successively arranged so that the water pail cover (31) is wrapped, and said water pail provided at the lower part of the water pail can be opened and said water pail (30) is detachable.
  • one side of the water supplying portion (36) comprises a slide hole sealing screw (37) for mold
  • another side of the water supplying portion (36) comprises a boiler portion comprising a boiler body (38) and a boiler cover (34) opening and closing the boiler body.
  • the upper plate of the boiler portion comprises a boiler cover (34) and a cover gasket (35) supplying water again in case water boils over.
  • the lower plate of the boiler portion comprises a rotating separation membrane (39) preventing water from boiling over at the boiler body (38) and a steam pipe (41) supplying steam.
  • a water controlling portion bottom cover (40) is disposed at the side of the rotating separation membrane (39) to be connected with the above stated water supplying portion (36).
  • the above rotating separation membrane (39) sends the excess amount of water back to the heater in case the heated water exceeds a predetermined amount, and due to such constitution, an appropriate amount of water is always supplied.
  • a heater portion is disposed at the lower part of the rotating separation membrane (39).
  • Said heater portion comprises a heater gasket (42) forming a connecting portion to prevent water from leaking to a heater (42) for DC which heats water and the upper plate of the heater (43), a steam pipe (41) for spraying steam, an insulating material (44) for preventing heat of the heater from escaping, a lower frame (45) for adhesion, steel bending (46) for binding with the heater (43), a thermistor (47) for preventing overheating of the heater, and a steam distributor (48).
  • the heater gasket (42) of the heater portion is closely attached to the upper plate of the heater (43) to prevent water from leaking.
  • the thermistor (47) can prevent the heater from being heated more than necessary by cutting off the power when the temperature of the heater region gets too high. That is, the thermistor (47) automatically cuts off power when the temperature measured by the temperature sensor is higher than a predetermined temperature by using a temperature sensor adhered to the heater in case the temperature of the heater increases up to about 350 degree Celsius when water is insufficient.
  • the steam distributor (48) uniformly sprays steam by dispersing steam wide.
  • a rag (50) is attached to the bottom of the steam distributor (48).
  • the rag is attached to the rag attaching portion (49) as illustrated in Fig. 5.
  • the rag attaching portion (49) is configured to be detachable by using Velcro for the rag (50).
  • the attached rag (50) can clean contaminants on the floor surface, particularly, stuck foreign substance or smudged dirt, by the steam sprayed through a steam distributor.
  • the steam robot cleaner according to the present invention further comprises a humidity sensor measuring humidity after performing the above stated steam cleaning.
  • the humidity sensor measures the humidity of the area that has been steam cleaned so as not to perform cleaning in case the measured humidity exceeds a predetermined level of humidity. That is, by recognizing the area steam-cleaned using a humidity sensor, the robot cleaner according to the present invention can avoid cleaning again the area which has just been cleaned; thus, the cleaning effect can be maximized in a short period of time.
  • the robot cleaner according to the present invention sweeps contaminants such as dust, etc. from the surface using a brush and inhales them, and then wipes it again with a rag sprayed with steam, thus automatically performing cleaning, while moving around within the area to clean for itself using DC battery without the user's operation.

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  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)

Abstract

La présente invention concerne un robot de nettoyage à la vapeur, qui effectue un nettoyage à la vapeur après avoir ramassé et aspiré sous vide les impuretés. Le robot de nettoyage à la vapeur de l'invention comprend une partie aspirateur qui ramasse et aspire sous vide les impuretés, et une partie émission de vapeur qui utilise de l'énergie provenant d'une batterie intégrée pour chauffer de l'eau en vue de produire de la vapeur. La partie émission de vapeur est configurée de façon à être alimentée automatiquement avec une quantité d'eau équivalente à celle consommée, ce qui réduit la durée de production de vapeur et assure un nettoyage plus efficace en un temps plus court. Les substances étrangères et les saletés incrustées à la surface à nettoyer s'enlèvent également plus efficacement. Le robot de nettoyage à la vapeur de l'invention comprend en outre un détecteur d'obstacles central qui reçoit un signal d'entrée central s'ajoutant à ceux provenant du détecteur d'obstacles de gauche et du détecteur d'obstacles de droite, ce qui lui permet de régler plus efficacement la distance avec les obstacles.
PCT/KR2006/004500 2006-07-14 2006-11-01 Robot de nettoyage à la vapeur Ceased WO2008007830A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR20060066324 2006-07-14
KR10-2006-0066324 2006-07-14

Publications (1)

Publication Number Publication Date
WO2008007830A1 true WO2008007830A1 (fr) 2008-01-17

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PCT/KR2006/004500 Ceased WO2008007830A1 (fr) 2006-07-14 2006-11-01 Robot de nettoyage à la vapeur

Country Status (2)

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KR (1) KR20080007189A (fr)
WO (1) WO2008007830A1 (fr)

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EP2316322A3 (fr) * 2009-11-02 2011-06-29 LG Electronics Inc. Robot nettoyeur
EP1997418A3 (fr) * 2007-05-31 2014-02-19 Samsung Electronics Co., Ltd. Robot de nettoyage
CN106233218A (zh) * 2014-04-22 2016-12-14 东芝生活电器株式会社 自律行驶体
AU2013357890B2 (en) * 2012-12-13 2017-01-19 Carl Freudenberg Kg Cleaning apparatus with a fluid container
CN106473668A (zh) * 2015-08-27 2017-03-08 科沃斯机器人股份有限公司 水箱及其清洁机器人
CN106923755A (zh) * 2015-12-31 2017-07-07 科沃斯机器人股份有限公司 水箱及其清洁机器人
CN106923756A (zh) * 2015-12-31 2017-07-07 科沃斯机器人股份有限公司 水箱及其清洁机器人
CN107554643A (zh) * 2017-07-06 2018-01-09 杭叉集团股份有限公司 一种agv的避障装置
CN108451446A (zh) * 2018-04-27 2018-08-28 芜湖纵横智能制造产业技术研究有限公司 一种具有抗震功能的自主清理智能机器人
EP3626149A1 (fr) 2018-08-30 2020-03-25 Sensirion AG Dispositif d'aspirateur
EP3861911A3 (fr) * 2016-05-20 2021-12-08 LG Electronics Inc. Robot nettoyeur
US11259676B2 (en) 2018-08-30 2022-03-01 Sensirion Ag Vacuum cleaner device
EP4289327A1 (fr) * 2022-06-07 2023-12-13 BSH Hausgeräte GmbH Nettoyage humide d'une surface de sol
DE102009044554B4 (de) 2009-10-05 2024-12-19 Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung Selbsttätig verfahrbares Saug- und/oder Kehrgerät
EP4378365A4 (fr) * 2021-07-27 2025-07-23 Lg Electronics Inc Appareil de nettoyage et procédé de commande associé

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KR101336985B1 (ko) * 2011-01-25 2013-12-04 (주) 사람과나눔 청소포 가열형 바닥 청소기
KR101313776B1 (ko) * 2011-09-21 2013-10-01 한국로봇융합연구원 범퍼 어셈블리 및 이를 갖는 청소 로봇

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DE102009044554B4 (de) 2009-10-05 2024-12-19 Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung Selbsttätig verfahrbares Saug- und/oder Kehrgerät
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CN106233218A (zh) * 2014-04-22 2016-12-14 东芝生活电器株式会社 自律行驶体
CN106233218B (zh) * 2014-04-22 2020-01-21 东芝生活电器株式会社 自律行驶体
EP3136196A4 (fr) * 2014-04-22 2017-12-27 Toshiba Lifestyle Products & Services Corporation Corps à déplacement autonome
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CN106923755A (zh) * 2015-12-31 2017-07-07 科沃斯机器人股份有限公司 水箱及其清洁机器人
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CN107554643A (zh) * 2017-07-06 2018-01-09 杭叉集团股份有限公司 一种agv的避障装置
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CN108451446B (zh) * 2018-04-27 2021-07-27 江苏元杰自动化科技有限公司 一种具有抗震功能的自主清理智能机器人
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EP4378365A4 (fr) * 2021-07-27 2025-07-23 Lg Electronics Inc Appareil de nettoyage et procédé de commande associé
EP4289327A1 (fr) * 2022-06-07 2023-12-13 BSH Hausgeräte GmbH Nettoyage humide d'une surface de sol
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