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WO2017003232A1 - Robot aspirateur - Google Patents

Robot aspirateur Download PDF

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Publication number
WO2017003232A1
WO2017003232A1 PCT/KR2016/007066 KR2016007066W WO2017003232A1 WO 2017003232 A1 WO2017003232 A1 WO 2017003232A1 KR 2016007066 W KR2016007066 W KR 2016007066W WO 2017003232 A1 WO2017003232 A1 WO 2017003232A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot cleaner
bottom plate
water
mop
present
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/KR2016/007066
Other languages
English (en)
Korean (ko)
Inventor
허주표
박성이
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.)
Fine Robotics Co Ltd
Original Assignee
Fine Robotics 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 Fine Robotics Co Ltd filed Critical Fine Robotics Co Ltd
Publication of WO2017003232A1 publication Critical patent/WO2017003232A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the present invention relates to a robot cleaner, and more particularly, to a robot cleaner configuration capable of cleaning the mop, including the mop.
  • cleaners that are mainly used are also automated to provide convenience to users.
  • the automated robot cleaner removes debris by moving on its own without user intervention.
  • the robot cleaner has been designed to be cleaned by attaching a mop to the bottom of the robot to perform vacuum cleaning and mop cleaning.
  • the mop cleaning method using the robot cleaner is a mop attached to the lower part of the vacuum cleaner for cleaning the existing vacuum cleaner, the movement pattern of the foreign matter suction operation consisting of the mopping and the wide interval movement made by the repetitive movement of a narrow interval. Removal of foreign matter, etc. fixed by the difference has a difficult problem.
  • the mop attachment structure of the general robot cleaner has a frictional force with the ground due to the mop surface, so that additional driving force is required as compared to the conventional robot cleaner movement method, which may further cause operational problems. have.
  • the present invention is to solve the above problems, an object of the present invention is to propose a drive structure of the robot cleaner that can effectively remove the stuck foreign matter.
  • an object of the present invention is to propose a robot cleaner which can be efficiently moved by using the increased rotation speed as a moving power source and increasing the rotation speed through the driving structure of the proposed robot cleaner.
  • Robot cleaner for solving the technical problem is a body portion including a drive actuator; A bottom plate coupled with the body portion; A plurality of wheels protruding outward toward the bottom surface in one open inner region of the bottom plate, adjacent to each other to have a center distance of each other according to the width in the body portion is driven independently by the drive actuator ; And a mop portion coupled to the bottom of the bottom plate.
  • the robot cleaner may include: a water discharge port coupled to the body part at an upper portion of the bottom plate to supply water to the mop part; And a bucket including an air inlet through which air is injected at a pressure difference due to the discharge of the water.
  • the robot cleaner may include: a water discharge port coupled to the body part at an upper portion of the bottom plate to supply water to the mop part; And a bucket including a blocking wall for allowing water to pass to the discharge port by the centrifugal force caused by the rotational motion of the robot cleaner.
  • the robot cleaner further includes an illumination unit for displaying the operation state information of the robot cleaner by projecting the light on the water stored in the bucket.
  • the robot cleaner further includes a cliff detection or floor detection sensor formed by passing through the bottom plate in the body portion, wherein the cliff detection or floor detection sensor presses a part of the bottom surface through the mop to mop the mop. It is preferable to reduce and separate the joining surface of the part and the bottom surface to the partial point.
  • the wheel is preferably zigzag in cross section from the center of the wheel to the outer circumferential surface so that both ends of the wheel are alternately opened.
  • the wheels are configured to be adjacent to each other at least equal to or more than the center distance between the wheels of the width of the wheel (n is an integer) times, and the curved surface of the horizontal cross section of the body portion is formed to include the area between the wheels.
  • the body part includes an obstacle detecting sensor for avoiding obstacles having a predetermined reference height or more in driving of the robot cleaner.
  • the body portion includes a protective attachment attached to at least a portion of the body portion to absorb the impact of the collision in the running of the robot cleaner.
  • the barrier wall preferably includes an inclined surface that is inclined in the direction of the outlet from the outside of the bucket.
  • the bottom plate includes a plurality of locking jaws, the locking jaw is preferably coupled or released by the linear motion of the single locking portion formed in the body portion.
  • the present invention it is possible to effectively remove the stuck foreign matter, increase the rotational speed through the drive structure in which the drive source is located close to the rotation axis, and reduce the power consumption by using the increased rotation speed as a moving power source.
  • the robot cleaner since the driving source is formed near the rotating shaft and the mop plate is formed outside, the robot cleaner, which is the driving source, can be prevented from remaining in accordance with the movement of the cleaner, thereby enabling a more effective mop operation.
  • FIG. 1 is a view showing a robot cleaner according to an embodiment of the present invention.
  • FIG. 2 is a view showing a coupling example of a robot cleaner according to an embodiment of the present invention.
  • FIG 3 is a view showing the internal configuration of a robot cleaner according to an embodiment of the present invention.
  • FIGS. 4A and 4B are views illustrating a bucket of a robot cleaner according to an embodiment of the present invention.
  • FIG. 5 is a view showing the discharge portion of the robot cleaner bucket according to an embodiment of the present invention.
  • FIG. 6 is a cross-sectional view of the robot cleaner according to an embodiment of the present invention.
  • FIGS. 7 to 9b are diagrams illustrating wheels of a robot cleaner according to an embodiment of the present invention.
  • FIG 10 and 11 are views showing a configuration associated with the driving obstacle of the robot cleaner according to an embodiment of the present invention.
  • FIG. 1 is an exemplary view showing a robot cleaner 10 according to an embodiment of the present invention.
  • the robot cleaner 10 may be configured in a hemispherical shape as a whole, and a handle for convenience of use may be formed in the hemispherical body part 100.
  • the central part where the handle is formed may be formed to be concave and gripped by a finger.
  • a switch for various operations may be configured.
  • the bottom plate 300 and the mop 500 may be configured with respect to the hemispherical bottom surface. That is, the robot cleaner 10 is operated in a state in which the hemispherical bottom surface faces the ground, and is not shown in FIG. 1, but moves through the wheel 400 formed at the center of the bottom surface.
  • FIG. 2 is an exploded view illustrating the robot cleaner 10 of FIG. 1 and illustrates a coupling structure having a configuration excluding the wheel 400.
  • the robot cleaner 10 includes a body part 100, a bucket 200, a bottom plate 300, and a mop part 500.
  • Body portion 100 is formed in a hemispherical shape as described above to form a handle and a switch on the outside to enable the user to easily turn on and off the power, and to easily move the cleaner 10 through the grip of the handle.
  • the body part 100 may include an actuator, a battery, a PCB for implementing an electric circuit, etc. necessary for the operation of the robot cleaner 10, and the wheel 400 and the bottom plate 300. Because of this combined structure can also be configured for coupling.
  • a hemispherical shape provides a space therein and mounts a driving source, a power source, and an electric circuit for the operation of the robot cleaner 10 in the provided space.
  • the bottom plate 300 is coupled to the body portion 100 described above, and the water tank 200 is coupled to the upper surface of the bottom plate 300.
  • the housing of the components necessary for the operation of the robot cleaner 10 is realized through the combination of the body portion 100 and the bottom plate 300.
  • the water injection hole 224 is formed in the upper portion of the bucket 200 in Figure 2, when the water is injected into the bucket 200 in a state in which the body portion 100 and the bottom plate 300 is released Water can be injected.
  • the body 100 may release the water bottle 200 coupled to the bottom plate 300 to which the body portion 100 is uncoupled, thereby injecting water.
  • the mop 500 is configured to surround the bottom plate 300, and the lower surface of the mop 500 may be formed of a fiber material such as microfiber to facilitate the removal of foreign matter.
  • the mop 500 is preferably formed to protrude to the outside of the body part 100.
  • the desired friction force when too thin with respect to the thickness of the mop is not absorbed by the water, it may be difficult to give the desired friction force, it is preferably determined according to the length (diameter) of the mop.
  • the ratio of the thickness to the length of the mop may be 1 to 15%.
  • the mop portion is preferably formed to have a thickness of 1 to 15% with respect to the length of the mop defining the maximum width of the mop, the wheel can be coupled at the bottom of the bottom plate so as to project below the lower surface of the mop portion. have.
  • FIG 3 is an internal structural diagram of the body portion 100 according to the present embodiment, the wheel assembly is assembled to the wheel assembly, floor or cliff detection sensor 120, the drive actuator and the assembly for the assembly of various configurations Can be.
  • the wheel assembly is located at the center of the body portion 100. In this embodiment, since the wheel 400 is formed close to the rotation axis, the wheel assembly is coupled to the wheel 400 at the center of the body portion 100.
  • the wheel 400 to be coupled protrudes to the outside through the opening formed in the body portion 100 and is grounded with the ground through the protruding portion.
  • the drive actuator supplies power for the rotation of the wheel 400.
  • two wheels 400 are formed, and the driving actuators may be configured for each wheel 400, and may be operated at the same or different rotation speeds. By this independent operation, it is possible to rotate the robot cleaner 10 according to the present embodiment, it is possible to implement the movement.
  • the wheel 400 which is the driving source, increases the rotational speed through the driving structure located close to the rotational axis, and reduces the power consumption by using the increased rotational speed as the moving power source.
  • the floor or cliff detection sensor 120 may be configured in plurality in the body portion 100 to secure the driving stability of the robot cleaner 10. That is, according to Figure 3, it can be configured in four directions, the sensor 120 is configured in the body portion 100 is preferably exposed to the ground through the bottom plate 300 and mop 500.
  • the cliff can be detected through the ground state with the bottom plate 300 is exposed, it is also possible to detect the floor through the photo switch. If the at least one sensor 120 detects that the cliff is a cliff, the robot cleaner 10 may be prevented from driving in the direction of the sensor 120 that detects the cliff, thereby preventing the robot cleaner 10 from falling.
  • the assembly is configured in the body portion 100 to couple the bucket 200 and the body portion 100. It can be implemented in the form of a button, through which the bucket 200 to be detachable with the body portion (100).
  • the coupling is performed, and when water is filled in the bucket 200, the coupling is released to inject water.
  • a separate assembly for coupling the bottom surface of the hemispherical housing portion and the body portion 100 may be configured.
  • FIG. 4A is a view showing the top surface of the bucket 200 according to the present embodiment
  • FIG. 4B is a view showing the bottom surface of the bucket 200 according to the present embodiment.
  • the bucket 200 may be configured in a disc shape, and includes a bucket cap 210 for supplying the bucket 200 to an upper portion thereof. Therefore, the user opens the water bottle cap 210 and injects water into the water bottle 200, and when used, closes the water tank cap 210 to prevent the water from flowing out to the outside.
  • the above-described floor or cliff detection sensor 120 includes a hole 204 for exposing the body portion 100 to the outside. It may also include a locking step 202 for assembly with the body portion 100.
  • the bottom plate 300 or the bucket 200 includes a locking jaw formed on the same extension line, and the locking jaw may be coupled or released by the linear movement of the single locking portion formed in the body portion 100. have.
  • FIG. 4B is a view showing a lower portion of the bucket 200 according to the present embodiment, and includes a water discharge part 220 for discharging water.
  • the water discharge unit 220 is composed of three holes, the water stored in the water tank 200 overflows to the outside, the water soaked into the mop 500 coupled to the lower portion of the water tank 200, robot cleaner (10) make mop cleaning possible.
  • 5A is a diagram illustrating a structure of the water discharge part 220 of the bucket 200 according to the present embodiment, and may be formed at one position of the bucket 200.
  • 5A may be combined and formed in a separate configuration in the shape as shown in Figure 5a, according to the design of the product, it is possible to configure continuously with the bottom surface of the bucket 200 through the injection.
  • an air inlet 224 for supplying air is formed in the center, and an outlet 222 for discharging water to both sides is formed.
  • a blocking wall 226 having a predetermined height is formed between the water outlet 222 and the water tank 200.
  • the water outlet 220 has an air inlet 224 between the water outlet 222 to adjust the pressure difference between the inside and the outside of the bucket 200 as the water is discharged through the outlet 222. Is formed. Therefore, water is easily discharged so that the mop is efficiently cleaned.
  • the blocking wall 226 is preferably formed higher than the height of the bucket 200 is stored water. That is, when the robot cleaner 10 is stopped because the water of the bucket 200 is higher than the height that can be stored, the water is injected into the water outlet 222 is blocked by the blocking wall 226.
  • the robot cleaner 10 when the robot cleaner 10 is driven, centrifugal force is generated by the rotation, and thus the water is concentrated outward from the center where the water rotates. As a result, the elevated water level may exceed the blocking wall 226, through which water is injected into the water outlet 222 and discharged to the outside.
  • the air inlet 224 is to solve the pressure difference when water is discharged, the air inlet 224 is preferably formed higher than the blocking wall 226. Therefore, even if the water exceeds the barrier wall 226 is not injected into the air inlet 224, the air inlet 224 may perform its function.
  • the height of the blocking wall 226 may be determined according to the area or material of the mop 500 of the robot cleaner 10.
  • the amount of water that can be absorbed may vary according to the area or material of the mop 500, and the height of the blocking wall 226 is determined in consideration of the maximum amount of water that can be absorbed by the mop 500. That is, the size of the bucket 200 may vary according to the capacity or size of the robot cleaner 10, and the height of the blocking wall 226 of the water discharge part 220 coupled thereto may also vary.
  • the height of the blocking wall 226 may be implemented to vary in consideration of the rotational speed or the moving speed of the robot cleaner 10.
  • the height of the barrier wall 226 may be higher for areas that require repeated cleaning in a drier environment, and the height of the barrier wall 226 may be lowered for areas that require cleaning in a humid environment. have.
  • 5B is a view showing in more detail the blocking wall 226 according to the present embodiment.
  • the blocking wall 226 may be formed with an inclined surface inclined in the direction of the outlet from the outside of the bucket.
  • the inclined surface is substantially inclined in the range of 5 to 75 degrees in the vertical line of the surface to be cleaned. This makes the water move to the outside of the bucket by centrifugal force during the rotation of the bucket and makes the water overflow easier.
  • the zone of the bucket 200 it is also possible to divide the zone of the bucket 200 to design the bucket 200 so as to separate and inject a solution containing a washing component in addition to the water.
  • the inner region of the bucket 200 may be infused with a solution comprising a cleaning component and the outer region may be infused with water.
  • the above-described water discharge unit 220 may be configured independently so that the water and the solution may be independently discharged. Independently configuring the water discharge part 220 lowers the height so that more water can be discharged by varying the height of the blocking wall 226 formed therein, and less amount is discharged in the case of the washing solution. It is also possible to form as high as possible.
  • the division of the water tank 200 and the height of the blocking wall 226 of the water discharge part 220 may be variously designed and changed according to the purpose or shape of the robot cleaner 10.
  • cliff detection or floor detection sensor 120 will be described in more detail with reference to FIG. 6.
  • FIG. 6 is a cross-sectional view of the robot cleaner 10 according to an embodiment of the present invention.
  • the wheel 400 and the bottom plate 300 are coupled to the body portion 100 as described above, and the outside of the bottom plate 300 is mop.
  • the unit 500 is coupled.
  • the body portion 100 may be configured with a cliff detection sensor 124 and the bottom detection sensor 122 in four directions.
  • FIG. 6 is a cross-sectional view showing two cliff detection sensors 124 and a floor detection sensor 122.
  • the cliff detection sensor 124 is provided through the hole. Is exposed to the outside.
  • the bottom plate 300 also has a groove corresponding to the detection sensor 124 may be exposed to the outside.
  • the cliff detection sensor 124 protrudes to the outside through the spring 123. Therefore, if there is a floor is contracted by the spring 123, but when the robot cleaner 10 moves to the cliff at least one cliff detection sensor 124 is moved by the spring, through this The robot cleaner 10 according to the present embodiment recognizes a cliff.
  • the floor detection sensor 122 may be further configured on the cliff detection sensor 124.
  • the floor detection sensor 122 may be configured as a light sensor and a light emitter and a light receiver, and detects the floor through the light emitted from the light emitter reflected on the floor and entering the light receiver.
  • the floor detection sensor 122 may sense additional information such as surface roughness or material of the floor. That is, it is also possible to determine the property of the floor by sensing the optical characteristics such as the amount of light or the wavelength of the reflected light, and it is also possible for the driver to instruct the operation of the robot cleaner 10 according to the situation.
  • the wheel 400 according to the present embodiment further includes a groove 420 formed along an outer circumferential surface in a vertical direction of the width direction.
  • FIG. 8 is a diagram illustrating a cut surface of the wheel 400 according to FIG. 7.
  • the cross-section is zigzag 410 from the center of the wheel 400 to the outer circumferential surface of the wheel 400.
  • the both ends of) are alternately opened.
  • this space is to accommodate the pressing according to the weight of the robot cleaner 10, thereby improving the traction of the wheel 400 and the bottom surface.
  • the wheel 400 further includes a groove 420 formed along the outer circumferential surface in a vertical direction in the width direction, so that water formed on the floor may be drained by a mop cleaning operation of the robot cleaner 10 according to the present embodiment.
  • This may solve the problem caused by the operation of the robot cleaner 10 by turning the wheel 400 or not.
  • the wheel 400 according to the present embodiment is formed adjacent to each other at the center of the body portion 100 as shown in FIG. 3. do.
  • the width (W) of the wheel having a separate independent drive actuator 160 according to the present invention preferably has a length of 20 to 100% of the center distance (L) between the wheel.
  • the wheels are disposed adjacently with a center distance of five times the maximum wheel width (A), and are disposed adjacently with the center distance between the minimum wheels (B).
  • the width W of the wheel of the present invention is composed of a length of 20% or less of the wheel and the center distance L of the wheel, and the curved surface 170 of the rotational interference skin of the body edge portion 170. May be formed between the wheel and the wheel.
  • the rotational interference skin 170 of the body edge portion is between the wheel and the wheel. Can be formed on.
  • the robot cleaner 10 performs an obstacle avoidance operation or a WALL FOLLOWING operation (moving along a wall to perform corner cleaning).
  • the detection sensor 90 infrared, ultrasonic, PSD, DLV, TOF, etc.
  • the ground irregularities or low barrier obstacles must be moved upwards, and the high obstacles that cannot be overcome must be sensed and avoided by the sensor.
  • the robot cleaner 10 according to the embodiment of the present invention may be damaged by the surface of the product and the counterpart when it hits an obstacle floating in the corner of the furniture or on the floor when the body 100 is driven. Damage may occur.
  • the protective attachment 50 may be further configured in the body portion 100. In this case, the protective attachment 50 may be made of a material having an elastic property detachable to the body portion 100.
  • the robot cleaner 10 may further include a lighting unit.
  • the lighting unit may be configured as a light source such as an LED, and the light irradiation direction of the light source may face the water tank 200.
  • the bucket 200 is preferably made of a transparent material.
  • the lighting unit may emit light in various colors in order to provide the user with information regarding the operation mode of the robot cleaner 10 and the battery level, and the emitted light is reflected through the water contained in the bucket 200 to the user. Can be displayed.
  • the lighting unit determines that the red flashing signal is a signal that the remaining battery power is low, the user may check and replace the battery.
  • the communication unit and the charging station which will be described later, communicate with each other to receive the location of the charging station, and the driving unit determines the driving operation for driving to the charging station location and instructs the wheel 400.
  • the body unit 100 may further include a communication unit (not shown), and the communication unit may include one or more modules enabling wireless communication to enable wireless communication between the robot cleaner 10 and the control terminal. .
  • the robot cleaner 10 transmits a control signal received by such a communication unit (not shown) to the driving unit, whereby an operation state or an operation method may be controlled.
  • the terminal for controlling the robot cleaner 10 may include, for example, a smartphone, a tablet PC, a PC, a remote controller (remote control device), and the like, which can communicate with the robot cleaner 10.
  • control terminal When the control terminal is a remote control, it can be easily configured to be gripped by hand, and includes a gyro sensor 120 therein, when the user moves the remote control according to a predetermined pattern, generates a command according to the pattern and generates a robot cleaner as a signal. Can be delivered to.
  • the present invention it is possible to effectively remove the stuck foreign matter, increase the rotational speed through the drive structure in which the drive source is located close to the rotation axis, it is possible to reduce the power consumption by using the increased rotational speed as a moving power source. In addition, through the increased rotation speed it is possible to effectively remove the foreign matter stuck to the floor.
  • the robot cleaner since the driving source is formed near the rotating shaft and the mop plate is formed outside, the robot cleaner, which is the driving source, can be prevented from remaining in accordance with the movement of the cleaner, thereby enabling a more effective mop operation.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

La présente invention concerne un robot aspirateur. Le robot aspirateur selon la présente invention comprend : une partie de corps comprenant un actionneur d'entraînement ; une plaque inférieure couplée à la partie de corps ; des roues couplées à la partie de corps au niveau d'une partie d'une zone interne ouverte de la plaque inférieure ; et une partie de toile couplée au niveau de la partie inférieure de la plaque inférieure. La présente invention augmente la vitesse de rotation par l'intermédiaire d'une structure d'entraînement dans laquelle une source d'entraînement est positionnée à proximité d'un arbre rotatif, peut réduire la consommation d'énergie en utilisant la vitesse de rotation augmentée en tant que source d'alimentation mobile, et peut permettre un mouvement de rotation d'une toile avec un mouvement à haute vitesse augmenté au moyen de la vitesse de rotation augmentée, de manière à éliminer efficacement les matières étrangères adhérant au sol.
PCT/KR2016/007066 2015-07-02 2016-06-30 Robot aspirateur Ceased WO2017003232A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0094652 2015-07-02
KR1020150094652A KR101623871B1 (ko) 2015-07-02 2015-07-02 로봇 청소기

Publications (1)

Publication Number Publication Date
WO2017003232A1 true WO2017003232A1 (fr) 2017-01-05

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PCT/KR2016/007066 Ceased WO2017003232A1 (fr) 2015-07-02 2016-06-30 Robot aspirateur

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KR (1) KR101623871B1 (fr)
WO (1) WO2017003232A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115297755A (zh) * 2020-03-20 2022-11-04 Lg电子株式会社 扫地机器人

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KR102711296B1 (ko) 2018-04-30 2024-09-30 엘지전자 주식회사 청소기의 노즐
WO2019212176A1 (fr) 2018-04-30 2019-11-07 엘지전자 주식회사 Buse d'aspirateur
WO2019212187A1 (fr) 2018-04-30 2019-11-07 엘지전자 주식회사 Buse d'appareil de nettoyage
CN114869170B (zh) 2018-04-30 2024-04-12 Lg电子株式会社 清洁器
WO2019212177A1 (fr) 2018-04-30 2019-11-07 엘지전자 주식회사 Buse d'aspirateur
KR102625905B1 (ko) 2018-07-30 2024-01-18 엘지전자 주식회사 청소기의 노즐
KR102106303B1 (ko) * 2018-12-27 2020-05-04 경희대학교 산학협력단 이동형 로봇 장치
KR20210081851A (ko) * 2019-12-24 2021-07-02 에브리봇 주식회사 로봇청소기 및 그의 제어 방법
KR20210100518A (ko) * 2020-02-06 2021-08-17 엘지전자 주식회사 로봇 청소기 및 그 제어 방법
CN111466835A (zh) * 2020-03-31 2020-07-31 深圳市银星智能科技股份有限公司 清洁机器人

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JPH09230937A (ja) * 1996-02-27 1997-09-05 Nippon Yusoki Co Ltd 自立走行式掃除ロボットの障害物検出装置
KR20050027807A (ko) * 2003-09-16 2005-03-21 주식회사 로보아이모요 청소 로봇
KR20070010299A (ko) * 2005-07-18 2007-01-24 엘지전자 주식회사 휠 어셈블리
KR20120042391A (ko) * 2010-10-25 2012-05-03 이재하 물걸레 청소용 청소로봇
KR20130019810A (ko) * 2011-08-18 2013-02-27 엘지전자 주식회사 창문청소용 로봇청소기와 그 제어방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09230937A (ja) * 1996-02-27 1997-09-05 Nippon Yusoki Co Ltd 自立走行式掃除ロボットの障害物検出装置
KR20050027807A (ko) * 2003-09-16 2005-03-21 주식회사 로보아이모요 청소 로봇
KR20070010299A (ko) * 2005-07-18 2007-01-24 엘지전자 주식회사 휠 어셈블리
KR20120042391A (ko) * 2010-10-25 2012-05-03 이재하 물걸레 청소용 청소로봇
KR20130019810A (ko) * 2011-08-18 2013-02-27 엘지전자 주식회사 창문청소용 로봇청소기와 그 제어방법

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115297755A (zh) * 2020-03-20 2022-11-04 Lg电子株式会社 扫地机器人
CN115297755B (zh) * 2020-03-20 2023-11-14 Lg电子株式会社 扫地机器人

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