EP1806085A2 - Système robot nettoyeur - Google Patents

Système robot nettoyeur Download PDF

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Publication number
EP1806085A2
EP1806085A2 EP06121185A EP06121185A EP1806085A2 EP 1806085 A2 EP1806085 A2 EP 1806085A2 EP 06121185 A EP06121185 A EP 06121185A EP 06121185 A EP06121185 A EP 06121185A EP 1806085 A2 EP1806085 A2 EP 1806085A2
Authority
EP
European Patent Office
Prior art keywords
cleaning
robot
cleaning robot
cleaner
receiving space
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP06121185A
Other languages
German (de)
English (en)
Other versions
EP1806085A3 (fr
Inventor
Jun Hwa Lee
Jae Man Joo
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.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics 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 Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of EP1806085A2 publication Critical patent/EP1806085A2/fr
Publication of EP1806085A3 publication Critical patent/EP1806085A3/fr
Pending 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/36—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back
    • A47L5/362—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back of the horizontal type, e.g. canister or sledge type
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873—Docking units or charging stations
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884—Details of arrangements of batteries or their installation
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries

Definitions

  • the invention relates to a robot cleaning system, and, more particularly, to a robot cleaning system having a cleaner for manual cleaning and a cleaning robot with a charger for charging the cleaning robot that performs automatic cleaning.
  • a cleaner is a device used for cleaning the room and is typically used to remove dust, dirt, and debris in a room.
  • a vacuum cleaner for collecting dust and loose debris by a suction force generated from a low-pressure unit.
  • a cleaning robot which is designed to remove dust and loose debris from the floor while moving on the floor via self-traveling and without manual operation, has been developed.
  • automated cleaning refers to a cleaning operation performed by a cleaning robot that removes dust and loose debris while moving by itself
  • manual cleaning refers to a cleaning operation performed by a person using a vacuum cleaner.
  • the cleaning robot contains a rechargeable battery to supply electric power required to drive the cleaning robot, and is combined with a docking station to form a single cleaning system.
  • the docking station is located at a specific place in a room and serves to charge the cleaning robot.
  • the cleaning robot can reduce the labor of a person required for manual cleaning, the cleaning robot still has several problems.
  • the automatic cleaning function of the cleaning robot is limited to the floor
  • the cleaning robot is not successful in automatic cleaning in other areas, for example, the surface of a sofa, shelf, or the like, and therefore, has a limited cleaning area.
  • the cleaning robot is smaller than a general vacuum cleaner, and is unable to generate a strong suction force, resulting in insufficient cleaning.
  • the invention has been made in order to solve the above problems, and it is an aspect of the invention to provide a robot cleaning system having both a general cleaning function using a cleaner and a cleaning robot charging function using a cleaning robot.
  • the invention provides a cleaner configured to perform manual cleaning while being moved by a user in an area to be cleaned, including: a charger to be connected to a cleaning robot that performs automatic cleaning, so as to charge a rechargeable battery mounted in the cleaning robot.
  • the cleaner may further include a body having a space for receiving the cleaning robot when the cleaning robot returns to the cleaner for the sake of charging, and the charger may include a power terminal provided at an outer surface of the body to be connected to the cleaning robot.
  • the body may have a protruding portion, which protrudes forward to define the cleaning robot receiving space therebelow.
  • the power terminal may be located at a lower surface of the protruding portion.
  • the invention provides a cleaner configured to perform manual cleaning while being moved by a user in an area to be cleaned, including: a body having a receiving space for receiving a cleaning robot that performs automatic cleaning, the body including a power terminal mounted at a surface of the body defining the receiving space to supply electric power to the cleaning robot when the cleaning robot is located in the receiving space.
  • the body may further include a protruding portion, which protrudes forward from an upper end of the body by a predetermined length to define the receiving space therebelow.
  • the power terminal may be located at a lower surface of the protruding portion.
  • FIG. 1 is a side view schematically showing the outer appearance of a cleaner and cleaning robot that returns to the cleaner for charging in accordance with the invention.
  • FIG. 2 is a side sectional view showing the inner configuration of the cleaner and cleaning robot of FIG. 1.
  • the cleaning robot 10 includes a robot body 20, a suction device 30, a drive device 40, a controller 50, a recognizer (not shown), a rechargeable battery 60, and a battery charge level detector 70.
  • the suction device 30 is used to vacuum and collect dust and loose debris, and includes a brush 31, a suction pipe 32, a dust collector 33, and a blower 34.
  • the drive device 40 enables self-traveling of the cleaning robot 10, and includes a driving wheel 41, a driven wheel 42, and a drive motor (not shown) to rotate the driving wheel 41.
  • the recognizer includes an obstacle detection sensor, a traveling distance detection sensor, and a camera, and serves to allow the cleaning robot 10 to perform efficient cleaning, traveling, and returning operations.
  • the rechargeable battery 60 has a charging terminal 61 protruding out of the robot body 20, such that it is charged by a commercial alternator when the cleaning robot 10 is connected to a cleaner 100 in accordance with the invention.
  • the battery charge level detector 70 is used to detect a charge level of the rechargeable battery 60 when the cleaning robot 10 returns to the cleaner 100. If the detected charge level reaches a preset lowest level, the detector 70 sends a charge request signal to the controller 50.
  • the cleaner 100 in accordance with the invention includes a body 110 in which a variety of elements are mounted, a suction piece 120 to vacuum dust and loose debris from the floor B, and a connection pipe 130 to connect the body 110 to the suction piece 120, to allow a suction force, generated by the body 110, to be transferred to the suction piece 120.
  • the connection pipe 130 includes a suction hose 131 and a suction pipe 132.
  • a handle 133 is interposed between the suction hose 131 and the suction pipe 132.
  • the handle 133 is provided with a variety of buttons to enable easy manipulation.
  • the suction hose 131 is a flexible wrinkled hose having a first end connected to the handle 133 and a second end connected to the body 110.
  • the suction pipe 132 has a first end connected to the suction piece 120 and a second end connected to the handle 133.
  • the body 110 contains a blowing device 111 to provide a suction force required to vacuum dust and loose debris during manual cleaning, and a dust collector 112 to store dust and debris vacuumed.
  • the dust collector 112 may be a dust envelope, or cyclone dust collector that is widely used.
  • the blowing device 111 includes a suction motor, and a fan to be rotated by the suction motor.
  • the cleaner 100 in accordance with the invention is designed to serve as a docking station for charging the rechargeable battery 60 mounted in the cleaning robot 10 that performs automatic cleaning. Accordingly, there is no need for a separate docking station for the cleaning robot 10 that performs automatic cleaning. This prevents an increase in the number of cleaning devices,.
  • the invention reduces costs and the space needed to store and operate the cleaning devices.
  • the body 110 of the robot cleaning system 100 in accordance with the invention is configured to have a space S, which is utilized to house the cleaning robot 10 when the cleaning robot 10 returns to the robot cleaning system 100 for the sake of charging.
  • the body 110 contains a charger 140 to charge the rechargeable battery 60 of the cleaning robot 10.
  • the body 110 may have an internal shape selected from among a variety of shapes suitable to receive the cleaning robot 10.
  • the body 110 may have a protruding portion 113 that protrudes forward by a predetermined length to define the receiving space S therebelow.
  • the charger 140 has a power terminal 141 provided at an outer surface of the body 110.
  • the lower terminal 41 is positioned to be connected to the charging terminal 61 of the cleaning robot 10 when the cleaning robot 10 returns to the cleaner 100.
  • the power terminal 141 may be located at a lower surface 113a of the protruding portion 113.
  • the power terminal 141 is connected to a power cord 150 via an internal transformer and power cable, such that it supplies power to the rechargeable battery 60 as it is connected to the charging terminal 61 of the cleaning robot 10.
  • the power cord 150 is connected to an external commercial alternator when the cleaner 100 serves to charge the cleaning robot 10,.
  • the power cord 150 of the cleaner 100 is connected to the external commercial alternator.
  • the cleaning robot 10 is received in the receiving space S that is defined below the protruding portion 113 of the body 110 of the cleaner 100, such that the charging terminal 61 is in a waiting state while being connected to the power terminal 141 of the cleaner 100. Then, if a signal for directing a cleaning operation is transmitted to the cleaning robot 10, the cleaning robot 10 acts to remove dust and loose debris from the floor while moving by itself in an area to be cleaned.
  • the battery charge level detector 70 of the cleaning robot 10 checks the rechargeable battery 60 periodically, so as to send a charge request signal to the controller 50 when the rechargeable battery 60 needs to be charged. If the charge request signal is transmitted to the controller 50, the controller 50 controls the drive device 40 to cause the cleaning robot 10 to return to the receiving space S of the cleaner 100.
  • the recognizer acts to collect a variety of information and to send the information to the controller 50, in order to guide the cleaning robot 10 to a predetermined position.
  • the charging terminal 61 of the cleaning robot 10 is connected to the power terminal 141 that is connected to an external power source via the power cord 150. Thereby, the external power source supplies electric power to charge the rechargeable battery 60 of the cleaning robot 10.
  • the cleaner 100 is moved and steered by a user to remove dust and loose debris from the floor through the suction piece 120.
  • the invention provides a cleaner having both a general cleaning function and a cleaning robot charging function.
  • a dual function cleaner has the effect of improving effectiveness of both automatic and manual cleaning devices thereof. Accordingly, as compared to the conventional case wherein a plurality of devices required to perform both automatic cleaning and manual cleaning must be prepared, a reduced economic burden and improved space utility can be accomplished.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Suction Cleaners (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
EP06121185A 2006-01-06 2006-09-25 Système robot nettoyeur Pending EP1806085A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020060001920A KR20070074145A (ko) 2006-01-06 2006-01-06 청소기

Publications (2)

Publication Number Publication Date
EP1806085A2 true EP1806085A2 (fr) 2007-07-11
EP1806085A3 EP1806085A3 (fr) 2008-07-23

Family

ID=37564446

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06121185A Pending EP1806085A3 (fr) 2006-01-06 2006-09-25 Système robot nettoyeur

Country Status (5)

Country Link
US (1) US20070157416A1 (fr)
EP (1) EP1806085A3 (fr)
JP (1) JP2007181660A (fr)
KR (1) KR20070074145A (fr)
CN (1) CN1994214A (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102613944A (zh) * 2012-03-27 2012-08-01 复旦大学 清洁机器人脏物识别***及清洁方法
EP2596733A1 (fr) * 2011-11-22 2013-05-29 Nilfisk-Advance A/S Unités primaires et secondaires combinées
EP2898808A1 (fr) * 2014-01-24 2015-07-29 Hoover Limited Aspirateur à réservoir
US10886763B1 (en) 2019-12-10 2021-01-05 Lg Electronics Inc. Charging device
CN114224233A (zh) * 2021-12-28 2022-03-25 吴宜 一种实验室用组合式拖地机器人

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EP2394553B1 (fr) * 2006-05-19 2016-04-20 iRobot Corporation Élimination de débris de robots de nettoyage
KR101330734B1 (ko) * 2007-08-24 2013-11-20 삼성전자주식회사 로봇청소기와 도킹 스테이션을 구비하는 로봇청소기 시스템
GB2469049B (en) * 2009-03-31 2013-04-17 Dyson Technology Ltd A cleaning appliance with steering mechanism
KR101483541B1 (ko) * 2010-07-15 2015-01-19 삼성전자주식회사 로봇청소기, 메인터넌스 스테이션 그리고 이들을 가지는 청소시스템
TWM412591U (en) * 2011-03-23 2011-09-21 Micro Star Int Co Ltd Electrodes storage structure for cleaning robot
EP2762050B1 (fr) * 2011-09-29 2019-10-02 Sharp Kabushiki Kaisha Robot de nettoyage
CN103371770B (zh) * 2012-04-12 2017-06-23 中弘智能高科技（深圳）有限公司 自走及手提两用式吸尘器
CN103536246B (zh) * 2012-07-12 2016-08-03 科沃斯机器人有限公司 真空吸尘器
US9178370B2 (en) * 2012-12-28 2015-11-03 Irobot Corporation Coverage robot docking station
CN105011866A (zh) * 2014-04-14 2015-11-04 江苏美的清洁电器股份有限公司 扫地机器人
CN104731098A (zh) * 2015-02-09 2015-06-24 南京光锥信息科技有限公司 基于三维成像***的可自动返回充电的清洁机器人
KR101684072B1 (ko) 2015-03-06 2016-12-07 엘지전자 주식회사 진공 청소기 및 그의 제어방법
TWI653960B (zh) * 2015-08-31 2019-03-21 Ｌｇ電子股份有限公司 清掃機器人
JP6820729B2 (ja) * 2016-11-30 2021-01-27 東芝ライフスタイル株式会社 電気掃除装置
US11794141B2 (en) * 2021-01-25 2023-10-24 Omachron Intellectual Property Inc. Multiuse home station
JP6910864B2 (ja) * 2017-06-22 2021-07-28 東芝ライフスタイル株式会社 電気掃除装置
JP6933924B2 (ja) * 2017-06-23 2021-09-08 東芝ライフスタイル株式会社 電気掃除装置
US11122945B2 (en) * 2017-12-04 2021-09-21 Transform Sr Brands Llc Two-in-one upright vacuum
KR102620360B1 (ko) * 2018-12-14 2024-01-04 삼성전자주식회사 로봇 청소기, 스테이션 및 청소 시스템
KR20200073966A (ko) 2018-12-14 2020-06-24 삼성전자주식회사 진공 청소기와 도킹 스테이션을 포함하는 청소 장치
CN111350383A (zh) * 2018-12-21 2020-06-30 宝时得科技（中国）有限公司 清洁机器人
KR20210000397A (ko) * 2019-06-25 2021-01-05 삼성전자주식회사 로봇 청소기, 스테이션 및 청소 시스템
KR20210003543A (ko) * 2019-07-02 2021-01-12 삼성전자주식회사 로봇청소기 스테이션
CN117958704A (zh) * 2019-07-23 2024-05-03 美智纵横科技有限责任公司 智能电器及电器组合
US11889962B2 (en) 2020-04-22 2024-02-06 Omachron Intellectual Property Inc. Robotic vacuum cleaner and docking station for a robotic vacuum cleaner

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KR100468107B1 (ko) * 2002-10-31 2005-01-26 삼성광주전자 주식회사 외부충전장치를 갖는 로봇청소기 시스템 및 로봇청소기의외부충전장치 접속방법
US7568259B2 (en) * 2005-12-13 2009-08-04 Jason Yan Robotic floor cleaner

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
ES2238196A1 (es) 2005-03-07 2005-08-16 Electrodomesticos Taurus, S.L. Estacion base con robot aspirador.

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2596733A1 (fr) * 2011-11-22 2013-05-29 Nilfisk-Advance A/S Unités primaires et secondaires combinées
US9000715B2 (en) 2011-11-22 2015-04-07 Nilfisk-Advance A/S Combined primary and secondary units
CN102613944A (zh) * 2012-03-27 2012-08-01 复旦大学 清洁机器人脏物识别***及清洁方法
EP2898808A1 (fr) * 2014-01-24 2015-07-29 Hoover Limited Aspirateur à réservoir
US10886763B1 (en) 2019-12-10 2021-01-05 Lg Electronics Inc. Charging device
WO2021117976A1 (fr) * 2019-12-10 2021-06-17 엘지전자 주식회사 Dispositif de charge
US11502523B2 (en) 2019-12-10 2022-11-15 Lg Electronics Inc. Charging device
CN114224233A (zh) * 2021-12-28 2022-03-25 吴宜 一种实验室用组合式拖地机器人
CN114224233B (zh) * 2021-12-28 2022-10-14 吴宜 一种实验室用组合式拖地机器人

Also Published As

Publication number Publication date
US20070157416A1 (en) 2007-07-12
JP2007181660A (ja) 2007-07-19
KR20070074145A (ko) 2007-07-12
CN1994214A (zh) 2007-07-11
EP1806085A3 (fr) 2008-07-23

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