EP3512398B1 - Robot mobil de nettoyage de sol - Google Patents

Robot mobil de nettoyage de sol Download PDF

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Publication number
EP3512398B1
EP3512398B1 EP17784344.8A EP17784344A EP3512398B1 EP 3512398 B1 EP3512398 B1 EP 3512398B1 EP 17784344 A EP17784344 A EP 17784344A EP 3512398 B1 EP3512398 B1 EP 3512398B1
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EP
European Patent Office
Prior art keywords
bumper
cleaning robot
chassis
movement
robot according
Prior art date
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Active
Application number
EP17784344.8A
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English (en)
French (fr)
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EP3512398A1 (de
Inventor
Lucien CHARMETTAN
Eric Pouvreau
Mickael BOILLET
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.)
SEB SA
Original Assignee
SEB SA
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Publication date
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Publication of EP3512398A1 publication Critical patent/EP3512398A1/de
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Publication of EP3512398B1 publication Critical patent/EP3512398B1/de
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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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • 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
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/4077—Skirts or splash guards
    • 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 generally relates to a floor cleaning robot, and in particular to an autonomous floor cleaning robot provided with waste recovery and/or suction means.
  • Autonomous floor cleaning devices are known in the prior art, and in particular those which automatically detect obstacles in order to then be able to circumvent them.
  • the document US2004143930A1 describes a cleaning robot comprising an articulated bumper that can pivot around an axis to trigger sensors upon contact with an obstacle.
  • the contact is made at the height of the pivot axis, it is not certain that the bumper can pivot, because the pivot torque is zero (especially when the contact force passes through the pivot axis, the lever arm is zero, and therefore the pivot torque is also zero). This results in non-detection of the obstacle and blocking of the cleaning robot against this obstacle.
  • GB2404140A discloses a robot vacuum cleaner equipped with a movable bumper in a plane relative to the chassis of the robot vacuum cleaner.
  • An object of the present invention is to respond to the drawbacks of the documents of the prior art mentioned above and in particular, first of all, to propose a cleaning robot with a simple bumper, but which allows the detection of any obstacle, regardless of the position of the point of contact between the bumper and an obstacle.
  • the guide means comprise at least three support points between the frame and the bumper, not aligned and each blocking at least one translation of the bumper in the same direction normal to the base plane.
  • the three points of support are for example flat supports, and in particular block the degree of freedom which is a translation normal to the base plane.
  • the base plane is parallel to the floor to be cleaned.
  • the guide means comprise at least three pairs of support points between the chassis and the bumper, not aligned, each pair of support points comprising two opposite support points each blocking at least one translation of the bumper -shocks in the same direction normal to the base plane.
  • This implementation makes it possible to block any movement of the bumper vertically (the base plane being horizontal) in the simplest possible way, and respecting isostatism.
  • Said at least one planar portion is integral with, and/or formed on, one of the chassis and of the bumper, and the retaining elements are integral with, and/or formed on, the other of the chassis and of the bumper. -shocks.
  • the cleaning robot comprises at least three elongated supports each arranged to support a pair of holding elements, and said at least one flat portion comprises at least three openings each arranged to allow a support and/or at least one element to pass holding supported by said support through said at least one flat portion.
  • Said at least one flat portion is integral with and/or formed on one of the chassis and the bumper, and said at least three elongated supports are integral with and/or formed on the other of the chassis and the bumper .
  • the cleaning robot comprises abutment means, arranged to limit relative movement of the bumper with respect to the frame, in a movement zone which has the shape of a circular segment.
  • the abutment means comprise said at least three openings and said at least three supports.
  • This implementation allows to define the displacement zone directly with the openings allowing the support to pass on either side of the flat portion.
  • said at least three openings have the shape of a circular segment formed by a circle cut by a chord normal to a direction of advance of the cleaning robot.
  • the cleaning robot comprises elastic means arranged to return the bumper to a rest position, occupied by the bumper when no obstacle touches the bumper.
  • At least one on-board centering of a pair of centerings has a projection in the base plane offset from a projection in the base plane of the corresponding chassis centering, when the bumper is in the rest position.
  • Such an offset imposes stress on the springs, so that the rest position is more stable than if none of the springs is pre-stressed.
  • the springs are pre-stressed in pairs in opposite directions. In other words, their centering pairs are offset symmetrically or oppositely.
  • the projection in the base plane of said at least one on-board centering of a pair of centerings is offset by at least 1.5 mm from the projection in the base plane of the corresponding chassis centering.
  • Such an offset value makes it possible to pre-stress (in bending) the springs correctly to ensure a stable rest position of the bumper, as well as an efficient return to the rest position.
  • the centerings are pawns. It is then easy to thread the ends of the springs onto such protruding pins. It is possible to provide a mounting by force of the springs on the pins. Provision may also be made to put the springs under tension (in tension or in compression) even in the rest position of the bumper, to limit vibrations and parasitic noise.
  • transverse direction is meant a direction normal to the direction of advancement of the cleaning robot, the direction of advancement being obtained when all its drive wheels (of the same diameter) rotate at the same speed.
  • the detection means comprise a fourth sensor arranged to detect a movement in a direction of advancement of the cleaning robot, and the third sensor and the fourth sensor are arranged on either side of a median longitudinal plane of the robot of cleaning. Such an arrangement makes it possible to deduce the position of impact with an obstacle according to the activated sensors.
  • the sensors are switches.
  • Such switches have a direction of depression, and therefore an impact with an obstacle will activate them selectively, so that it is possible to deduce the direction of impact and therefore the position of the obstacle by analyzing the switches activated or not.
  • the figure 1 represents a cleaning robot equipped with a bumper 10 movable relative to a frame 20 of the cleaning robot.
  • the cleaning robot is a robot provided for autonomously cleaning the floors of a dwelling, and for this purpose comprises driving wheels 22, a suction slot 27 equipped with a rotating brush.
  • the cleaning robot embeds on its frame 20 an outer casing 21, as well as the bumper 10.
  • electrical energy such as a battery, drive wheel control means and a waste storage bin, to be able to operate autonomously.
  • the bumper 10 is movable relative to the frame 20, to be able to detect the presence of any obstacles to the path of the cleaning robot.
  • detection means are provided arranged to detect a movement of the bumper 10 caused by the encounter with an obstacle, in order to be able to modify the trajectory of the cleaning robot, as will be explained in figure 8 , which shows the detection means formed by sensors, such as switches 41A to 41D.
  • the picture 2 represents a perspective view of the bumper 10, and in particular the side facing the cleaning robot.
  • the latter comprises guide means 30 arranged to impose a particular movement of the bumper 10 relative to the rest of the cleaning robot, and in particular relative to the chassis 20.
  • the guide means 30 comprise three pairs of holding elements each formed by two washers 24 (also visible figures 6 and 7 ) mounted on an elongated support 23 which is integral with a frame element 20a, connected to the frame 20. It is possible to make the washers 24 as well as the bumper 10 of plastic material, and in particular of polyoxymethylene (or polyformaldehyde or polyacetal), with the acronym POM.
  • the bumper 10 comprises two flat portions 11a and 11b, ribs or flat walls for example, and the two washers 24 of each pair of retaining elements sandwich one of the flat portions 11a or 11b (as visible in detail figure 5 and 6 ).
  • each washer 24, with its respective planar portion 11a or 11b forms or imposes a planar support on the bumper 10 in a direction normal to the planar portions 11a and 11b, to impose on it a displacement parallel to, or contained in, a base plane, parallel to the planar portions 11a and 11b.
  • each pair of retaining element comprises two washers 24 sandwiching the bumper 10, the latter can only move in the base plane.
  • a washer is threaded onto the elongated support 23, and another covers it and is fixed by screws, by clipping or even gluing or riveting.
  • FIG 2 , 3 and 8 it is planned to equip the cleaning robot with at least 3 pairs of holding elements, which are not aligned, to provide effective guidance and which approximates an isostatic system.
  • the bumper 10 may have parasitic movements in a direction perpendicular to the base plane.
  • these movements are limited.
  • the play can be 0.5 mm
  • the total deflection of the bumper in the base plane can be 4.5 mm along each direction of a Cartesian coordinate system.
  • the maximum possible movement of the bumper in the direction normal to the base plane is less than 15% of a maximum value of movement of the bumper in the base plane.
  • the movement of the bumper 10 is essentially planar, which makes the movement of the bumper 10 independent of the height at which a possible obstacle touches the bumper. Indeed, whether an obstacle is at ground level or high up, it will impose a movement of the bumper 10 which is essentially flat, which makes the detection of obstacles more effective than if the bumper were articulated around an axis rotation for example.
  • the flat portions 11a and 11b have openings 13 in the shape of circular quarters, through which the elongated supports 23 pass.
  • These slots 13 limit the movement of the bumper 10 by forming abutment means which can for example limit the movement of the bumper at 4.5mm along the horizontal direction of the picture 3 and of the same value along the vertical direction of the picture 3 .
  • the cleaning robot comprises elastic means arranged to return the bumper 10 to a rest position, as shown picture 3 or 5 .
  • These elastic means comprise springs 25 visible picture 2 and especially figure 4a .
  • the springs 25 are fixed between the chassis element 20a and the bumper 10, possibly with a prestress to press the bumper 10 on the upper or lower washers 24, so as to avoid rattling noises. Any displacement of the bumper will stretch the springs 25, which will then exert in return a force on the bumper to bring it back to the rest position as soon as the contact between the bumper and the obstacle ends.
  • each spring 25 is mounted on a frame centering 26 (attached to the frame 20) and an on-board centering 12 (attached to the bumper 10).
  • the chassis centerings 26 and the on-board centerings 12 are opposite and aligned (when the bumper 10 is in the rest position). Provision can be made to shift them to impose a bending of the springs 25 in the rest position (the centerings of two springs 25 must be shifted in opposite ways to compensate for the bending forces), so that this bending or prestressing makes it possible to accentuate the return efficiency of the springs 25 on the bumper 10 during small movements.
  • the figure 8 represents the detection possibilities offered by the movable bumper according to the invention. Indeed, if four detection sensors are provided formed by switches 41A to 41D placed schematically as on the figure 8 , and the bumper 10 is subjected to contact with obstacles noted 1 to 7, then the switches 41A to 41D will be activated as shown in the table below.
  • 41A switch Switch 41B 41C switch 41D switch Barrier 1 1 0 0 0 Barrier 2 1 1 0 0 Barrier 3 0 1 0 0 Barrier 4 0 1 1 0 Barrier 5 0 0 1 0 Barrier 6 0 0 1 1 Barrier 7 0 0 0 1 (0: switch not activated 1: switch on)

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Cleaning In General (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Vehicle Body Suspensions (AREA)

Claims (14)

  1. Bodenreinigungsroboter, umfassend:
    - ein Gehäuse (20),
    - einen in Bezug auf das Gehäuse (20) beweglichen Stoßfänger (10),
    - Mittel zur Erfassung einer Bewegung des Stoßfängers (10) in Bezug auf das Gehäuse (20),
    - wobei der Reinigungsroboter Führungsmittel (30) des Stoßfängers (10) umfasst, die eingerichtet sind, um eine Bewegung des Stoßfängers (10) in Bezug auf das Gehäuse (20) durchzusetzen, wobei die Komponenten der Bewegung in einer Basisebene enthalten sind,
    dadurch gekennzeichnet, dass die Führungsmittel (30) mindestens drei Auflagepunkte zwischen dem Gehäuse (20) und dem Stoßfänger (10) umfassen, die nicht ausgerichtet sind und jeweils mindestens eine Verschiebung des Stoßfängers (10) in einer zur Basisebene normalen Richtung blockieren.
  2. Reinigungsroboter nach dem vorstehenden Anspruch, wobei die Führungsmittel (30) mindestens drei Paare von Auflagepunkten zwischen dem Gehäuse (20) und dem Stoßfänger (10) umfassen, die nicht ausgerichtet sind, wobei jedes Paar von Auflagepunkten zwei gegenüberliegende Auflagepunkte umfasst, die jeweils mindestens eine Verschiebung des Stoßfängers (10) in einer zur Basisebene normalen Richtung blockieren.
  3. Reinigungsroboter nach dem vorstehenden Anspruch, wobei die Führungsmittel (30) umfassen:
    - mindestens einen ebenen Abschnitt (11a, 11b) parallel zur Basisebene,
    - mindestens drei Paare von Halteelementen, wobei jedes Paar von Halteelementen den mindestens einen ebenen Abschnitt (11a, 11b) einklemmt, um die Bewegung des Stoßfängers (10) in der Basisebene durchzusetzen.
  4. Reinigungsroboter nach dem vorstehenden Anspruch, umfassend mindestens drei langgestreckte Stützen (23), die jeweils eingerichtet sind, um ein Paar von Halteelementen zu stützen, und wobei der mindestens eine ebene Abschnitt (11a, 11b) mindestens drei Öffnungen (13) umfasst, die jeweils eingerichtet sind, um eine Stütze und/oder mindestens ein Halteelement, das von der Stütze gestützt wird, durch den mindestens einen ebenen Abschnitt (11a, 11b) durchzulassen.
  5. Reinigungsroboter nach einem der vorstehenden Ansprüche, umfassend Begrenzermittel, die eingerichtet sind, um eine relative Verschiebung des Stoßfängers (10) in Bezug auf das Gehäuse (20) in einem Verschiebungsbereich, der eine Form eines Kreissegments aufweist, zu beschränken.
  6. Reinigungsroboter nach dem vorstehenden Anspruch in seiner Abhängigkeit von Anspruch 4, wobei die Begrenzermittel die mindestens drei Öffnungen (13) und die mindestens drei Stützen umfassen.
  7. Reinigungsroboter nach dem vorstehenden Anspruch, wobei die mindestens drei Öffnungen (13) eine Kreissegmentform bilden, die von einem Kreis gebildet wird, der von einer Sehne, die normal zu einer Vorwärtsbewegungsrichtung des Reinigungsroboters ist, geschnitten wird.
  8. Reinigungsroboter nach einem der vorstehenden Ansprüche, umfassend elastische Mittel, die eingerichtet sind, um den Stoßfänger (10) in eine Ruheposition zurückzuführen, die von dem Stoßfänger (10) eingenommen wird, wenn kein Hindernis den Stoßfänger (10) berührt.
  9. Reinigungsroboter nach dem vorstehenden Anspruch, umfassend eine Vielzahl von Zentrierungspaaren, die jeweils umfassen:
    eine Gehäusezentrierung (26), die fest mit dem Gehäuse (20) verbunden ist, und
    eine eingebaute Zentrierung (12), die fest mit dem Stoßfänger (10) verbunden ist,
    und wobei die elastischen Mittel eine Vielzahl von Federn (25) umfassen, die jeweils ein Ende, das in eine Gehäusezentrierung (26) eines Zentrierungspaars eingreift, und ein anderes Ende, das in die eingebaute Zentrierung (12) des Zentrierungspaars eingreift, aufweisen.
  10. Reinigungsroboter nach dem vorstehenden Anspruch, wobei die mindestens eine eingebaute Zentrierung (12) eines Zentrierungspaars eine Projektion in einer Basisebene aufweist, die von einer Projektion in der Basisebene der entsprechenden Gehäusezentrierung (26) versetzt ist, wenn der Stoßfänger (10) in der Ruheposition ist.
  11. Reinigungsroboter nach dem vorstehenden Anspruch, wobei die Projektion in der Basisebene der mindestens einen eingebauten Zentrierung (12) eines Zentrierungspaars um mindestens 1,5 mm von der Projektion in der Basisebene der entsprechenden Gehäusezentrierung (26) versetzt ist.
  12. Reinigungsroboter nach einem der vorstehenden Ansprüche, wobei die Erfassungsmittel mindestens umfassen:
    - einen ersten Sensor, der eingerichtet ist, um eine Bewegung des Stoßfängers (10) in einer querverlaufenden Richtung des Reinigungsroboters zu erfassen,
    - einen zweiten Sensor, der eingerichtet ist, um eine Bewegung des Stoßfängers (10) in einer querverlaufenden Richtung des Reinigungsroboters zu erfassen, die entgegengesetzt ist zur Richtung, die vom ersten Sensor erfasst,
    - einen dritten Sensor, der eingerichtet ist, um eine Bewegung in einer Vorwärtsbewegungsrichtung des Reinigungsroboters zu erfassen.
  13. Reinigungsroboter nach dem vorstehenden Anspruch, wobei die Erfassungsmittel einen vierten Sensor umfassen, der eingerichtet ist, um eine Bewegung in einer Vorwärtsbewegungsrichtung des Reinigungsroboters zu erfassen, und wobei der dritte Sensor und der vierte Sensor beiderseits einer mittleren Längsebene des Reinigungsroboters eingerichtet sind.
  14. Reinigungsroboter nach einem der Ansprüche 12 oder 13, wobei die Sensoren Schalter (41A, 41B, 41C, 41D) sind.
EP17784344.8A 2016-09-13 2017-09-12 Robot mobil de nettoyage de sol Active EP3512398B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1658529A FR3055787B1 (fr) 2016-09-13 2016-09-13 Robot de nettoyage des sols
PCT/FR2017/052427 WO2018051008A1 (fr) 2016-09-13 2017-09-12 Robot de nettoyage des sols

Publications (2)

Publication Number Publication Date
EP3512398A1 EP3512398A1 (de) 2019-07-24
EP3512398B1 true EP3512398B1 (de) 2022-10-19

Family

ID=57209608

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17784344.8A Active EP3512398B1 (de) 2016-09-13 2017-09-12 Robot mobil de nettoyage de sol

Country Status (5)

Country Link
EP (1) EP3512398B1 (de)
CN (2) CN107811581A (de)
ES (1) ES2930775T3 (de)
FR (1) FR3055787B1 (de)
WO (1) WO2018051008A1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3055787B1 (fr) * 2016-09-13 2019-03-22 Seb S.A. Robot de nettoyage des sols
CN109340335B (zh) * 2018-09-11 2021-08-24 安克创新科技股份有限公司 一种智能自移动设备及其减速装置
CN109008829A (zh) * 2018-09-17 2018-12-18 北京石头世纪科技有限公司 智能清洁设备
KR102314535B1 (ko) * 2019-07-31 2021-10-18 엘지전자 주식회사 이동로봇
CN112022001B (zh) * 2020-08-06 2021-11-02 上海俊硕映达电子科技有限公司 一种清扫机器人

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Publication number Priority date Publication date Assignee Title
SE518482C2 (sv) 2001-02-28 2002-10-15 Electrolux Ab Hinderavkänningssystem för en självgående städapparat
DE10242257C5 (de) * 2001-09-14 2017-05-11 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät, sowie Kombination eines derartigen Aufsammelgerätes und einer Basisstation
AU2004202834B2 (en) * 2003-07-24 2006-02-23 Samsung Gwangju Electronics Co., Ltd. Robot Cleaner
DE10357636B4 (de) * 2003-12-10 2013-05-08 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät
CN101830000A (zh) * 2009-03-10 2010-09-15 巍世科技有限公司 自动移动装置的防撞结构
DE102009044554A1 (de) * 2009-10-05 2011-04-07 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Saug- und/oder Kehrgerät
CN202699038U (zh) * 2012-07-11 2013-01-30 余姚市精诚高新技术有限公司 防跌落及碰撞的吸尘器
CN203885445U (zh) * 2014-05-04 2014-10-22 科沃斯机器人有限公司 自移动机器人及自移动机器人系统
CN204909300U (zh) * 2015-07-17 2015-12-30 杭州信多达电器有限公司 一种具有红外检测碰撞的吸尘器装置
FR3055787B1 (fr) * 2016-09-13 2019-03-22 Seb S.A. Robot de nettoyage des sols

Also Published As

Publication number Publication date
CN209421838U (zh) 2019-09-24
WO2018051008A1 (fr) 2018-03-22
EP3512398A1 (de) 2019-07-24
FR3055787B1 (fr) 2019-03-22
ES2930775T3 (es) 2022-12-21
FR3055787A1 (fr) 2018-03-16
CN107811581A (zh) 2018-03-20

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