EP3566629A1 - Robot de nettoyage - Google Patents

Robot de nettoyage Download PDF

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Publication number
EP3566629A1
EP3566629A1 EP18250016.5A EP18250016A EP3566629A1 EP 3566629 A1 EP3566629 A1 EP 3566629A1 EP 18250016 A EP18250016 A EP 18250016A EP 3566629 A1 EP3566629 A1 EP 3566629A1
Authority
EP
European Patent Office
Prior art keywords
roller
movable member
force sensor
spring
cleaning robot
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
EP18250016.5A
Other languages
German (de)
English (en)
Inventor
Yang Li
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.)
Hizero Appliances Corp
Original Assignee
Hizero Technologies 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
Priority claimed from PCT/CN2018/086610 external-priority patent/WO2019213970A1/fr
Application filed by Hizero Technologies Co Ltd filed Critical Hizero Technologies Co Ltd
Publication of EP3566629A1 publication Critical patent/EP3566629A1/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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/04—Floor surfacing or polishing machines hand-driven
    • A47L11/08—Floor surfacing or polishing machines hand-driven with rotating tools
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • 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
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • 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
    • A47L11/4075—Handles; 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing 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
    • 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
    • A47L9/2847—Surface treating elements
    • 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
    • A47L9/32—Handles
    • A47L9/325—Handles for wheeled suction cleaners with steering handle

Definitions

  • the present disclosure relates to a cleaning robot.
  • a cleaning robot includes: the cleaning body, including a handle and a working assembly.
  • the working assembly is disposed at one end of the handle.
  • the working assembly includes a roller and a first driving mechanism.
  • the first driving mechanism can drive the roller to rotate relative to the handle as well as an adjustment mechanism that is connected with the first drive mechanism.
  • the adjustment mechanism can adjust the rotational direction and rotational speed of the roller by controlling the first drive mechanism.
  • the cleaning robot 10 of an embodiment includes a cleaning body 20 and an adjustment mechanism 30.
  • the cleaning body 20 is used to clean the floor.
  • the adjustment mechanism 30 can adjust the walking direction and the walking speed of the cleaning body 20.
  • the adjustment mechanism 30 can be set.
  • the cleaning body 20 can also be wirelessly connected to the adjustment mechanism 30 by remote control.
  • the cleaning body 20 includes a handle 100 and a working assembly 200 disposed at one end of the handle 100.
  • the end of the handle 100 away from the working assembly 200 is flat and is convenient for a human hand to hold, and the central portion has a certain degree of curvature in order to make the design of the clean body 20 more ergonomic.
  • the working assembly 200 includes a roller 210 and a first driving mechanism 220.
  • the roller 210 is made of a flexible material such as a sponge and has good water absorption.
  • the first driving mechanism 220 can drive the roller 210 to rotate relative to the handle 100.
  • the first driving mechanism 220 can be a brushless motor or a brush motor.
  • the adjustment mechanism 30 is connected with the first drive mechanism 220, and the adjustment mechanism 30 can adjust the rotational direction and rotational speed of the roller 210 by controlling the first drive mechanism 220.
  • the adjustment mechanism 30 includes a movable member 300 and a controller 400.
  • the movable member 300 is disposed at an end of the handle 100 away from the working assembly 200.
  • the movable member 300 is slidable relative to the handle 100, and the movable member 300 is opposite to the handle 100.
  • the controller 400 can control the rolling state of the roller 210; that is, the controller 400 can control the rotational direction and rotational speed of the roller 210.
  • the roller 210 rotates in the forward direction; that is, the cleaning body 20 moves forward and the movable member 300 moves forward.
  • the movable member 300 includes a first sliding portion 310 and a second sliding portion 320 that are connected to each other.
  • the handle 100 is provided with a groove 110.
  • the first sliding portion 310 is disposed in the groove 110, and the second sliding portion 320 is formed outside the groove 110.
  • the adjustment mechanism 30 further includes a sensing component 500 connected to the controller 400.
  • the sensing component 500 includes a sensor head 510 and a sensor band 520.
  • the sensor head 510 is disposed on the first sliding portion 310, and the sensor band 520 is located on a bottom wall of the groove 110.
  • a plurality of spaced-apart nodes 522 are disposed on the sensor band 520.
  • the sensor head 510 can correspond to different nodes 522, so that the controller 400 can change the rolling state of the roller 210.
  • Fig. 2 as the viewing angle, there are a total of 8 nodes on the sensor band 520. In order from left to right, it is assumed that the eight nodes correspond to +4, +3, +2, +1, -1, -2, -3, and -4, respectively.
  • the sensor head 510 is located between the +1 node and the -1 node, the movable member 300 is in the initial position, and at this time, the roller 210 does not rotate.
  • the roller 210 rotates clockwise to achieve the advancement of the cleaning body 20.
  • the further leftward the movable member 300 is with respect to the initial position the greater the rotational speed of the roller 210.
  • the roller 210 rotates counterclockwise to achieve the retraction of the cleaning body 20.
  • the movable member 300 is positioned further to the right with respect to the initial position, and the rotational speed of the roller 210 is larger.
  • the adjustment mechanism 30 further includes a telescoping assembly connected with the handle 100 and the movable member 300 to assist in resetting the movable member 300.
  • the telescoping assembly includes a first spring 610 and a second spring 620, and both the first spring 610 and the second spring 620 are accommodated in the groove 110.
  • first spring 610 is connected with the sidewall of the groove 110, and the other end is connected with the first sliding portion 310.
  • One end of the second spring 620 is connected with the sidewall of the groove 110, and the other end is connected with the first sliding portion 310.
  • the first sliding portion 310 is located between the first spring 610 and the second spring 620. When the first spring 610 is compressed, the second spring 620 is elongated.
  • both the first spring 610 and the second spring 620 are original lengths.
  • the first spring 610 is compressed and the second spring 620 is elongated.
  • the movable member 300 is released, the movable member is acted upon by the urging force of the first spring 610 and the tension of the second spring 620.
  • the movable member 300 can return to the initial position in time.
  • the movable member 300 when the movable member 300 slides to the right, the movable member 300 can be restored to the initial position in time under the joint action of the first spring 610 and the second spring 620, so that the action of manually resetting the movable member 300 can be reduced.
  • the first spring 610 and the second spring 620 can also act as a buffer to prevent the movable member 300 from resetting excessively beyond the initial position and causing the roller 210 to reverse. It can be understood that in this embodiment, the first spring 610 and the second spring 620 may be omitted.
  • the rolling state of the roller 210 may also be controlled by detecting the force of the sidewall of the groove 110 or the first sliding portion 310.
  • the adjustment mechanism 30 further includes a first force sensor 530 and a second force sensor 540.
  • the first force sensor 530 is located at one end of the first spring 610.
  • the first force sensor 530 may be mounted on the first spring 610 and the groove 110.
  • the sidewalls may also be disposed between the first spring 610 and the first sliding portion 310.
  • the second force sensor 540 is disposed at one end of the second spring 620.
  • the second force sensor 540 may be disposed between the second spring 620 and the sidewall of the groove 110, and may also be disposed between the second spring 620 and the first sliding portion 310.
  • the first force sensor 530 and the second force sensor 540 are both connected to the controller 400, and the controller 400 can determine the rotational direction and rotational speed of the roller 210 based on the detection results of the first force sensor 530 and the second force sensor 540.
  • both the first force sensor 530 and the second force sensor 540 are pressure sensors, or both the first force sensor 530 and the second force sensor 540 are tension sensors.
  • the movable member 300 is pushed to the left, and the first force is generated because the first spring 610 is compressed.
  • the first force sensor 530 can detect the elastic force of the first spring 610, and the second spring 620 is elongated so that the value of the second force sensor 540 does not change.
  • the controller 400 can issue a command to rotate the roller 210 clockwise at a corresponding rotational speed based on the detection results of both. Moving the movable member 300 to the right, the working principle of the first force sensor 530, the second force sensor 540, and the controller 400 is similar to the above principle, and will not be repeated here.
  • both the first force sensor 530 and the second force sensor 540 are tension sensors, the movable member 300 is moved to the left. Because the first spring 610 is compressed, the value of the first force sensor 530 is unchanged, and the second spring 620 is changed. Being elongated, the second force sensor 540 can detect the elastic force of the second spring 620, and the controller 400 can issue an instruction that the roller 210 needs to rotate clockwise at a corresponding rotational speed according to the detection result of both. For the contrary, the same reasoning applies. Of course, it can be understood that in other embodiments, either the first spring 610 or the second spring 620 may be selected.
  • the first force sensor 530 and the second force sensor 540 are provided at both ends of the first spring 610, respectively.
  • the first force sensor 530 is a pressure sensor
  • the second force sensor 540 is a tension sensor. Pushing the movable member 300 to the left, since the first spring 610 is compressed, the first force sensor 530 can detect the elastic force of the first spring 610, and the controller 400 can issue instructions instructing the roller 210 to rotate according to the detection result of the first force sensor 530. The roller 210 is therefore instructed to rotate clockwise at the corresponding speed.
  • the second force sensor 540 can detect the elastic force of the first spring 610, and the controller 400 can issue instructions instructing the roller 210 to rotate according to the detection result of the second force sensor 540.
  • the roller 210 is therefore instructed to rotate counterclockwise at a corresponding rotational speed.
  • the adjustment mechanism 30 further includes a position sensor 550 disposed on the movable member 300 and connected with the controller 400.
  • the position sensor 550 can detect the position of the movable member 300 in real time, and feedback the detection result to the controller 400.
  • the controller 400 can determine the rotational direction and rotational speed of the roller 210 based on the detection result of the position sensor 550.
  • the adjustment mechanism 30 further includes a gyroscope 560 and an accelerometer 570.
  • the gyroscope 560 and the accelerometer 570 are both disposed on the movable member 300 and are all connected to the controller 400.
  • the gyroscope 560 can detect the change in the orientation of the movable member 300
  • the accelerometer 570 can detect the magnitude of the acceleration of the movable member 300
  • the controller 400 can determine the rotational direction and rotational speed of the roller 210 based on the detection results of the gyroscope 560 and the accelerometer 570.
  • the gyroscope 560 may be independent from the accelerometer 570, and the accelerometer 570 may also be integrated in the gyroscope 560.
  • the movable member 300 can also be deflected leftward and rightward relative to the handle 100. That is, the adjustment mechanism 30 can control the cleaning in addition to the movement of the cleaning body 20 in the front-rear direction.
  • the cleaning body 20 performs commutation. For example, when the movable member 300 is deflected to the left front with respect to the handle 100, the cleaning body 20 will turn leftward and the like.
  • the cleaning body 20 further includes a reversing component.
  • the reversing component includes a first direction wheel 710, a second direction wheel 720, a second driving mechanism, and a third driving mechanism.
  • the roller 210 is disposed between the first direction wheel 710 and the second direction wheel 720, the second driving mechanism can drive the first direction wheel 710 to rotate, and the third driving mechanism can drive the second direction wheel 720 to rotate.
  • the second driving mechanism and the third driving mechanism are both connected with the controller 400.
  • the controller 400 controls the second driving mechanism to control the first direction wheel 710, and controls the third driving mechanism to control the second direction wheel 720.
  • the differential rotation of the first direction wheel 710 and the second direction wheel 720 can achieve the turning commutation of the cleaning body 20.
  • the first direction wheel 710 and the second direction wheel 720 are coaxially arranged, and the second drive mechanism and the third drive mechanism are both brushless motors.
  • the controller 400 also controls the linear movement of the cleaning body 20.
  • the rotational speed of the first direction wheel 710 is equal to the rotational speed of the second direction wheel 720.
  • the gyroscope 560 and the accelerometer 570 respectively send the orientation and the acceleration of the movable member 300 to the controller 400, and the controller 400 causes the first direction wheel 710 to rotate at a lower speed than the second direction.
  • the rotational speed of the second direction wheel 720 is such that a forward left turn of the cleaning body 20 is achieved.
  • the controller 400 causes the rotational speed of the first direction wheel 710 to be smaller than the rotational speed of the second direction wheel 720, thereby achieving a forward turning right of the cleaning body 20.
  • the cleaning body 20 will turn left and right, and when the movable member 300 is deflected to the right rear, the cleaning body 20 will turn rightward.
  • the working assembly 200 further includes a reversing wheel.
  • the axis of the reversing wheel is parallel to the axis of the roller 210.
  • the reversing wheel is connected with the movable member 300.
  • the movable member 300 is deflected with respect to the handle 100, the reversing wheel can be deflected together with the movable member 300 to realize the turning of the cleaning body 20.
  • the connection between the reversing wheel and the movable member 300 is mainly a mechanical connection, and the movable member 300 can be connected with the hub of the reversing wheel through a connecting rod.
  • the rotational speed of the first driving mechanism 220 is controlled between the first speed and the second speed, wherein the first speed is 60 revolutions per second and the second speed is 154 revolutions per second. In this range, the cleaning robot 10 can obtain reasonable cleaning performance.
  • the working assembly 200 further includes a water tank 230, a brush 240, and a garbage collection box 250.
  • the water tank 230 is used for supplying the clean water to the roller 210 and for recovering the sewage absorbed by the roller 210.
  • the brush 240 is disposed on one side of the roller 210 and is in contact with the surface of the roller 210.
  • the garbage collection box 250 is used to collect garbage separated from the roller 210 by the brush 240.
  • the bottom wall of the water tank 230 is provided with a protrusion 232.
  • the protrusion 232 is in contact with the roller 210, and the protrusion 232 can make the portion of the roller 210 abutting the protrusion 232 be recessed toward the axis of the roller 210 so that the protrusion 232 can squeeze out the sewage absorbed when the roller 210 cleans the ground, and the sewage is pushed out into the water tank 230 after being extruded.
  • the brush 240 can also rotate so as to facilitate the sweeping of the trash on the surface of the roller 210 and into the garbage collection box 250.
  • the mechanism for driving the brush 240 to rotate may be an additionally provided motor or a first driving mechanism 220.
  • the first driving mechanism 220 may be connected to the brush 240 through a gear pair or other transmission mechanism.
  • the working assembly 200 includes two rollers 210, the axes of the two rollers 210 are parallel to each other, and the rotational directions of the two rollers 210 are the same. It can also be said that two rollers 210 are arranged at intervals in the front-rear direction. When the cleaning body 20 advances, the roller 210 located at the rear can clean the garbage still remaining on the ground after the roller 210 located at the front passes by, and achieve the purpose of secondary cleaning.
  • two brushes 240 are also provided, corresponding one-to-one to the roller 210. The axes of the two brushes 240 are located between the axes of the two rollers 210, and the rotational direction of the two brushes 240 is opposite one another. As shown in Fig. 1 as the viewing angle, regardless of whether the two rollers 210 rotate clockwise or counterclockwise, the brush 240 on the left side rotates counterclockwise, and the brush 240 on the right side rotates clockwise.
  • the work assembly 200 further includes a bearing roller 260 capable of supporting the garbage collection box 250 to increase the load-bearing capacity of the garbage collection box 250.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
EP18250016.5A 2018-05-11 2018-08-21 Robot de nettoyage Pending EP3566629A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PCT/CN2018/086610 WO2019213970A1 (fr) 2018-05-11 2018-05-11 Robot de nettoyage doté d'une technologie de commande de mouvement à assistance gestuelle
US16/036,003 US10765287B2 (en) 2018-05-11 2018-07-16 Cleaning robot

Publications (1)

Publication Number Publication Date
EP3566629A1 true EP3566629A1 (fr) 2019-11-13

Family

ID=63449406

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18250016.5A Pending EP3566629A1 (fr) 2018-05-11 2018-08-21 Robot de nettoyage

Country Status (2)

Country Link
EP (1) EP3566629A1 (fr)
GB (1) GB2573587A (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114532906A (zh) * 2021-12-31 2022-05-27 陕西科技大学 一种移动式拖地装置
CN114831569A (zh) * 2022-05-09 2022-08-02 添可智能科技有限公司 助力控制方法及清洗机

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117028178B (zh) * 2023-09-08 2024-02-09 北京国领智能科技有限公司 一种曲面自适应气动多模块刮板清洁组件

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Publication number Priority date Publication date Assignee Title
US20040134018A1 (en) * 2003-01-09 2004-07-15 Royal Appliance Mfg. Co. Control circuitry for enabling drive system for vacuum cleaner
JP2006240361A (ja) * 2005-03-01 2006-09-14 Toshiba Corp 操作力アシストシステム及び電気掃除機
US7487569B2 (en) * 2005-08-19 2009-02-10 The Scott Fetzer Company Vacuum cleaner with drive assist
WO2015084031A1 (fr) * 2013-12-02 2015-06-11 삼성전자주식회사 Appareil de nettoyage et procédé de commande associé

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Publication number Priority date Publication date Assignee Title
US6629333B2 (en) * 2000-07-20 2003-10-07 Kurt E. Bolden Device and method for liquid removal from carpet
JP2010110344A (ja) * 2008-11-04 2010-05-20 Panasonic Corp 電気掃除機

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040134018A1 (en) * 2003-01-09 2004-07-15 Royal Appliance Mfg. Co. Control circuitry for enabling drive system for vacuum cleaner
JP2006240361A (ja) * 2005-03-01 2006-09-14 Toshiba Corp 操作力アシストシステム及び電気掃除機
US7487569B2 (en) * 2005-08-19 2009-02-10 The Scott Fetzer Company Vacuum cleaner with drive assist
WO2015084031A1 (fr) * 2013-12-02 2015-06-11 삼성전자주식회사 Appareil de nettoyage et procédé de commande associé

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114532906A (zh) * 2021-12-31 2022-05-27 陕西科技大学 一种移动式拖地装置
CN114532906B (zh) * 2021-12-31 2023-12-15 东莞市元鸿智能科技有限公司 一种移动式拖地装置
CN114831569A (zh) * 2022-05-09 2022-08-02 添可智能科技有限公司 助力控制方法及清洗机
CN114831569B (zh) * 2022-05-09 2023-09-01 添可智能科技有限公司 助力控制方法及清洗机

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Publication number Publication date
GB201813583D0 (en) 2018-10-03
GB2573587A (en) 2019-11-13

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