JP5048663B2 - ロボット清掃装置 - Google Patents

ロボット清掃装置 Download PDF

Info

Publication number
JP5048663B2
JP5048663B2 JP2008520218A JP2008520218A JP5048663B2 JP 5048663 B2 JP5048663 B2 JP 5048663B2 JP 2008520218 A JP2008520218 A JP 2008520218A JP 2008520218 A JP2008520218 A JP 2008520218A JP 5048663 B2 JP5048663 B2 JP 5048663B2
Authority
JP
Japan
Prior art keywords
side wall
main
end portion
rear end
robot cleaning
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.)
Expired - Fee Related
Application number
JP2008520218A
Other languages
English (en)
Japanese (ja)
Other versions
JP2009500741A (ja
JP2009500741A5 (enExample
Inventor
ヘゲルマルク，アンデルス
Original Assignee
アクティエボラゲット エレクトロラックス
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 アクティエボラゲット エレクトロラックス filed Critical アクティエボラゲット エレクトロラックス
Publication of JP2009500741A publication Critical patent/JP2009500741A/ja
Publication of JP2009500741A5 publication Critical patent/JP2009500741A5/ja
Application granted granted Critical
Publication of JP5048663B2 publication Critical patent/JP5048663B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
JP2008520218A 2005-07-08 2006-07-06 ロボット清掃装置 Expired - Fee Related JP5048663B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE0501613 2005-07-08
SE0501613-4 2005-07-08
PCT/SE2006/000847 WO2007008148A1 (en) 2005-07-08 2006-07-06 Robotic cleaning device

Publications (3)

Publication Number Publication Date
JP2009500741A JP2009500741A (ja) 2009-01-08
JP2009500741A5 JP2009500741A5 (enExample) 2009-06-18
JP5048663B2 true JP5048663B2 (ja) 2012-10-17

Family

ID=37637410

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008520218A Expired - Fee Related JP5048663B2 (ja) 2005-07-08 2006-07-06 ロボット清掃装置

Country Status (7)

Country Link
US (1) US8032978B2 (enExample)
EP (1) EP1906807B1 (enExample)
JP (1) JP5048663B2 (enExample)
KR (1) KR101322970B1 (enExample)
CN (1) CN100586356C (enExample)
AT (1) ATE542459T1 (enExample)
WO (1) WO2007008148A1 (enExample)

Families Citing this family (59)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101816533B (zh) * 2009-02-27 2012-08-01 和硕联合科技股份有限公司 可调整式集尘盒与其吸尘装置
JP5037549B2 (ja) * 2009-03-10 2012-09-26 東芝テック株式会社 自律移動装置
DE102009049637A1 (de) * 2009-10-15 2011-04-28 Carl Freudenberg Kg Reinigungsroboter
DE102010045096A1 (de) * 2010-09-13 2012-03-15 Carl Freudenberg Kg Antriebssystem für ein Reinigungsgerät sowie Reinigungsgerät
CN103534659B (zh) * 2010-12-30 2017-04-05 美国iRobot公司 覆盖机器人导航
PL394570A1 (pl) 2011-04-15 2012-10-22 Robotics Inventions Spólka Z Ograniczona Odpowiedzialnoscia Robot do podlóg podniesionych i sposób serwisowania podlóg podniesionych
KR101566207B1 (ko) * 2011-06-28 2015-11-13 삼성전자 주식회사 로봇 청소기 및 그 제어방법
US8930493B2 (en) 2012-03-20 2015-01-06 International Business Machines Corporation Inter-domain replication of service information
JP6068823B2 (ja) * 2012-04-27 2017-01-25 シャープ株式会社 自走式掃除機
JP2013231536A (ja) * 2012-04-27 2013-11-14 Sharp Corp 自走式空気清浄機
JP6071251B2 (ja) * 2012-05-30 2017-02-01 三菱電機株式会社 自走式掃除機
DE102012107765B4 (de) * 2012-08-23 2020-02-13 Miele & Cie. Kg Robotsauger und Verfahren zum Betrieb eines Robotsaugers
KR102142162B1 (ko) 2012-08-27 2020-09-14 에이비 엘렉트로룩스 로봇 위치 선정 시스템
US9615714B2 (en) * 2012-11-09 2017-04-11 Samsung Electronics Co., Ltd. Autonomous cleaning device
US10111563B2 (en) 2013-01-18 2018-10-30 Sunpower Corporation Mechanism for cleaning solar collector surfaces
CN105101857B (zh) * 2013-03-28 2018-06-22 悠进机器人股份公司 具有扩大的清扫区域的清洁机器人
WO2014169944A1 (en) * 2013-04-15 2014-10-23 Aktiebolaget Electrolux Robotic vacuum cleaner with protruding sidebrush
CN105101854A (zh) * 2013-04-15 2015-11-25 伊莱克斯公司 机器人真空吸尘器
CN203987872U (zh) 2013-06-03 2014-12-10 碧洁家庭护理有限公司 自主式地板清洁器
USD743646S1 (en) * 2013-10-24 2015-11-17 Aktiebolaget Electrolux Vacuum cleaner with brush
US11235893B2 (en) 2013-12-05 2022-02-01 The Boeing Company End effector for cleaning objects having multiple surfaces
KR102099495B1 (ko) 2013-12-19 2020-04-09 에이비 엘렉트로룩스 로봇 청소 장치가 장애물에 올라가는 것의 감지
ES2656664T3 (es) 2013-12-19 2018-02-28 Aktiebolaget Electrolux Dispositivo robótico de limpieza con función de registro del perímetro
EP3084540B1 (en) 2013-12-19 2021-04-14 Aktiebolaget Electrolux Robotic cleaning device and operating method
WO2015090398A1 (en) 2013-12-19 2015-06-25 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
CN105813526B (zh) 2013-12-19 2021-08-24 伊莱克斯公司 机器人清扫装置以及用于地标识别的方法
WO2015090404A1 (en) * 2013-12-19 2015-06-25 Aktiebolaget Electrolux Prioritizing cleaning areas
CN105744872B (zh) 2013-12-19 2020-01-14 伊莱克斯公司 旋转侧刷的自适应速度控制
CN105848545B (zh) 2013-12-20 2019-02-19 伊莱克斯公司 灰尘容器
JP6714923B2 (ja) * 2013-12-20 2020-07-01 アクチエボラゲット エレクトロルックス 自動掃除機
CN104000541B (zh) * 2014-06-16 2016-05-04 成都北斗群星智能科技有限公司 支持门槛检测的扫地机器人及门槛检测方法
EP3162265B1 (en) * 2014-06-30 2019-12-25 Panasonic Intellectual Property Management Co., Ltd. Autonomous travel-type cleaner
CN106415423B (zh) 2014-07-10 2021-01-01 伊莱克斯公司 用于检测机器人清洁装置的测量误差的方法
KR102271785B1 (ko) * 2014-09-08 2021-06-30 에이비 엘렉트로룩스 로봇 진공 청소기
US10729297B2 (en) 2014-09-08 2020-08-04 Aktiebolaget Electrolux Robotic vacuum cleaner
CN106413500B (zh) * 2014-10-10 2019-06-28 松下知识产权经营株式会社 自主行走型吸尘器
JP2017213009A (ja) 2014-10-10 2017-12-07 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
JP1531010S (enExample) * 2014-10-22 2015-08-17
CN208085470U (zh) * 2014-11-04 2018-11-13 法国传动装置公司 自动移动的轮式车辆
CN106998980B (zh) 2014-12-10 2021-12-17 伊莱克斯公司 使用激光传感器检测地板类型
WO2016091320A1 (en) 2014-12-12 2016-06-16 Aktiebolaget Electrolux Side brush and robotic cleaner
WO2016095965A2 (en) 2014-12-16 2016-06-23 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device
WO2016095966A1 (en) 2014-12-16 2016-06-23 Aktiebolaget Electrolux Cleaning method for a robotic cleaning device
EP3282912B1 (en) 2015-04-17 2020-06-10 Aktiebolaget Electrolux Robotic cleaning device and a method of controlling the robotic cleaning device
JP6476077B2 (ja) * 2015-06-18 2019-02-27 シャープ株式会社 自走式電子機器および前記自走式電子機器の走行方法
KR102445064B1 (ko) 2015-09-03 2022-09-19 에이비 엘렉트로룩스 로봇 청소 장치의 시스템
US9582001B1 (en) * 2015-10-07 2017-02-28 X Development Llc Motor system for vehicle steering and locomotion
CN106913290B (zh) * 2015-12-25 2020-09-25 北京奇虎科技有限公司 一种扫地机和基于扫地机的控制方法
TWI680739B (zh) * 2016-02-05 2020-01-01 金寶電子工業股份有限公司 自走車防護裝置
JP7035300B2 (ja) 2016-03-15 2022-03-15 アクチエボラゲット エレクトロルックス ロボット清掃デバイス、ロボット清掃デバイスにおける、断崖検出を遂行する方法、コンピュータプログラム、およびコンピュータプログラム製品
EP3454707B1 (en) 2016-05-11 2020-07-08 Aktiebolaget Electrolux Robotic cleaning device
US20180329409A1 (en) * 2017-05-11 2018-11-15 Bot3, Inc. Portable mobile robot and operation thereof
WO2018219473A1 (en) 2017-06-02 2018-12-06 Aktiebolaget Electrolux Method of detecting a difference in level of a surface in front of a robotic cleaning device
CN111093447B (zh) 2017-09-26 2022-09-02 伊莱克斯公司 机器人清洁设备的移动控制
CN109808789A (zh) * 2017-11-21 2019-05-28 富泰华工业（深圳）有限公司 轮式移动机器人的防走偏装置
CN108523774B (zh) * 2018-05-11 2020-08-28 安徽大江服装服饰有限公司 一种扫地机器人用碰壁型喷洒装置
US10888204B2 (en) 2019-05-29 2021-01-12 Maniff Creations, Inc. Removable cover for a robotic cleaning device
USD924508S1 (en) * 2019-05-30 2021-07-06 Trifo, Inc. Home robot
CN217659576U (zh) * 2020-10-23 2022-10-28 尚科宁家运营有限公司 机器人清洁器

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62120510A (ja) * 1985-11-21 1987-06-01 Hitachi Ltd 自動掃除機の制御方法
FR2620070A2 (fr) * 1986-12-11 1989-03-10 Jonas Andre Unite mobile autoguidee et appareil de nettoyage tel qu'un aspirateur comportant une telle unite
JPH0786767B2 (ja) * 1987-03-30 1995-09-20 株式会社日立製作所 自走ロボツトの走行制御方法
JPH03166074A (ja) * 1989-11-27 1991-07-18 Sony Corp 自走ロボット
US5023444A (en) * 1989-12-28 1991-06-11 Aktiebolaget Electrolux Machine proximity sensor
US5307273A (en) * 1990-08-29 1994-04-26 Goldstar Co., Ltd. Apparatus and method for recognizing carpets and stairs by cleaning robot
KR930000081B1 (ko) * 1990-12-07 1993-01-08 주식회사 금성사 청소기의 자동 청소방법
JP3282206B2 (ja) * 1992-01-14 2002-05-13 松下電器産業株式会社 移動作業ロボットの障害物検知装置
KR940004375B1 (ko) * 1992-03-25 1994-05-23 삼성전자 주식회사 자주식 청소기의 구동방법
JPH06144215A (ja) * 1992-10-30 1994-05-24 Meidensha Corp 無人搬送車
JPH06179145A (ja) * 1992-12-10 1994-06-28 Toyoda Mach Works Ltd 搬送台車
KR0140499B1 (ko) * 1993-08-07 1998-07-01 김광호 청소기와 그 제어방법
SE502834C2 (sv) * 1994-03-29 1996-01-29 Electrolux Ab Förfarande och anordning för avkänning av hinder vid självgående anordning
SE514791C2 (sv) * 1994-06-06 2001-04-23 Electrolux Ab Förbättrat förfarande för lokalisering av fyrar vid självgående anordning
JPH08326025A (ja) * 1995-05-31 1996-12-10 Tokico Ltd 清掃ロボット
JPH09150741A (ja) * 1995-11-29 1997-06-10 Toyota Auto Body Co Ltd 重量物運搬用の電動台車
US5935179A (en) * 1996-04-30 1999-08-10 Aktiebolaget Electrolux System and device for a self orienting device
SE506372C2 (sv) * 1996-04-30 1997-12-08 Electrolux Ab Självgående anordning
US6226830B1 (en) * 1997-08-20 2001-05-08 Philips Electronics North America Corp. Vacuum cleaner with obstacle avoidance
SE510524C2 (sv) * 1997-09-19 1999-05-31 Electrolux Ab Elektroniskt avgränsningssystem
SE511254C2 (sv) * 1998-01-08 1999-09-06 Electrolux Ab Elektroniskt söksystem för arbetsredskap
US7155308B2 (en) * 2000-01-24 2006-12-26 Irobot Corporation Robot obstacle detection system
JP2003280740A (ja) * 2002-03-25 2003-10-02 Matsushita Electric Ind Co Ltd 移動装置
WO2004025947A2 (en) * 2002-09-13 2004-03-25 Irobot Corporation A navigational control system for a robotic device
KR100492588B1 (ko) * 2003-01-23 2005-06-03 엘지전자 주식회사 자동 주행 청소기의 위치정보 인식장치
AU2004202834B2 (en) * 2003-07-24 2006-02-23 Samsung Gwangju Electronics Co., Ltd. Robot Cleaner
US20060200281A1 (en) * 2005-02-18 2006-09-07 Andrew Ziegler Autonomous surface cleaning robot for wet and dry cleaning
EP1850725B1 (en) * 2005-02-18 2010-05-19 iRobot Corporation Autonomous surface cleaning robot for wet and dry cleaning

Also Published As

Publication number Publication date
ATE542459T1 (de) 2012-02-15
KR101322970B1 (ko) 2013-10-29
CN101217907A (zh) 2008-07-09
EP1906807A1 (en) 2008-04-09
US8032978B2 (en) 2011-10-11
KR20080028988A (ko) 2008-04-02
WO2007008148A1 (en) 2007-01-18
US20090126143A1 (en) 2009-05-21
JP2009500741A (ja) 2009-01-08
EP1906807B1 (en) 2012-01-25
CN100586356C (zh) 2010-02-03
EP1906807A4 (en) 2011-03-09

Similar Documents

Publication Publication Date Title
JP5048663B2 (ja) ロボット清掃装置
CN111163671B (zh) 机器人清洁器
US11014460B2 (en) Compact autonomous coverage robot
JP6599604B2 (ja) 電気掃除機
JP2005021665A (ja) ロボット掃除機の駆動装置
JP6198234B2 (ja) 突出サイドブラシを備えたロボット真空掃除機
JP2004529686A (ja) 自律的に移動するキャニスタ型真空掃除機
JP2017213009A (ja) 自律走行型掃除機
KR20150141980A (ko) 로봇 진공 청소기
JP2017153787A (ja) 自走式掃除機
WO2025044772A1 (zh) 传动装置、自动清洁设备和清洁机器人系统
CN109982624A (zh) 自主行走型吸尘器
CN107928542A (zh) 自行式电动吸尘器以及自行式电动吸尘器套件
CN221013144U (zh) 传动装置、自动清洁设备和清洁机器人系统
WO2025044289A1 (zh) 一种传动装置、自动清洁设备及清洁机器人系统
KR102662324B1 (ko) 로봇 청소기
CN109700379B (zh) 自主行走型吸尘器
JP2004275304A (ja) 自走式掃除機
JP6685740B2 (ja) 電気掃除機
KR200324625Y1 (ko) 무인청소기
JP7396197B2 (ja) 電気掃除機
KR20040087579A (ko) 이동로봇의 장애물 인식장치
KR20040103609A (ko) 무인청소기
JP2020074918A (ja) ロボット集塵機
KR20150075638A (ko) 로봇 청소기

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20090421

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20090421

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20110823

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20110906

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20111205

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20111212

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20120127

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120619

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20120719

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20150727

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Ref document number: 5048663

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees