JP6633474B2 - 着脱可能パッドを用いた自律床清掃 - Google Patents
着脱可能パッドを用いた自律床清掃 Download PDFInfo
- Publication number
- JP6633474B2 JP6633474B2 JP2016159606A JP2016159606A JP6633474B2 JP 6633474 B2 JP6633474 B2 JP 6633474B2 JP 2016159606 A JP2016159606 A JP 2016159606A JP 2016159606 A JP2016159606 A JP 2016159606A JP 6633474 B2 JP6633474 B2 JP 6633474B2
- Authority
- JP
- Japan
- Prior art keywords
- pad
- cleaning
- robot
- cleaning pad
- identification
- 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.)
- Active
Links
- 238000004140 cleaning Methods 0.000 title claims description 662
- 239000007788 liquid Substances 0.000 claims description 114
- 230000005855 radiation Effects 0.000 claims description 85
- 230000004044 response Effects 0.000 claims description 50
- 238000005507 spraying Methods 0.000 claims description 43
- 230000003595 spectral effect Effects 0.000 claims description 40
- 230000002745 absorbent Effects 0.000 claims description 29
- 239000002250 absorbent Substances 0.000 claims description 29
- 230000006399 behavior Effects 0.000 claims description 27
- 238000002310 reflectometry Methods 0.000 claims description 22
- 239000010410 layer Substances 0.000 description 147
- 239000000976 ink Substances 0.000 description 65
- 239000007921 spray Substances 0.000 description 39
- 238000001514 detection method Methods 0.000 description 38
- 230000007246 mechanism Effects 0.000 description 26
- 238000000034 method Methods 0.000 description 18
- 239000013598 vector Substances 0.000 description 18
- 238000004519 manufacturing process Methods 0.000 description 16
- 238000009736 wetting Methods 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 15
- 239000000463 material Substances 0.000 description 15
- 238000010521 absorption reaction Methods 0.000 description 13
- 239000012530 fluid Substances 0.000 description 13
- 239000000428 dust Substances 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- -1 polyoxyethylene Polymers 0.000 description 9
- 230000008859 change Effects 0.000 description 7
- 239000000835 fiber Substances 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 7
- 238000003860 storage Methods 0.000 description 7
- 229920001131 Pulp (paper) Polymers 0.000 description 6
- 239000003086 colorant Substances 0.000 description 6
- 238000010410 dusting Methods 0.000 description 6
- 229920001410 Microfiber Polymers 0.000 description 5
- 239000004743 Polypropylene Substances 0.000 description 5
- 238000009408 flooring Methods 0.000 description 5
- 239000004033 plastic Substances 0.000 description 5
- 229920003023 plastic Polymers 0.000 description 5
- 229920001155 polypropylene Polymers 0.000 description 5
- 239000012459 cleaning agent Substances 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 235000016213 coffee Nutrition 0.000 description 4
- 235000013353 coffee beverage Nutrition 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000003550 marker Substances 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 229920006395 saturated elastomer Polymers 0.000 description 4
- 240000008042 Zea mays Species 0.000 description 3
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 3
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 3
- 230000003213 activating effect Effects 0.000 description 3
- 235000005822 corn Nutrition 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 239000002480 mineral oil Substances 0.000 description 3
- 235000010446 mineral oil Nutrition 0.000 description 3
- 239000000123 paper Substances 0.000 description 3
- 238000007639 printing Methods 0.000 description 3
- 238000005201 scrubbing Methods 0.000 description 3
- 239000002904 solvent Substances 0.000 description 3
- 239000004698 Polyethylene Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000000845 anti-microbial effect Effects 0.000 description 2
- 239000004599 antimicrobial Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 239000011230 binding agent Substances 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000004040 coloring Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001704 evaporation Methods 0.000 description 2
- 230000008020 evaporation Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 235000019198 oils Nutrition 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
- 239000000088 plastic resin Substances 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 229920000573 polyethylene Polymers 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 235000015067 sauces Nutrition 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 239000000080 wetting agent Substances 0.000 description 2
- IDQBJILTOGBZCR-UHFFFAOYSA-N 1-butoxypropan-1-ol Chemical compound CCCCOC(O)CC IDQBJILTOGBZCR-UHFFFAOYSA-N 0.000 description 1
- QGZKDVFQNNGYKY-UHFFFAOYSA-O Ammonium Chemical compound [NH4+] QGZKDVFQNNGYKY-UHFFFAOYSA-O 0.000 description 1
- 241000894006 Bacteria Species 0.000 description 1
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 229920000877 Melamine resin Polymers 0.000 description 1
- 229920003171 Poly (ethylene oxide) Polymers 0.000 description 1
- 239000004372 Polyvinyl alcohol Substances 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 150000004996 alkyl benzenes Chemical class 0.000 description 1
- 125000000217 alkyl group Chemical group 0.000 description 1
- 239000003242 anti bacterial agent Substances 0.000 description 1
- 230000000844 anti-bacterial effect Effects 0.000 description 1
- 239000003429 antifungal agent Substances 0.000 description 1
- 229940121375 antifungal agent Drugs 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004061 bleaching Methods 0.000 description 1
- 239000004359 castor oil Substances 0.000 description 1
- 235000019438 castor oil Nutrition 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 239000002657 fibrous material Substances 0.000 description 1
- 239000000796 flavoring agent Substances 0.000 description 1
- 235000019634 flavors Nutrition 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000003205 fragrance Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- ZEMPKEQAKRGZGQ-XOQCFJPHSA-N glycerol triricinoleate Natural products CCCCCC[C@@H](O)CC=CCCCCCCCC(=O)OC[C@@H](COC(=O)CCCCCCCC=CC[C@@H](O)CCCCCC)OC(=O)CCCCCCCC=CC[C@H](O)CCCCCC ZEMPKEQAKRGZGQ-XOQCFJPHSA-N 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011121 hardwood Substances 0.000 description 1
- 235000012907 honey Nutrition 0.000 description 1
- 230000002209 hydrophobic effect Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- JDSHMPZPIAZGSV-UHFFFAOYSA-N melamine Chemical compound NC1=NC(N)=NC(N)=N1 JDSHMPZPIAZGSV-UHFFFAOYSA-N 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 239000003658 microfiber Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010813 municipal solid waste Substances 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920000768 polyamine Polymers 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 229920002451 polyvinyl alcohol Polymers 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 239000000344 soap Substances 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000004094 surface-active agent Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 229920002994 synthetic fiber Polymers 0.000 description 1
- 239000012209 synthetic fiber Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 239000002982 water resistant material Substances 0.000 description 1
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
- 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
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- 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
Landscapes
- Electric Vacuum Cleaner (AREA)
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/828,285 | 2015-08-17 | ||
| US14/828,285 US9265396B1 (en) | 2015-03-16 | 2015-08-17 | Autonomous floor cleaning with removable pad |
| US14/936,236 US9320409B1 (en) | 2015-03-16 | 2015-11-09 | Autonomous floor cleaning with removable pad |
| US14/936,236 | 2015-11-09 |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2019224612A Division JP6686224B2 (ja) | 2015-08-17 | 2019-12-12 | 着脱可能パッドを用いた自律床清掃 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2017038926A JP2017038926A (ja) | 2017-02-23 |
| JP2017038926A5 JP2017038926A5 (zh) | 2019-09-26 |
| JP6633474B2 true JP6633474B2 (ja) | 2020-01-22 |
Family
ID=58205917
Family Applications (5)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016159606A Active JP6633474B2 (ja) | 2015-08-17 | 2016-08-16 | 着脱可能パッドを用いた自律床清掃 |
| JP2019224612A Active JP6686224B2 (ja) | 2015-08-17 | 2019-12-12 | 着脱可能パッドを用いた自律床清掃 |
| JP2020065957A Active JP6820445B2 (ja) | 2015-08-17 | 2020-04-01 | 着脱可能パッドを用いた自律床清掃 |
| JP2020216739A Active JP6961783B2 (ja) | 2015-08-17 | 2020-12-25 | 着脱可能パッドを用いた自律床清掃 |
| JP2021167340A Active JP7024135B2 (ja) | 2015-08-17 | 2021-10-12 | 着脱可能パッドを用いた自律床清掃 |
Family Applications After (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2019224612A Active JP6686224B2 (ja) | 2015-08-17 | 2019-12-12 | 着脱可能パッドを用いた自律床清掃 |
| JP2020065957A Active JP6820445B2 (ja) | 2015-08-17 | 2020-04-01 | 着脱可能パッドを用いた自律床清掃 |
| JP2020216739A Active JP6961783B2 (ja) | 2015-08-17 | 2020-12-25 | 着脱可能パッドを用いた自律床清掃 |
| JP2021167340A Active JP7024135B2 (ja) | 2015-08-17 | 2021-10-12 | 着脱可能パッドを用いた自律床清掃 |
Country Status (2)
| Country | Link |
|---|---|
| JP (5) | JP6633474B2 (zh) |
| CN (3) | CN110279351B (zh) |
Families Citing this family (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9907449B2 (en) | 2015-03-16 | 2018-03-06 | Irobot Corporation | Autonomous floor cleaning with a removable pad |
| US9265396B1 (en) | 2015-03-16 | 2016-02-23 | Irobot Corporation | Autonomous floor cleaning with removable pad |
| JP6633474B2 (ja) * | 2015-08-17 | 2020-01-22 | アイロボット・コーポレーション | 着脱可能パッドを用いた自律床清掃 |
| US10595698B2 (en) | 2017-06-02 | 2020-03-24 | Irobot Corporation | Cleaning pad for cleaning robot |
| WO2020020169A1 (zh) * | 2018-07-23 | 2020-01-30 | 深圳市帝迈生物技术有限公司 | 样本分析装置及其清洗方法 |
| CN109363571A (zh) * | 2018-10-27 | 2019-02-22 | 珊口（深圳）智能科技有限公司 | 清洁机器人及其拖地组件 |
| WO2020125489A1 (zh) * | 2018-12-21 | 2020-06-25 | 苏州宝时得电动工具有限公司 | 清洁机器人及其控制方法和地面处理系统 |
| JP7324847B2 (ja) * | 2018-12-21 | 2023-08-10 | ポジテック パワー ツールズ（スーチョウ）カンパニー，リミティド | 掃除ロボット及び掃除方法 |
| CN112137526B (zh) * | 2019-06-11 | 2022-04-19 | 杭州萤石软件有限公司 | 一种清洁装置的过程控制方法、控制装置、以及清洁装置 |
| CN110522362A (zh) * | 2019-08-19 | 2019-12-03 | 珠海市一微半导体有限公司 | 一种机器人仿人工拖地方法和芯片及智能拖地机 |
| CN110507260A (zh) * | 2019-08-19 | 2019-11-29 | 珠海市一微半导体有限公司 | 一种机器人拖地的控制方法和主控芯片及拖地机器人 |
| KR20210025456A (ko) * | 2019-08-27 | 2021-03-09 | 엘지전자 주식회사 | 인공지능 로봇청소기 및 그를 포함하는 로봇 시스템 |
| CN110897556B (zh) * | 2019-11-29 | 2021-05-28 | 深圳市银星智能科技股份有限公司 | 清洁机器人 |
| CN110934545B (zh) | 2019-11-29 | 2022-05-03 | 深圳市银星智能科技股份有限公司 | 清洁机器人 |
| CN113729563B (zh) * | 2020-05-29 | 2023-12-05 | 云米互联科技(广东)有限公司 | 扫地机器人 |
| CN114376457B (zh) * | 2020-10-19 | 2023-11-03 | 深圳乐动机器人股份有限公司 | 拖地机器人及其控制方法、装置及计算机可读存储介质 |
| WO2022111442A1 (zh) * | 2020-11-30 | 2022-06-02 | 追觅创新科技(苏州)有限公司 | 自清洁设备及清洁组件检测方法 |
| CN112493948B (zh) * | 2020-11-30 | 2024-04-12 | 追觅创新科技(苏州)有限公司 | 自清洁设备及清洁组件检测方法 |
| CN114747989A (zh) * | 2021-01-11 | 2022-07-15 | 宁波方太厨具有限公司 | 一种地面清洁系统的清洁策略控制方法 |
| CN115413958A (zh) * | 2021-07-08 | 2022-12-02 | 上海高仙自动化科技发展有限公司 | 一种石材护理机器人的脱困方法 |
| EP4173539A1 (de) * | 2021-10-29 | 2023-05-03 | Vorwerk & Co. Interholding GmbH | Vorsatzgerät für ein reinigungsgerät mit feuchteerkennung und verfahren zur feuchteerkennung |
| CN114904822B (zh) * | 2022-03-31 | 2023-09-26 | 上海果纳半导体技术有限公司 | 机械手清洗装置、清洗方法及半导体设备 |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050209736A1 (en) * | 2002-11-13 | 2005-09-22 | Figla Co., Ltd. | Self-propelled working robot |
| JP2004237075A (ja) * | 2003-02-06 | 2004-08-26 | Samsung Kwangju Electronics Co Ltd | 外部充電装置を有するロボット掃除機システム及びロボット掃除機の外部充電装置の接続方法。 |
| JP4368660B2 (ja) * | 2003-11-07 | 2009-11-18 | アマノ株式会社 | 床面艶出機用パッド |
| JP2005345328A (ja) * | 2004-06-04 | 2005-12-15 | Sharp Corp | 光学式物体識別装置 |
| WO2006068444A1 (en) * | 2004-12-23 | 2006-06-29 | Seoul National University Industry Foundation | Fabrication of mesoporous metal electrodes in non-liquid-crystalline phase and its application |
| KR101340841B1 (ko) * | 2005-02-18 | 2013-12-11 | 아이로보트 코퍼레이션 | 습식 및 건식 청소를 위한 자동 표면 청소 로봇 |
| DE102005041133B3 (de) * | 2005-08-30 | 2007-01-18 | Miele & Cie. Kg | Verfahren zum Betreiben eines Staubsaugers |
| EP2544065B1 (en) * | 2005-12-02 | 2017-02-08 | iRobot Corporation | Robot system |
| KR101543490B1 (ko) * | 2008-04-24 | 2015-08-10 | 아이로보트 코퍼레이션 | 로봇 가능화 모바일 제품을 위한 위치 측정 시스템, 위치 결정 시스템 및 운전 시스템의 적용 |
| US8892251B1 (en) * | 2010-01-06 | 2014-11-18 | Irobot Corporation | System and method for autonomous mopping of a floor surface |
| DE102010038421A1 (de) * | 2010-07-26 | 2012-01-26 | Alfred Kärcher Gmbh & Co. Kg | Reinigungsvorrichtung |
| DE102010042347A1 (de) * | 2010-10-12 | 2012-04-12 | Alfred Kärcher Gmbh & Co. Kg | Verfahren zum Betreiben eines Reinigungsgerätes und Reinigungsgerät zur Durchführung des Verfahrens |
| US9044852B2 (en) * | 2010-10-26 | 2015-06-02 | Procter & Gamble | Cleaning device having onboard replaceable cleaning pad and onboard replaceable cleaning solution |
| US9615714B2 (en) * | 2012-11-09 | 2017-04-11 | Samsung Electronics Co., Ltd. | Autonomous cleaning device |
| EP3968621A3 (de) * | 2012-12-05 | 2022-03-23 | Vorwerk & Co. Interholding GmbH | Verfahrbares bodenreinigungsgerät sowie verfahren zum betreiben eines solchen gerätes |
| US20140245556A1 (en) * | 2013-03-01 | 2014-09-04 | Euro-Pro Operating Llc | Cleaning pad arrangement |
| CN108514386A (zh) * | 2013-11-12 | 2018-09-11 | 美国iRobot公司 | 清洁垫 |
| JP6633474B2 (ja) * | 2015-08-17 | 2020-01-22 | アイロボット・コーポレーション | 着脱可能パッドを用いた自律床清掃 |
-
2016
- 2016-08-16 JP JP2016159606A patent/JP6633474B2/ja active Active
- 2016-08-17 CN CN201910553127.9A patent/CN110279351B/zh active Active
- 2016-08-17 CN CN201811213684.8A patent/CN109512339B/zh active Active
- 2016-08-17 CN CN201610933579.6A patent/CN106805851B/zh active Active
-
2019
- 2019-12-12 JP JP2019224612A patent/JP6686224B2/ja active Active
-
2020
- 2020-04-01 JP JP2020065957A patent/JP6820445B2/ja active Active
- 2020-12-25 JP JP2020216739A patent/JP6961783B2/ja active Active
-
2021
- 2021-10-12 JP JP2021167340A patent/JP7024135B2/ja active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP2020108821A (ja) | 2020-07-16 |
| CN110279351A (zh) | 2019-09-27 |
| JP2022009034A (ja) | 2022-01-14 |
| CN109512339B (zh) | 2021-05-18 |
| JP2017038926A (ja) | 2017-02-23 |
| JP7024135B2 (ja) | 2022-02-22 |
| CN106805851A (zh) | 2017-06-09 |
| CN109512339A (zh) | 2019-03-26 |
| CN106805851B (zh) | 2019-07-19 |
| JP2021058665A (ja) | 2021-04-15 |
| CN110279351B (zh) | 2021-06-01 |
| JP6820445B2 (ja) | 2021-01-27 |
| JP6961783B2 (ja) | 2021-11-05 |
| JP6686224B2 (ja) | 2020-04-22 |
| JP2020037023A (ja) | 2020-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7024135B2 (ja) | 着脱可能パッドを用いた自律床清掃 | |
| JP6976630B2 (ja) | 着脱可能パッドを用いた自律床清掃 | |
| AU2020294329B2 (en) | Autonomous floor cleaning with removable pad |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20160914 |
|
| RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20170717 |
|
| RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20190711 |
|
| RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20190712 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190816 |
|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190816 |
|
| A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20190816 |
|
| A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20191004 |
|
| 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: 20191112 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20191212 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 6633474 Country of ref document: JP 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 |