JP7079031B2 - 拭きロボット - Google Patents
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- JP7079031B2 JP7079031B2 JP2020546875A JP2020546875A JP7079031B2 JP 7079031 B2 JP7079031 B2 JP 7079031B2 JP 2020546875 A JP2020546875 A JP 2020546875A JP 2020546875 A JP2020546875 A JP 2020546875A JP 7079031 B2 JP7079031 B2 JP 7079031B2
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- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- 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
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- 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
- A47L11/293—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools the tools being disc brushes
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- 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
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- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A—HUMAN NECESSITIES
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- 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
- A47L11/4038—Disk shaped surface treating tools
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- 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
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- 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
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- A—HUMAN NECESSITIES
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- 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
- A47L11/4066—Propulsion of the whole machine
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- 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
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- 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
- A47L11/4072—Arrangement of castors or wheels
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- 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
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- 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
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- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- 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
- A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
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- 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
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- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Description
窓拭き装置と地面拭き装置を含む拭きロボットであって、窓拭き装置は、窓清掃システムと、窓に吸着するように配置される吸着手段と、窓上を移動するように配置される第1走行手段とを含み、地面拭き装置は、地面清掃システムと、地面上を移動する第2走行手段とを含み、地面拭き装置の胴体は取付溝を有し、窓拭き装置配置は、取付溝に嵌入・離間可能なように配置される。
本実施例は、人力の代わりに地面、窓の清掃作業を行う拭きロボットを提供する。
Claims (12)
- 窓拭き装置と、地面拭き装置とを含む拭きロボットであって、
前記窓拭き装置は、窓清掃システムと、窓に吸着するように配置される吸着手段と、窓上を移動するように配置される第1走行手段とを含み、
前記地面拭き装置は、地面清掃システムと、地面上を移動する第2走行手段とを含み、
前記地面拭き装置の胴体は、取付溝を有し、前記窓拭き装置は、取付溝に嵌入・離間可能なように配置され、
前記窓拭き装置は、動力出力手段をさらに含み、
前記地面拭き装置は、動力入力手段をさらに含み、
前記動力出力手段は、前記動力入力手段に接続されて前記動力入力手段を駆動し、前記動力入力手段は、前記第2走行手段に接続されて前記第2走行手段を駆動することにより、前記第2走行手段は前記窓拭き装置により駆動され、前記地面拭き装置を地面上で移動させることを特徴とする、拭きロボット。 - 前記窓清掃システムは、前記窓拭き装置の胴体の底部に設けられた第1回転雑巾と第2回転雑巾との2つの回転雑巾からなる第1セットの回転雑巾と、少なくとも1つの第1吐出ノズルとを含み、
前記胴体の内部には第1水タンクが設けられ、前記第1水タンクは、管路を介して前記第1吐出ノズルに接続されることを特徴とする、請求項1に記載の拭きロボット。 - 前記第1走行手段は、第1履帯走行機構と第2履帯走行機構とを含み、
前記第1履帯走行機構及び前記第2履帯走行機構は、それぞれ前記窓拭き装置の胴体の底部の両側に位置することを特徴とする、請求項1又は2に記載の拭きロボット。 - 前記第2走行手段は、2以上の回転輪モジュールを含み、前記動力入力手段は、前記回転輪モジュールに接続されて前記回転輪モジュールを駆動することを特徴とする、請求項3に記載の拭きロボット。
- 前記回転輪モジュールは、回転輪本体と、回転輪フレームと、伝動機構とを含み、
前記伝動機構は、前記回転輪フレーム内に設けられ、
前記伝動機構の動力入力端は、動力入力軸を含み、
前記動力入力軸は、前記回転輪フレームから伸び出し、
前記伝動機構の動力出力端は、前記回転輪本体に支持されて接続され、前記回転輪本体を駆動することを特徴とする、請求項4に記載の拭きロボット。 - 前記動力出力手段は、それぞれ前記第1履帯走行機構及び前記第2履帯走行機構のそれぞれの履帯輪の中心軸から伸び出す出力端子を含み、
前記動力入力手段は、前記動力入力軸から形成され、前記動力入力軸の端面に接続溝が設けられ、
前記接続溝は、前記出力端子に適合し、前記出力端子が取り付けられるとともに、前記出力端子に伴って回転するように設けられることを特徴とする、請求項5に記載の拭きロボット。 - 前記動力入力軸は、前記回転輪フレームに移動可能に挿設され、
前記動力入力軸には、リターンスプリングが外嵌され、
前記リターンスプリングは、一端が前記動力入力軸に当接し、他端が前記回転輪フレームに当接し、前記窓拭き装置が前記取付溝に取り付けられている場合、前記リターンスプリングは、前記動力入力軸と前記出力端子とを弾性的にロックすることを特徴とする、請求項6に記載の拭きロボット。 - 前記伝動機構は、第1回転ギアと、第2回転ギアと、ラック伝動ベルトとを含み、
前記動力出力端は、動力出力軸を含み、
前記ラック伝動ベルトの両端は、それぞれ前記第1回転ギア及び前記第2回転ギアに噛み合い、
前記第1回転ギアは、前記動力入力軸に外嵌され、前記第2回転ギアは、前記動力出力軸に外嵌され、前記回転輪本体は、前記動力出力軸に外嵌されることを特徴とする、請求項5~7のいずれか一項に記載の拭きロボット。 - 前記地面清掃システムは、前記地面拭き装置の胴体の底部に設けられたローラーブラシと、第3回転雑巾と第4回転雑巾との2つの回転雑巾からなる第2セット回転雑巾と、少なくとも1つの第2吐出ノズルとを含み、
前記地面拭き装置の胴体の内部にゴミボックス及び第2水タンクが設けられ、
前記第2水タンクは、管路を介して前記第2吐出ノズルに連通し、
前記ゴミボックスは、前記ローラーブラシに接続され、前記ローラーブラシからのゴミを受け入れて保存する請求項1~8のいずれか一項に記載の拭きロボット。 - 前記窓清掃システムは、前記窓拭き装置の胴体の底部に設けられる第1固定雑巾をさらに含むことを特徴とする、請求項1~9のいずれか一項に記載の拭きロボット。
- 前記地面清掃システムは、前記地面拭き装置の胴体の底部に設けられた第2固定雑巾をさらに含むことを特徴とする、請求項1~10のいずれか一項に記載の拭きロボット。
- 前記地面拭き装置の胴体内に姿勢検出ユニット、圧力検出ユニット又は光電検出ユニットのうちの少なくとも1つが設けられ、
前記姿勢検出ユニット、前記圧力検出ユニット及び前記光電検出ユニットは、それぞれ前記窓拭き装置の前記地面拭き装置に対する位置状態を検出するように配置されることを特徴とする、請求項1~11のいずれか一項に記載の拭きロボット。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810265392.2A CN108451433A (zh) | 2018-03-28 | 2018-03-28 | 擦洗机器人 |
CN201810267375.2A CN108451434A (zh) | 2018-03-28 | 2018-03-28 | 擦洗机器人 |
CN201810265392.2 | 2018-03-28 | ||
CN201810267375.2 | 2018-03-28 | ||
PCT/CN2019/075339 WO2019184616A1 (zh) | 2018-03-28 | 2019-02-18 | 擦洗机器人 |
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JP2021516111A JP2021516111A (ja) | 2021-07-01 |
JP7079031B2 true JP7079031B2 (ja) | 2022-06-01 |
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Application Number | Title | Priority Date | Filing Date |
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JP2020546875A Active JP7079031B2 (ja) | 2018-03-28 | 2019-02-18 | 拭きロボット |
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US (1) | US11819172B2 (ja) |
EP (1) | EP3797663B1 (ja) |
JP (1) | JP7079031B2 (ja) |
KR (1) | KR102302527B1 (ja) |
WO (1) | WO2019184616A1 (ja) |
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CN112826361B (zh) * | 2020-12-31 | 2022-04-19 | 广州科语机器人有限公司 | 擦窗机器人喷洒控制方法及装置 |
KR102240739B1 (ko) * | 2021-01-15 | 2021-04-15 | 주식회사대상기술 | 자력으로 이동하는 청소 장치 |
CN113171034B (zh) * | 2021-04-19 | 2023-06-06 | 深圳银星智能集团股份有限公司 | 清洁基站、清洁系统以及清洁系统的清洁方法 |
CN113729542B (zh) * | 2021-08-20 | 2022-12-23 | 青岛海诺瓦型材制造有限公司 | 一种窗户滑轮滑轨内部清洁装置 |
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JP2005040578A (ja) | 2003-07-24 | 2005-02-17 | Samsung Kwangju Electronics Co Ltd | 回転濡れ雑巾掃除ユニット付き掃除ロボット |
JP2007513659A (ja) | 2003-12-10 | 2007-05-31 | フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハー | 自立走行型又はハンドル操作型の掃除機、及び掃除機とベースステーションとの組み合わせ |
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KR20200102473A (ko) | 2020-08-31 |
US11819172B2 (en) | 2023-11-21 |
KR102302527B1 (ko) | 2021-09-15 |
JP2021516111A (ja) | 2021-07-01 |
EP3797663A1 (en) | 2021-03-31 |
EP3797663A4 (en) | 2022-04-06 |
WO2019184616A1 (zh) | 2019-10-03 |
US20210290010A1 (en) | 2021-09-23 |
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