WO2021066222A1 - Robot nettoyeur - Google Patents

Robot nettoyeur Download PDF

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Publication number
WO2021066222A1
WO2021066222A1 PCT/KR2019/012922 KR2019012922W WO2021066222A1 WO 2021066222 A1 WO2021066222 A1 WO 2021066222A1 KR 2019012922 W KR2019012922 W KR 2019012922W WO 2021066222 A1 WO2021066222 A1 WO 2021066222A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
unit
robot cleaner
effector
link member
Prior art date
Application number
PCT/KR2019/012922
Other languages
English (en)
Inventor
Hwang Kim
Seungjin Lee
Original Assignee
Lg Electronics Inc.
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 Lg Electronics Inc. filed Critical Lg Electronics Inc.
Priority to KR1020227007219A priority Critical patent/KR102662322B1/ko
Priority to PCT/KR2019/012922 priority patent/WO2021066222A1/fr
Publication of WO2021066222A1 publication Critical patent/WO2021066222A1/fr

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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
    • B60B33/06—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted retractably
    • B60B33/066—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted retractably by use of a hinge and lever mechanism to swing wheel upwards relative to wheel mount

Definitions

  • Embodiments of the present disclosure relate to a robot cleaner configured to perform cleaning by sucking dust, dirt and foreign substances while running on the floor automatically.
  • a vacuum cleaner includes a body having a suction device and a dust canister; and a cleaner nozzle used in cleaning the floor in a state of being adjacent to the floor that is a cleaning object.
  • the vacuum cleaner is categorized into a hand-operated cleaner used by a user in cleaning the floor with the hand and a robot cleaner configured to perform cleaning while running on the floor automatically.
  • the suction device is actuated to generate a suction force by using a driving force of an electric motor and the user puts the cleaner nozzle or the body on the floor, in a state of holding the body.
  • the cleaner nozzle sucks first and foreign substances from the floor by means of the suction force and the sucked foreign substances are collected in the dust canister to perform cleaning.
  • the robot cleaner is configured to suck dust and other foreign substances from the floor while running in an area desired to clean automatically.
  • the robot cleaner may perform cleaning for a predetermined area automatically.
  • the robot cleaner includes a distance sensor configured to sense a distance to an obstacle installed in a cleaning area (e.g., furniture, office tools, wall or the like); and right and left wheels for the movement of the robot cleaner.
  • the right and left wheels may be configured to be rotated by right and left motors such that the rotor cleaner can perform cleaning, while robot cleaner is changing its direction automatically according to according to the drive of the right and left motors.
  • a suction nozzle is provided in a lower portion of the robot cleaner and configured to suck foreign substances from the floor.
  • the suction nozzle may include a nozzle case fixed to the cleaner body not to move; a suction hole formed in a bottom of the nozzle case and configured to suck the foreign substances; and an agitator rotatably coupled to the suction hole and configured to lift the foreign substances including dust that are stuck on the floor to the suction hole.
  • the wheels of the cleaner body could fail to run over the obstacle disadvantageously and then the robot cleaner is likely to be trapped.
  • Korean Patent Open Paid No. 10-2014-0067705 (published on 5 th day of June, 2014, hereinafter, Cited Reference) discloses a moving auxiliary device 200 for running over an obstacle such as a threshold, the moving auxiliary device 200 include a second drive unit 210, a moving member 230 supplied electric power by the second drive unit 210, a power transmission unit 220 provided to transfer the power of the second drive unit 210 to the moving member 230, and a housing 201 for accommodating the power transmission unit 220.
  • the cited reference is a swing suspension type which requires an additional motor and an additional sensor configured to sense that the wheels of the robot cleaner are caught (or the wheels are lifted from the floor), such that it may require additional control method configured to be driven after the caught state of the wheels. Accordingly, the cited reference has disadvantages of complex technical features and structure.
  • an object of the present disclosure is to address the above-noted and other problems.
  • Another object of the present disclosure is to provide a mechanism that may apply a contact friction to the floor in a state where wheels are caught,
  • a further object of the present disclosure is to provide a structure of a robot cleaner configured to contact with the floor by using a power of a motor configured to run the wheels, without an additional motor.
  • a still further object of the present disclosure is to provide a structure of a robot cleaner configured not to contact with the floor while the robot cleaner is running and to contact with the floor when the wheels are caught.
  • a robot cleaner comprises a wheel may generate rotation by engaging an end gear of a deaccelerating unit configured to drive the wheel.
  • a deaccelerating unit configured to drive the wheel.
  • the combination of link members may be more projected than the wheel to ground with the floor, when the wheel is caught as much as a suspension stroke.
  • the linkage may not be exposed in a state where the wheel of the robot cleaner is hidden in the body. When the wheel escapes from the body, the linkage may be projected outside and located lower than the wheel. The repeated reciprocating of the linkage may cause the contact and friction with the floor to escape the trapped state of the robot cleaner.
  • the robot cleaner comprises a body configured to run on the floor; a wheel provided in a lower area of the body and configured to rotate to run the body; a running unit configured to connect the body with the wheel and change the height of the wheel with respect to the body; and an escaping unit provided in one side of the wheel and configured to contact with the floor according to the height variation of the wheel, wherein the escaping unit comprises an effector configured to reciprocate along a radial direction of the wheel from one side of the wheels.
  • the running unit may comprise a motor configured to generate a rotational power of the wheel; and a deaccelerating unit provided between the motor and the wheel and configured to transfer the power of the motor.
  • One side of the deaccelerating unit may be connected with the motor and the other side thereof is connected with the wheel, and the deaccelerating unit may be rotated with respect to one side and the height of the wheel is variable with respect to the body.
  • the escaping unit may further comprise a link unit provided in the deaccelerating unit and configured to rotate, and the effector is connected with the link unit and configured to reciprocate by means of the rotation of the link unit.
  • the link unit may be rotatable by the power of the motor.
  • the link unit may comprise a first link member connected with the deaccelerating unit and configured to be rotatable on a rotational axis; and a second link member having one side connected with the first link member and the other side connected with the effector and configured to transfer the rotational movement of the first link member to the effector.
  • a rotational axis of the first link member may be the same with a rotational axis of the wheel.
  • the first link member may comprise a projected member projected from the first link member
  • the second link member may comprise a groove provided in one side of the second link member and configured to be coupled to the projected member.
  • the projected member may be projected at a predetermined position out of the rotational axis of the first link member.
  • the effector may comprise a guide portion penetrating the effector along a longitudinal direction of the effector and configured to form a reciprocation range of the effector.
  • the deaccelerating unit may comprise a guide member inserted in the guide portion and configured to support the reciprocation of the effector.
  • the effector may comprise a contact member provided in one end of the effector and configured to contact with the floor according to the height variation of the wheel.
  • a robot cleaner comprises a body configured to run on the floor; a wheel provided in a lower area of the body and configured to rotate to run the body; a running unit configured to connect the body with the wheel and change the height of the wheel with respect to the body as being rotated on one side with respect to the body; and an escaping unit provided in one side of the wheel and configured to contact with the floor according to the height variation of the wheel, wherein the wheel is pushed from the floor by the contact of the escaping unit with the floor.
  • the escaping unit may comprise an effector configured to reciprocate along a radial direction of the wheel from one side of the wheels.
  • the running unit may comprise a motor configured to generate a rotational power of the wheel, and the effector may reciprocate by means of the power of the motor.
  • the embodiments have following advantageous effects.
  • the robot cleaner is capable of escaping the trapped state by the contact of the linkage with the floor as the wheel is lowered with respect to the body, even without any additional structures configured to escape the trapped state.
  • the robot cleaner is capable of escaping the trapped state by means of the motor configured to rotate the wheel, without any additional motor for the linkage
  • the linkage may not interfere with the running of the robot cleaner and the wheel of the robot cleaner may be lowered with respect to the body to contact with the floor so as to escape from the trapped state, when the wheel happens to be caught.
  • FIG. 1 is a diagram illustrating a lower surface of a robot cleaner according to one embodiment of the present disclosure
  • FIG. 2 is a perspective diagram illustrating an internal structure of a robot cleaner according to one embodiment of the present disclosure
  • FIG. 3 is a diagram illustrating a lower surface shown in FIG. 2;
  • FIG. 4 is a diagram illustrating wheels, a running unit and an escape unit which are shown in FIG. 2;
  • FIG. 5 is a diagram illustrating a lateral surface and an effector which are shown in FIG. 4;
  • FIG. 6 is a diagram illustrating one example of FIG. 4.
  • FIG. 7 is a diagram illustrating a running and caught state of a robot cleaner according to one embodiment of the present disclosure.
  • FIG. 1 is a diagram illustrating a lower surface of a robot cleaner according to one embodiment of the present disclosure. Hereinafter, referring to FIG. 1, the embodiment will be described.
  • the robot cleaner according to this embodiment may include a body 10 defining an exterior design; a wheel 40 coupled to the body 10 and configured to rotate to move or rotate the body 10 back and forth; and a front auxiliary wheel 20 supporting one side of the body 10 and assisting the rotation of the body 10 facilitated by the wheel 40.
  • the wheel 40 may include right and left wheels independently provided in right and left sides of the body 10 and configured to be independently driven.
  • the wheels 40 When the body 10 is running forwardly and backwardly, the wheels 40 may be rotated in the same direction. When the body 10 is rotated, the wheels 40 may be rotated in different directions.
  • the rotation of the body 10 may be performed to change the running direction of the robot cleaner.
  • the case 10 may be rotated to change the running direction.
  • the body 10 may include a suction unit 14 configured to suck foreign substances; and a tilted unit 12 configured to guide the body 10 when the body 10 is running over a step.
  • the tilted unit 12 may be formed in a front lower end of the case 10 and it may mean a tilted part.
  • the suction unit 14 may include an agitator provided in the body 10 and configured to contact with the floor on which cleaning is performed; and a suction hole formed in the body 10 and configured to suck external foreign substances by means of a suction force generated in the body 10.
  • the tilted unit 12 may be arranged in a front end of the body 10 and the auxiliary wheel 20 may be arranged behind the tilted unit 12.
  • the wheels 40 may be arranged behind the front auxiliary wheel 20.
  • a rear auxiliary wheel 30 may be provided behind the wheels 40 to support the other side of the body 10.
  • the front auxiliary wheel 20 and the rear auxiliary wheel 30 may freely rotate with respect to the body 10 in a horizontal direction.
  • the front auxiliary wheel 20 and the rear auxiliary wheel 30 may be fixedly coupled to the body 10 at a preset height.
  • the wheels 40 may be configured of two wheels.
  • the two wheels may be rotated at different speeds or in different directions so as to rotate the body 10 leftwards or rightwards.
  • the wheels 40 may have a variable height with respect to the body 10, different from the front auxiliary wheel 20 having the fixed height.
  • FIG. 2 is a perspective diagram illustrating an internal structure of a robot cleaner according to one embodiment of the present disclosure and FIG. 3 is a diagram illustrating a lower surface shown in FIG. 2.
  • the body 10 may run the floor of a cleaning area.
  • the wheels 40 may be provided in a lower area of the body 10 and rotated to run the body 10.
  • the body 10 and the wheels 40 may be connected with each other by a running unit 50.
  • the running unit 50 may change the height of the wheels 40 with respect to the body 10.
  • the running unit 50 may include a motor 51 configured to generate a rotational power of the wheels 40; and a deaccelerating unit 53 provided between the motor 51 and the wheels 40 and configured to transmit the power of the motor 51.
  • Onside of the deaccelerating unit 53 may be connected with the motor 51 and the other side thereof may be connected with the wheels 40, such that the deaccelerating unit 53 may be rotated with respect to one side so as to change the height of the wheels 40 with respect to the body 10.
  • the height variation of the wheels 40 may be performed when the body 10 is caught at a threshold or a step to be in a trapped state.
  • the deaccelerating unit 53 may be rotated with respect to one side by the weight of the wheels 40 to relatively lower the wheels 40 with respect to the body 10.
  • the deaccelerating unit 53 may have a plurality of gears to form a preset gear ratio.
  • An escape unit 60 may engage with the plurality of the gears such that an effector 65 can reciprocate along a radial direction of the wheels from one side of the wheels.
  • the wheels 40 and the escape unit 60 may be supplied the power by the same motor.
  • the escape unit 60 may include a link unit 61 and 63 provided in the deaccelerating unit 53 and configured to rotate.
  • the effector 65 may be connected with the link unit 61 and 63 and configured to be reciprocated by the rotation of the link unit 61 and 63.
  • the link unit may be supplied the power by the motor 51 to rotate.
  • the link unit may include a first link member 61 connected with the deaccelerating unit 53 and configured to rotate while forming a rotational axis; and a second link member 61 having one side connected with the first link member 61 and the other side connected with the effector 65 to transfer the rotational movement of the first link member 61 to the effector 65.
  • the connection between the first link member 61 and the deaccelerating unit 53 may be configured in various methods.
  • the plurality of the gears provided in the deaccelerating unit 53 may engage with each other and form the preset gear ratio such that the deaccelerating unit 53 may rotate while engaging with one of the gears.
  • the first link member 61 may perform the rotational movement on a rotational axis and the second link member 63 may transfer the rotational movement to the effector 65. Accordingly, the effector 65 may reciprocate towards a radial direction of the wheels 40.
  • the running unit 50 may be provided in the internal space defined by the body 10 of the robot cleaner. As the wheels 40 provided in the right and left sides of the body 10 independently are driven independently, the running unit 50 may be located in the body 10, close to the wheels 40.
  • FIG. 4 is a diagram illustrating wheels, a running unit and an escape unit which are shown in FIG. 2.
  • FIG. 5 is a diagram illustrating a lateral surface and an effector which are shown in FIG. 4.
  • the first link member 61 may be rotatable with respect to a first rotational axis r1 and one side of the second link member 63 may be rotatable with respect to a second rotational axis r2 formed by the first link member 61.
  • the other side of the second link member 63 may be connected with the effector 65 and rotatable with respect to a first rotational axis r3.
  • the first rotational axis r1 may be defined as the rotational axis of the first link member 61 and the rotational axis of the wheels 40 simultaneously.
  • the first link member 61 and the rotational axis of the wheels 40 may be formed as the first rotational axis r1. Accordingly, the rotation of the wheels 40 and the rotation of the first link member 61 may be performed equally.
  • a projected member 611 may be projected from the first link member 61 and a groove 631 may be formed in the second link member 63 to be rotatably fitted to the projected member 611.
  • the projected member 611 may be fitted in the groove 631 such that the second link member 63 may be connected with the first link member 61, while forming the second rotational axis r2.
  • the second rotational axis r2 may be provided in parallel with the first rotational axis r1, not sharing the rotational axis with the first rotational axis r1. Accordingly, the projected member 611 may be located out of the rotational axis of the first link member 61. If the first rotational axis r1 and the second rotational axis r1 share the rotational axis with each other, the power of the motor cannot be transferred by the second link member 63. Accordingly, the first rotational axis r1 and the second rotational axis r2 may be formed in parallel.
  • the effector 65 may include a guide portion 651 penetrating the effector 65 along a longitudinal direction of the effector 65 and configured to form a reciprocation range of the effector 65.
  • the deaccelerating unit 53 may include guide member 531 inserted in the guide portion 651 to support the reciprocation of the effector 65.
  • the effector 65 may be supplied the power by the motor 51 so as to reciprocate along the radial direction of the wheels 40.
  • the guide member 531 may be inserted in the guide portion 651 so as to secure the effector 65 to lateral surfaces of the wheels 40 and reciprocating while being supported by the guide member 531 along the longitudinal direction of the guide portion 651.
  • a cover 41 may be provided in a top of the wheels 40.
  • the cover 41 may prevent the wheels 40 from contacting with the inside of the body 10 while the body 10 is running.
  • a contact member 653 may be provided in one end of the effector 65 and configured to contact with the floor according to the height variation of the wheels 40. Accordingly, the contact member 653 may be formed of one of diverse members that will not slip on the floor to apply a ground friction to the floor through contact with the floor.
  • FIG. 6 is a diagram illustrating one example of FIG. 4 and FIG. 7 is a diagram illustrating a running and caught state of a robot cleaner according to one embodiment of the present disclosure. Referring to FIGS. 6 and 7, the embodiment will be described.
  • the plurality of the gears provided in the deaccelerating unit 53 may engage with each other to transfer the power of the motor 51 to the wheels 40 to rotate the wheels 40.
  • the first link member 61 may be connected with the deaccelerating unit 53 to transfer the power of the motor 51 to the first link member 61.
  • the first link member 61 may be rotated by the transferred power of the motor.
  • the first link member 61 may engage with the gears of the deaccelerating unit 53 and rotate together with the wheels 40. As mentioned above, the rotational axis of the first link member 61 may be the same with that of the wheels 40.
  • the second link member 63 may be rotatably connected with the first link member 61 at a position that is out of the rotational axis of the first link member 61. Accordingly, one side of the second link member 63 may be rotated together with the first link member 61.
  • the effector 65 may be rotatably connected with the other side of the second link member 63.
  • the rotational force of the first link member 61 may be transferred to the effector 65 such that the effector 65 may reciprocate along a radial direction of the wheel 40.
  • the guide member 531 is inserted in the guide portion 651 penetrating the effector 65 along the longitudinal direction to be supported at one side of the wheels 40 such that the effector 65 can reciprocate as far as the length of the guide portion 651.
  • the first link member 61 may be rotated in a clockwise direction. As the first link member 61 is rotated, the effector 65 may reciprocate along the radial direction d1 of the wheels. When the projected 611 is located relatively close to the motor 51 as shown in FIG. 6a, the effector 65 may be located in a circumference of the wheels. When the projected member 611 is located relatively far from the motor 51 as shown in FIG. 6c, the effector 65 may be projected towards an outer area with respect to the circumference of the wheels 40.
  • FIG. 7a is a diagram illustrating relative positions of the wheels and body 10 while the robot cleaner is running.
  • FIG. 7b is a diagram illustrating relative positions of the wheels 40 and the body 10 when the wheels are caught in the trapped state of the robot cleaner.
  • the effector 65 may reciprocate forwardly and backwardly together with the rotation of the wheels 40.
  • the wheels 40 When the robot cleaner is running as shown in FIG. 7a, the wheels 40 may be relatively provided in the body 10 and rotated with only a predetermined area contacting with the floor.
  • the effector 65 may reciprocate forwardly and backwardly in the body 10 such that it may be hidden by the body 10 and that the movement of the effector 65 may not be exposed outside the body 10. In this instance, the forward and backward reciprocation of the effector 65 may not be interfered with by the running of the body 10.
  • the wheels 40 When the robot cleaner is in the trapped state as shown in FIG. 7b, the wheels 40 may escape from the body 10 and be located in a lower area of the body 10 only to cause the wheels being caught.
  • the deaccelerating unit 53 may be rotated with respect to one side to vary the height of the wheels and the wheels may be pushed by the contact of the effector 65 with the floor. If the height of the wheels 40 is varied along a vertical axis with respect to the floor, the effector 65 will not contact with the floor.
  • the effector 65 requires no additional motor to perform the reciprocation and the power of the motor 51 transferred to the wheels is transferred to the effector such that the effector 65 may be continuously driven together with the wheels 40 while the robot cleaner is running.
  • the effector 65 may contact with the floor immediately and push the wheels 40 from the floor, without any auxiliary sensor configured to sense the trapped state of the robot cleaner. Accordingly, the robot cleaner may escape the trapped state immediately.
  • the effector 65 may be driven by the motor 51 passively and continuously. Accordingly, no additional control for sensing the trapped state of the robot cleaner and escaping the trapped state may not be required.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

La présente invention concerne un robot nettoyeur, plus particulièrement, un robot nettoyeur qui est capable de se sortir immédiatement d'une situation dans laquelle une roue du robot nettoyeur se retrouve coincée lorsque celui-ci se déplace sur le sol d'une zone à nettoyer.
PCT/KR2019/012922 2019-10-02 2019-10-02 Robot nettoyeur WO2021066222A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020227007219A KR102662322B1 (ko) 2019-10-02 2019-10-02 로봇 청소기
PCT/KR2019/012922 WO2021066222A1 (fr) 2019-10-02 2019-10-02 Robot nettoyeur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2019/012922 WO2021066222A1 (fr) 2019-10-02 2019-10-02 Robot nettoyeur

Publications (1)

Publication Number Publication Date
WO2021066222A1 true WO2021066222A1 (fr) 2021-04-08

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Application Number Title Priority Date Filing Date
PCT/KR2019/012922 WO2021066222A1 (fr) 2019-10-02 2019-10-02 Robot nettoyeur

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WO (1) WO2021066222A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20240081936A (ko) * 2022-12-01 2024-06-10 엘지전자 주식회사 청소기 스테이션

Citations (5)

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Publication number Priority date Publication date Assignee Title
KR101427391B1 (ko) * 2013-04-02 2014-08-07 글로벌광통신 (주) 전선 감지형 로봇청소기
KR20150065134A (ko) * 2013-12-04 2015-06-12 삼성전자주식회사 청소 로봇 및 그 제어 방법
KR20160107663A (ko) * 2015-03-05 2016-09-19 삼성전자주식회사 청소 로봇 및 그 제어 방법
KR20170101873A (ko) * 2017-08-28 2017-09-06 엘지전자 주식회사 이동 로봇 및 그 제어방법
US20180049613A1 (en) * 2015-06-15 2018-02-22 Sharp Kabushiki Kaisha Self-propelled electronic device and travel method for said self-propelled electronic device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101411742B1 (ko) * 2012-11-27 2014-06-25 엘지전자 주식회사 로봇 청소기

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101427391B1 (ko) * 2013-04-02 2014-08-07 글로벌광통신 (주) 전선 감지형 로봇청소기
KR20150065134A (ko) * 2013-12-04 2015-06-12 삼성전자주식회사 청소 로봇 및 그 제어 방법
KR20160107663A (ko) * 2015-03-05 2016-09-19 삼성전자주식회사 청소 로봇 및 그 제어 방법
US20180049613A1 (en) * 2015-06-15 2018-02-22 Sharp Kabushiki Kaisha Self-propelled electronic device and travel method for said self-propelled electronic device
KR20170101873A (ko) * 2017-08-28 2017-09-06 엘지전자 주식회사 이동 로봇 및 그 제어방법

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KR102662322B1 (ko) 2024-04-30
KR20220044316A (ko) 2022-04-07

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