WO2022019360A1 - Robot nettoyeur à trois balais à franges et procédé de commande de nettoyage permettant de le commander - Google Patents

Robot nettoyeur à trois balais à franges et procédé de commande de nettoyage permettant de le commander Download PDF

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Publication number
WO2022019360A1
WO2022019360A1 PCT/KR2020/009772 KR2020009772W WO2022019360A1 WO 2022019360 A1 WO2022019360 A1 WO 2022019360A1 KR 2020009772 W KR2020009772 W KR 2020009772W WO 2022019360 A1 WO2022019360 A1 WO 2022019360A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
mop
water
mob
unit
Prior art date
Application number
PCT/KR2020/009772
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English (en)
Korean (ko)
Inventor
배혜경
Original Assignee
주식회사 쓰리엠탑
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 주식회사 쓰리엠탑 filed Critical 주식회사 쓰리엠탑
Priority to PCT/KR2020/009772 priority Critical patent/WO2022019360A1/fr
Publication of WO2022019360A1 publication Critical patent/WO2022019360A1/fr

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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

Definitions

  • the present invention relates to a three mob robot mop cleaner and a cleaning control method for controlling the same, and more particularly, in a robot mop cleaner, a mop cleaning running unit and a water pump unit provided at the lower part of each corner side of a triangular plate-shaped cleaning body It consists of a water supply nozzle for supplying the water pumped by to the mop cleaning traveling unit, a control unit provided inside the cleaning body, and an operation unit for inputting a control signal to the control unit, so that the control unit according to the operation of the user's operation unit is controlled by the mop cleaning traveling unit
  • the purpose is to allow the cleaning body to clean the cleaning surface in a straight forward or rotating and stationary state through rotation control.
  • a robot mop vacuum cleaner operates by itself through frictional contact with the cleaning surface and automatically cleans the cleaning surface with a mop.
  • the robot mop cleaner as described above includes two mobs that induce cleaning and movement driving force by frictional contact between the cleaning body and the cleaning surface, a mob driving motor that rotates the mobs, a sensor unit provided on the outside of the cleaning body to detect obstacles; It is composed of a control unit for controlling the rotation of the mop driving motor according to the detection of the sensor unit, a control unit for inputting a user's operation signal of the control unit, and a power supply unit for supplying operating power.
  • Such a robot mop cleaner is to clean the cleaning surface while rotating two mobs under the control of the controller.
  • the robot mop cleaner as described above has a water tank in the mop, and the mop absorbs water supplied from the mop to clean the cleaning surface with a wet mop.
  • a triangular plate-shaped cleaning body and a mop cleaning traveling unit provided in the lower portion of each corner of the cleaning body, a water tank unit provided in the cleaning body, and the cleaning body are provided inside the cleaning body It is characterized in that it consists of a water pump unit to be used, a water supply nozzle for supplying the water pumped by the water pump unit to the mop cleaning traveling unit, a control unit provided inside the cleaning body, and an operation unit for inputting a control signal to the control unit.
  • the present invention is characterized in that a wall-adhesive cleaning control process in which a 3-mob robot vacuum cleaner is cleaned to be controlled along a wall surface is performed.
  • the wall adhesion cleaning control process consists of a moving cleaning process, a wall adhesion cleaning process, and a wet mop water supply process.
  • the wall adhesion cleaning process is characterized in that two of the three mob parts form a straight line and are in close contact with the wall surface to be cleaned.
  • the wall-adhered mob replacement process is additionally performed to replace the mob in close contact with the wall by rotating the robot body at a certain period.
  • the present invention further includes a block area cleaning control process in which the 3-mob robot cleaner cleans the cleaning surface into a rectangular block area.
  • the block area cleaning control process consists of a moving cleaning process, a block area cleaning process, and a wet mop water supply process.
  • the block area cleaning process consists of a variable running cleaning process, a right angle turning cleaning process, and a rotating running cleaning process,
  • variable running cleaning process cleaning is performed by running in a direction in which two mob parts are formed in a straight line among the three mob parts and the two mob parts are formed in a straight line;
  • the orthogonal rotation cleaning process is performed so that the robot body rotates at right angles to change the direction when it reaches the end of one side of the set rectangular block;
  • the rotating cleaning process is characterized in that the robot body rotates in a set rectangular block while moving in a straight line, turning, zigzag, etc. and cleaning is performed.
  • the present invention further includes a rotation cleaning control process of controlling the 3-mob robot cleaner to rotate and perform cleaning.
  • the rotation cleaning control process is a moving cleaning process in which two mobs of three mobs rotate in opposite directions and one mob is stopped or tilted to rotate, and the three mobs are controlled to rotate at the same speed in the same direction.
  • the three mobs rotate in the same direction, but according to the rotation of the mob and cleaning body located on the rotation line from the rear to the front on the movement direction of the cleaning body, on the line of rotation from the front to the rear on the movement direction of the cleaning body
  • the moving rotation cleaning process that controls the cleaning to be performed while the cleaning body rotates and moves by controlling the rotation speed deviation of the mop part located in the It is characterized in that it consists of a water-mop water supply process to make water supply to the mop plate of each mop part.
  • the present invention further includes performing an acute angle switching control process in which the 3 mob robot vacuum cleaner rotates and moves by changing the acute angle to perform cleaning.
  • the acute angle conversion control process includes a moving cleaning process in which two mob parts out of three mob parts rotate in opposite directions and one mob part stops or tilts to rotate, and a starting acute angle in which an acute angle is changed after moving a certain distance during the moving cleaning process.
  • Concentrated cleaning movement in which two of the three mobs rotate in the opposite direction after the conversion process, the starting acute angle conversion process, and one mop part is stopped or tilted to move more than twice the moving distance of the moving cleaning process process, when the movement of the intensive cleaning movement process is completed, the cleaning acute angle switching process is performed in the same direction as the switching direction of the starting acute angle switching process; the intensive cleaning movement process and the cleaning acute angle switching process are repeatedly performed; It is characterized in that it consists of a wet mop water supply process in which water from the water reservoir of the cleaning body is pumped at regular intervals by the water pump unit to supply water to the mop plate of each mop in the moving cleaning process and the intensive cleaning moving process.
  • the present invention provides a cleaning mop cleaning unit provided at the lower portion of each corner of the triangular plate-shaped cleaning body, a water tank unit provided in the cleaning body, a water pump unit provided inside the cleaning body, and the water pump unit.
  • a water supply nozzle for supplying pumped water to the mop cleaning traveling unit
  • a control unit provided inside the cleaning body
  • a control unit for inputting a control signal to the control unit
  • the control unit controls the rotation of the mop cleaning traveling unit according to the user's operation of the operating unit It has the effect of clearly mopping the cleaning surface without water leakage during the cleaning stop process by pumping and supplying water directly to the mop cleaning traveling unit by the water pump unit in the state where the cleaning body moves straight or rotates and is stopped.
  • FIG. 1 is a perspective view illustrating an embodiment of the present invention
  • FIG. 2 is an exploded perspective view of a water tank unit according to an embodiment of the present invention.
  • FIG. 3 is a perspective view illustrating an upper body separated according to an embodiment of the present invention.
  • Figure 4 is a detailed cross-sectional view of the water supply nozzle part in an embodiment of the present invention.
  • FIG. 5 is a detailed cross-sectional view of a water tank part according to an embodiment of the present invention.
  • FIG. 6 and 7 are exemplary views of the mop rotating plate of the mop cleaning traveling unit in the embodiment of the present invention.
  • FIGS. 8 to 13 are exemplary views of a wall adhesion cleaning control process according to an embodiment of the present invention.
  • FIG. 14 to 20 are exemplary views of a block area cleaning control process according to an embodiment of the present invention.
  • 21 to 28 are exemplary views of a rotation cleaning control process showing an embodiment of the present invention.
  • 29 to 37 are exemplary views of an acute angle switching control process according to an embodiment of the present invention.
  • the present invention pumps water directly to the mop cleaning traveling unit 40 by means of the water pump unit 23 so that the cleaning surface can be cleaned with a wet mop clearly without water leakage during the cleaning stop process, and is used in the present specification and claims.
  • the term or word should not be construed as being limited to a conventional or dictionary meaning, and based on the principle that the inventor can appropriately define the concept of a term to describe his invention in the best way, It must be interpreted as a meaning and concept consistent with the technical idea.
  • the cleaning body 10 in the robot mop cleaner, the cleaning body 10, the mop cleaning traveling unit 40, the water tank unit 20, the water pump unit 23, the water supply nozzle 30, the control unit 50 and It is configured by the operation unit (60).
  • the cleaning body 10 is to be formed in a triangular plate shape.
  • the cleaning body 10 is coupled to the lower body 12 to which the mop cleaning unit running part is mounted and the upper body 12 to the upper body 11 provided with the water tank part 20 and the operation part 60. It will be composed
  • the water tank unit 20 is seated and coupled to the upper body 11 , and a water storage unit 22 is formed in which the water in the water tank unit 20 is stored in standby for pumping.
  • the water storage discharge pipe 22a provided so that the water stored in the lower side of the water storage part 22 can be supplied to the water pump part 23 is formed.
  • a tank separation check valve 22b is formed so that external air can be introduced so that a negative pressure is not formed in the water reservoir 22.
  • a tank holding groove 22c recessed in at least one side of the wall of the water reservoir 22 is formed in the water reservoir 22 so that the mounted water tank 20 can be grasped by hand when removing it.
  • a handle seat 13 is formed on one side of the three sides so that the handle 13 is seated in the same plane as the upper surface, and the handle seated in the handle seat portion has both sides of the other side of the upper body 11. It is hinged on both sides.
  • the mop cleaning traveling unit 40 is to form a cleaning and driving force by frictional contact with the cleaning surface in the lower portion of each corner side of the cleaning body (10).
  • the mop cleaning traveling unit 40 is composed of a cleaning drive motor 41 , a cleaning drive shaft 42 , the mop rotating plate 43 and the mop 44 .
  • the cleaning driving motor 41 is mounted inside the lower body 12 of the cleaning body 10 and rotates according to the control of the control unit 50 .
  • the cleaning drive shaft 42 is supported by the lower body 12 to protrude to the lower part of the cleaning body 10 .
  • the mop rotating plate 43 is bound to the cleaning drive shaft 42 to form an inclination with the cleaning surface so as to induce a driving force in the rotation process, and binds the mop to the lower surface by the mop binding means.
  • the mop rotating plate 43 is formed with a plurality of water supply holes 31 so that the water supplied from the water supply nozzle 30 can be supplied to the mop 44 bound to the lower portion.
  • a centrifugal order wall 32 is formed on the outer peripheral surface of the mop rotating plate 43 to support the water supplied by the water supply nozzle 30 from being centrifuged to the outside by protruding upward.
  • the centrifugal order wall 32 of the mop rotating plate 43 may be formed at equal intervals and configured in two rows.
  • a water supply hole 31 is formed at the center side of the mop rotation plate 43 of the centrifugal order wall 32 .
  • the water tank unit 20 is seated and coupled to the water storage unit 22 provided in the upper body 11 of the cleaning body 10 .
  • a tank outlet is formed at the lower portion of the water tank unit 20 to send water to the water reservoir 22, and a water discharge air valve unit 21 through which air is introduced so that water is naturally discharged to the lower side is formed on one upper side. do.
  • the tank outlet is provided with a tank outlet valve that is opened by a tank drain guide projection protruding from the water reservoir 22 .
  • the water pump unit 23 is provided inside the upper body 11 of the cleaning body 10 and is configured to be connected to the water storage discharge pipe 22a of the water storage unit 22 .
  • a water distribution port 23a is provided so that the water pumped by the water pump unit 23 can be distributed and supplied to the three water supply nozzles 30 .
  • the water supply nozzle 30 is provided on the upper body 11 of the cleaning body 10 to supply the water pumped by the water pump unit 23 to the mop cleaning traveling unit 40 .
  • the water discharged from the water supply nozzle 30 is supplied with water protruding upward to induce the supply to the mop cleaning driving unit 40.
  • a guide tube (30a) is provided.
  • control unit 50 is to be provided inside the cleaning body (10).
  • manipulation unit 60 is provided on one side of the outer surface of the cleaning body 10 to be able to input a control signal to the control unit 50 .
  • a battery 70 for supplying operating power and forming a weight for cleaning the mop cleaning traveling unit 40 is provided in the center of the lower body 12 of the cleaning body 10.
  • an obstacle detection sensor for detecting an obstacle in the driving process and inputting an obstacle detection signal to the control unit 50 is provided on one or more surfaces of the side surfaces of the cleaning body 10 .
  • a cliff detection sensor for detecting a cliff and inputting a cliff detection signal to the control unit 50 is provided on one lower side of the cleaning body 10 .
  • the present invention is a wall close cleaning control process that is cleaned to be controlled along the wall or a block area cleaning control process that cleans the cleaning surface into a rectangular block area, and the cleaning is performed while rotating It can be controlled by selecting any one of the rotation cleaning control process to control the slack and the acute angle switching control process to control the cleaning by rotating and moving by changing the acute angle.
  • the wall adhesion cleaning control process consists of a moving cleaning process 110 , a wall adhesion cleaning process 120 , and a wet mop water supply process 140 .
  • the wall adhesion cleaning process 120 is performed by controlling two mob parts out of three mob parts to form a straight line and closely adhere to the wall surface to be cleaned.
  • wet mop water supply process 140 pumps water from the water reservoir of the cleaning body 10 in each cleaning process at a certain period by the water pump unit 23 to supply water to the mop 44 plate of each mop unit 40.
  • the wet mop 44 is cleaned.
  • the wet mop water supply process 140 is performed in conjunction with the rotational operation of the mop unit 40 controlled by the control unit 50 .
  • the robot body 1 rotates at a certain period to replace the mob in close contact with the wall, the wall adhesion mob replacement process 130 can be additionally carried out.
  • the block area cleaning control process consists of a moving cleaning process 110 , a block area cleaning process 220 , and a wet mop water supply process 140 .
  • the three mobs are rotated and the cleaning surface can be cleaned into a rectangular block area.
  • wet mop water supply process 140 pumps water from the water reservoir of the cleaning body 10 in each cleaning process at a certain period by the water pump unit 23 to supply water to the mop 44 plate of each mop unit 40.
  • the wet mop 44 is cleaned.
  • the wet mop water supply process 140 is performed in conjunction with the rotational operation of the mop unit 40 controlled by the control unit 50 .
  • the block area cleaning process 220 is composed of a variable running cleaning process 221 , a right angle turning cleaning process 222 , and a rotating running cleaning process 223 .
  • variable running cleaning process 221 cleaning is performed by running in a direction in which two mob parts are formed in a straight line among the three mob parts and the two mob parts are formed in a straight line.
  • the orthogonal turning cleaning process 222 is to change the direction by turning the robot body at a right angle when it reaches the end of one side of the set rectangular block.
  • the robot body rotates inside the set rectangular block while moving in a straight line, turning, zigzag, etc., and cleaning is performed.
  • the rotation cleaning control process consists of a moving cleaning process 110 , a stationary rotation cleaning process 320 , a moving rotation cleaning process 330 , and a wet mop water supply process 140 .
  • stop rotation cleaning process 320 is made by controlling the three mobs 40 to rotate in the same direction at the same speed.
  • the three mop parts 40 rotate in the same direction, but the mop part 40 and the cleaning body located on the rotation line from the rear to the front of the cleaning body 10 moving direction line ( According to the rotation of 10), the rotation speed deviation of the mop part 40 located on the rotation line from the front to the rear on the movement direction line of the cleaning body 10 is controlled to be induced, so that the cleaning body 10 moves while rotating and cleaning is possible. It is controlled and made.
  • the moving rotation cleaning process 330 is composed of a body center rotation movement rotation cleaning process 331 that is rotated and moved around the cleaning body 10 .
  • the moving rotation cleaning process 330 is made of a mob center rotation moving rotation cleaning process 332 that is rotated around one mop part 40 located at a rotation point among the three mob parts 40 .
  • the wet mop water supply process 140 pumps water from the water reservoir of the cleaning body 10 at regular intervals by the water pump unit 23 in each cleaning process, and water is supplied to the mop 44 plate of each mop unit 40. (44) Cleaning is done.
  • the wet mop water supply process 140 is performed in conjunction with the rotational operation of the mop unit 40 controlled by the control unit 50 .
  • the acute angle conversion control process includes a movement cleaning process 110 in which two of the three mob parts rotate in opposite directions and one mop part stops or tilts to rotate a certain distance during the moving cleaning process 110 and the moving cleaning process 110 .
  • a movement cleaning process 110 in which two of the three mob parts rotate in opposite directions and one mop part stops or tilts to rotate a certain distance during the moving cleaning process 110 and the moving cleaning process 110 .
  • two mob parts out of three mob parts rotate in opposite directions and one mob part is controlled to stop or tilt to rotate to move cleaning process 110 ) of the intensive cleaning movement process 410 to move more than twice the moving distance of and cleaning acute angle conversion process 410;
  • the intensive cleaning movement process 410 and the cleaning acute angle conversion process 420 are repeatedly performed;
  • the water of the cleaning body reservoir is pumped at a certain period by the water pump unit to supply water to the mop plate of each mop part. characterized by being made.
  • the starting acute angle conversion process 410 is performed by changing the acute angle after moving a certain distance during the moving cleaning process 110 .
  • the cleaning acute-angle conversion process 430 is a process of acute-angle conversion in the same direction as that of the starting acute-angle conversion process 410 when the movement of the intensive cleaning movement process 420 is completed.
  • the wet mop water supply process 140 is a process in which water is supplied to the mop plate of each mop by pumping water from the cleaning body reservoir at a certain period by the water pump unit in the moving cleaning process 110 and intensive cleaning moving process 420 .
  • the repeated execution movement distance of the intensive cleaning movement process 420 is extended so that the intensive cleaning can be carried out to be expanded and concentrated.
  • the starting and cleaning acute angle conversion process 430 can be carried out so that one of the three mob parts is rotated at an acute angle to the rotation point.
  • the starting and cleaning acute angle conversion process 430 can be carried out so that the three mobs are rotated at the same speed in the same direction and rotated at an acute angle from the center of the cleaning body to the rotation point.
  • the present invention can be implemented as a starting point rotation cleaning process 440 in which the cleaning is performed by rotating the cleaning body a predetermined number of times so that the intensive cleaning of the starting point is performed before the moving cleaning process 110 .
  • the present invention consists of a moving cleaning process 110, a starting acute angle switching process 410, an intensive cleaning moving process 420, and a cleaning acute angle switching process 430.
  • the cleaning acute angle switching process 430 is performed in the same direction as the switching direction of the starting acute angle switching process 410, and the wet mop water supply process 130 is performed. it has been done
  • the cleaning body 10 is provided The water supply nozzle for supplying the water pumped by the water tank unit 20 , the water pump unit 23 provided inside the cleaning body 10 , and the water pump unit 23 to the mop cleaning traveling unit 40 .
  • control unit 50 controls the rotation of the mop cleaning traveling unit 40, and the cleaning body 10 moves in a straight line or in a rotating and stopped state by the water pump unit 23 by the mop cleaning traveling unit 40. It is possible to clean the cleaning surface with a wet mop without leaking during the cleaning stop process by pumping water directly to it.
  • the tank separation check valve 22b when the tank separation check valve 22b is provided at the lower portion of the water storage unit 22, when the water tank unit 20 is separated from the water storage unit 22, the tank Since air is introduced through the separation check valve 22b and no negative pressure is generated during the separation process of the water tank unit 20 , the water tank unit 20 can be easily separated from the water storage unit 22 .
  • the upper body 11 has a handle 13 on one side of the three sides to form a handle seating portion to be seated in the same plane as the upper surface, and the handle 13 seated in the handle seating portion has both sides of the upper body When it is hinged to the other two sides of (11), the protrusion of the cleaning body 10 is minimized by being exposed to the upper surface of the handle 13, thereby improving the aesthetics.
  • centrifugal order wall 32 of the mop rotating plate 43 is formed at equal intervals and configured in two rows, water is evenly supplied to the wet mop.
  • the moving cleaning process 110 and 3 mobs in which two mobs are rotated in opposite directions among the three mobs and one mob is controlled to stop or tilt and rotate
  • the block area cleaning process 120 in which the unit is rotated and the cleaning surface is cleaned into a rectangular block area, and in each cleaning process, water from the cleaning body reservoir is pumped at regular intervals by the water pump unit to supply water to the mop plate of each mop.
  • the present invention consisting of a wet mop water supply process is applied and implemented, the cleaning surface is uniformly cleaned as a whole when the robot body is cleaned by three mobs.
  • two mop parts 40 of the three mop parts 40 rotate in opposite directions and one mop part 40 is controlled to stop or tilt rotation.
  • the moving cleaning process 110, the static rotation cleaning process 120 controlling the three mop parts 40 to rotate in the same direction at the same speed, and the three mob parts 40 rotating in the same direction, but of the cleaning body 10 The mob part 40 located on the rotation line from the rear to the front on the moving direction line and the mob part 40 located on the rotation line from the front to the rear on the moving direction line of the cleaning body 10 according to the rotation of the cleaning body 10
  • the water pump unit pumps water from the water reservoir of the cleaning body 10 in the moving rotation cleaning process 330 and each cleaning process in which the cleaning body 10 moves while controlling to cause a deviation in the rotational speed of the cleaning body 10 to be cleaned.
  • the cleaning body 10 is 3 It is possible to clean all surfaces in the moving direction through the stationary rotation cleaning process 320 and the moving rotation cleaning process 330 while rotating by the mob part 40 of the dog.
  • the moving cleaning process 110 and the moving cleaning in which two mobs are rotated in opposite directions and one mob is controlled to stop or tilt and rotate among the three mobs
  • the starting acute angle conversion process 410 which is converted to acute angle after moving a certain distance, and after the starting acute angle conversion process 410, two mob parts out of three mob parts rotate in opposite directions, and one mob part stops or tilts rotation Conversion of the intensive cleaning movement process 420, which is controlled to move more than twice the moving distance of the moving cleaning process 110, and the start acute angle conversion process 410 when the movement of the intensive cleaning movement process 420 is completed and a cleaning acute angle conversion process 430 of acute angle change in the same direction as the direction;
  • the intensive cleaning movement process 420 and the cleaning acute angle conversion process 430 are repeatedly performed;
  • the water of the cleaning body reservoir is pumped at a certain period by the water pump unit to supply water to
  • the cleaning area can be expanded by expanding the intensive cleaning area during the cleaning process there will be
  • the starting point rotation cleaning process 440 is performed so that the cleaning is performed by rotating the cleaning body a predetermined number of times so that the intensive cleaning of the starting point is made before the moving cleaning process 110 . Then, in the intensive cleaning, the starting point of the intensive cleaning can be intensively cleaned.
  • control unit 60 control unit

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  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

La présente invention concerne un robot nettoyeur à trois balais à franges. La présente invention a pour objet de permettre à une unité de commande de commander la rotation d'une unité mobile de nettoyage par balais à franges en fonction du fonctionnement d'une unité de fonctionnement (60) actionnée par un utilisateur, de telle sorte qu'un corps de nettoyage peut nettoyer une surface de nettoyage dans un état stationnaire et droit ou rotatif. Autrement dit, la présente invention concerne un robot nettoyeur caractérisé en ce qu'il comprend : un corps de nettoyage sous la forme d'une plaque triangulaire ; une unité mobile de nettoyage par balais à franges située dans la partie inférieure de chaque angle du corps de nettoyage ; une unité de réservoir d'eau située dans le corps de nettoyage ; une unité de pompe à eau située dans le corps de nettoyage ; une buse de délivrance d'eau conçue pour délivrer l'eau pompée par l'unité de pompe à eau à l'unité mobile de nettoyage par balais à franges ; une unité de commande située dans le corps de nettoyage ; et une unité de fonctionnement conçue pour entrer un signal de commande dans l'unité de commande.
PCT/KR2020/009772 2020-07-24 2020-07-24 Robot nettoyeur à trois balais à franges et procédé de commande de nettoyage permettant de le commander WO2022019360A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/KR2020/009772 WO2022019360A1 (fr) 2020-07-24 2020-07-24 Robot nettoyeur à trois balais à franges et procédé de commande de nettoyage permettant de le commander

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2020/009772 WO2022019360A1 (fr) 2020-07-24 2020-07-24 Robot nettoyeur à trois balais à franges et procédé de commande de nettoyage permettant de le commander

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WO2022019360A1 true WO2022019360A1 (fr) 2022-01-27

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160029779A1 (en) * 2011-11-30 2016-02-04 Grillbot, Llc Surface-cleaning device
KR20180025795A (ko) * 2016-08-31 2018-03-09 주식회사 파인로보틱스 물펌프 기능을 가지는 로봇청소기용 걸레판
US20190033869A1 (en) * 2017-07-25 2019-01-31 Neato Robotics, Inc. Robot with rotational/translation movement
KR101966083B1 (ko) * 2017-11-22 2019-04-05 허주표 로봇 걸레청소기
KR20190115284A (ko) * 2018-04-02 2019-10-11 에브리봇 주식회사 로봇 청소기 및 그 제어 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160029779A1 (en) * 2011-11-30 2016-02-04 Grillbot, Llc Surface-cleaning device
KR20180025795A (ko) * 2016-08-31 2018-03-09 주식회사 파인로보틱스 물펌프 기능을 가지는 로봇청소기용 걸레판
US20190033869A1 (en) * 2017-07-25 2019-01-31 Neato Robotics, Inc. Robot with rotational/translation movement
KR101966083B1 (ko) * 2017-11-22 2019-04-05 허주표 로봇 걸레청소기
KR20190115284A (ko) * 2018-04-02 2019-10-11 에브리봇 주식회사 로봇 청소기 및 그 제어 방법

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