• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Floor cleaning robot, comprising: - a frame (20), - a bumper (10) movable relative to the frame (20), - means for detecting a movement of the bumper (10) relative to to the frame (20), characterized in that the cleaning robot comprises bumper guiding means (10) arranged to impose a movement of the bumper (10) relative to the frame (20), in which the components said movement are contained in a basic plane.
    公开号:FR3055787A1
    申请号:FR1658529
    申请日:2016-09-13
    公开日:2018-03-16
    发明作者:Lucien Charmettan；Eric Pouvreau；Mickael Boillet
    申请人:SEB SA；
    IPC主号:
    专利说明:

    Holder (s): SEB S.A. Société anonyme.
    Extension request (s)
    Agent (s): SEB DEVELOPPEMENT - ERIC CEMELI.
    P4) FLOOR CLEANING ROBOT.
    FR 3 055 787 - A1
    Floor cleaning robot, including:
    - a chassis (20),
    - a bumper (10) movable relative to the chassis (20),
    - means for detecting a movement of the bumper (10) relative to the chassis (20), characterized in that the cleaning robot comprises means for guiding the bumper (10) arranged to impose a movement of the bumper shocks (10) relative to the chassis (20), in which the components of said movement are contained in a base plane.

    B.1 743
    FLOOR CLEANING ROBOT
    The present invention relates generally to a floor cleaning robot, and in particular to an autonomous floor cleaning robot provided with means for recovering and / or sucking up waste.
    It is known in the prior art of devices for autonomous cleaning of floors, and in particular those which automatically detect obstacles in order to then be able to bypass them. For example, the document US2004143930A1 describes a cleaning robot comprising an articulated bumper which can pivot around an axis to trigger sensors upon contact with an obstacle. However, if the contact is made at the height of the pivot axis, it is not certain that the bumper can pivot, because the pivoting torque is zero (especially when the contact force passes through the pivot axis, the lever arm is zero, and therefore the pivoting torque is also zero). This results in non-detection of the obstacle and a blocking of the cleaning robot against this obstacle.
    An object of the present invention is to respond to the drawbacks of the documents of the prior art mentioned above and in particular, first of all, to propose a cleaning robot with a simple bumper, but which allows the detection of any obstacle, regardless of the position of the point of contact between the bumper and an obstacle.
    For this, a first aspect of the invention relates to a robot for cleaning floors, comprising:
    - a chassis,
    - a bumper movable relative to the chassis,
    - means for detecting movement of the bumper relative to the chassis, characterized in that the cleaning robot comprises means for
    -2 guide of the bumper arranged to impose a movement of the bumper relative to the chassis, in which the components of said movement are contained in a basic plane. In other words, the movement of the bumper relative to the chassis is a planar movement: the bumper can only move parallel to the base plane (parallel to the floor to be cleaned). Consequently, contact with the bumper will necessarily cause the latter to move, whatever the point of contact and in particular whatever the altitude of the point of contact. This results in better detection of obstacles and the possibility of providing a bumper which is the full height of the cleaning robot, while being able to detect obstacles effectively.
    We will of course neglect the construction clearances which will necessarily allow some displacements in a direction normal to the base plane, but we can consider that these parasitic displacements have a stroke much less than a maximum clearance in the base plane, and for example we may provide a clearance of 0.4 mm to 0.6 mm normal to the base plane, for a clearance in the base plane of approximately 5 mm for example.
    Advantageously, the guide means comprise at least three support points between the chassis and the bumper, non-aligned and each blocking at least one translation of the bumper in the same direction normal to the base plane. The three points of support are for example plane supports, and in particular block the degree of freedom which is a normal translation to the base plane.
    Advantageously, the base plane is parallel to the floor to be cleaned.
    Advantageously, the guide means comprise at least three pairs of support points between the chassis and the bumper, not aligned, each pair of support points comprising two opposite support points each blocking at least one translation of the barrier. -shocks in the same direction normal to the base plane. This implementation makes it possible to block
    -3all displacement of the bumper according to the vertical (the basic plane being horizontal) in the simplest possible way, and while respecting the isostatism.
    Advantageously, the guide means comprise:
    - at least one flat portion parallel to the base plane,
    - At least three pairs of retaining elements, each pair of retaining elements sandwiching said at least one flat portion to impose the movement of the bumper in the base plane. The retaining elements are advantageously washers, which amounts to positioning the washers on either side of the flat portion. The holding elements then form the support points.
    Said at least one flat portion is integral with, and / or formed on, one of the chassis and the bumper, and the holding elements are integral with, and / or formed on, the other of the chassis and the bumper -shocks.
    Advantageously, the cleaning robot comprises at least three elongated supports each arranged to support a pair of holding elements, and said at least one planar portion comprises at least three openings each arranged to let pass a support and / or at least one holding element supported by said support through said at least one planar portion.
    Said at least one flat portion is integral with and / or formed on one of the chassis and the bumper, and said at least three elongated supports are integral with and / or formed on the other of the chassis and the bumper .
    Advantageously, the cleaning robot comprises stop means, arranged to limit a relative displacement of the bumper relative to the chassis, in a displacement zone which has the shape of a circular segment.
    Advantageously, the stop means comprise said at least three openings and said at least three supports. This setting
    -4euvre allows to define the displacement zone directly with the openings allowing the support to pass on either side of the flat portion.
    Advantageously, said at least three openings have the shape of a circular segment formed by a circle cut by a cord normal to a direction of advance of the cleaning robot.
    Advantageously, the cleaning robot comprises elastic means arranged to return the bumper to a rest position, occupied by the bumper when no obstacle touches the bumper.
    Advantageously, the cleaning robot comprises a plurality of 10 pairs of centering devices each comprising:
    - a chassis centering secured to the chassis and
    - an on-board centering secured to the bumper, and the elastic means comprise a plurality of springs each having one end engaged with a chassis centering of a pair of centering, and another end engaged with the on-board centering of said pair of centering .
    Advantageously, at least one on-board centering of a pair of centering has a projection in the base plane offset by a projection in the base plane of the corresponding chassis centering, when the bumper is in the rest position. Such an offset imposes a stressing of springs, so that the rest position is more stable than if none of the springs is prestressed. In a particularly advantageous manner, the springs are two by two prestressed in opposite directions. In other words, their centering pairs are offset symmetrically or opposite.
    Advantageously, the projection in the base plane of said at least one on-board centering of a pair of centering is offset by at least 1.5 mm from the projection in the base plane of the corresponding chassis centering. Such an offset value allows prestressing (in
    -5flexion) correctly the springs to ensure a stable bumper rest position, as well as an effective return to the rest position.
    Advantageously, the centers are pawns. It is then easy to thread the ends of the springs on such protruding pins. One can envisage a force mounting of the springs on the pins. One can also plan to put the springs in tension (in tension or in compression) even in the rest position of the bumper, to limit vibrations and noise.
    Advantageously, the detection means comprise at least:
    - a first sensor arranged to detect a movement of the bumper in a transverse direction of the cleaning robot,
    a second sensor arranged to detect a movement of the bumper in a transverse direction of the cleaning robot opposite to the direction detected by the first sensor,
    - A third sensor arranged to detect a movement in a direction of advance of the cleaning robot.
    Such sensors make it possible to differentiate the contact direction on the bumper, so as to improve the subsequent bypass by the cleaning robot. By transverse direction is meant a direction normal to the direction of advance of the cleaning robot, the direction of advance being obtained when all its driving wheels (of the same diameter) rotate at the same speed.
    Advantageously, the detection means comprise a fourth sensor arranged to detect a movement in a direction of advance of the cleaning robot, and the third sensor and the fourth sensor are arranged on either side of a longitudinal median plane of the robot of cleaning. Such an arrangement makes it possible to deduce the impact position with an obstacle according to the activated sensors.
    Advantageously, the sensors are switches. Such switches have a driving direction, and therefore have an impact with
    -6 an obstacle will activate them selectively, so that it is possible to deduce the direction of impact and therefore the position of the obstacle by analyzing the switches activated or not.
    Other characteristics and advantages of the present invention will appear more clearly on reading the following detailed description of an embodiment of the invention given by way of non-limiting example and illustrated by the appended drawings, in which :
    - Figure 1 shows a perspective view of a cleaning robot according to the invention, equipped with a movable bumper;
    - Figure 2 shows a perspective view of the bumper of Figure 1, and in particular one side of the bumper facing the body of the cleaning robot;
    - Figure 3 shows a top view of the bumper of Figure;
    - Figures 4a and 4b show a detail of elastic means arranged to bring the bumper of Figure 1 in a rest position;
    - Figure 5 shows a detail of the bumper of Figure 1;
    - Figures 6 and 7 show a detail of guide means of the bumper of Figure 1;
    - Figure 8 shows possibilities of detecting the movement of the bumper of Figure 1, depending on obstacles encountered by the cleaning robot of Figure 1.
    FIG. 1 represents a cleaning robot equipped with a bumper 25 movable relative to a frame 20 of the cleaning robot. The cleaning robot is a robot provided for independently cleaning the floors of a dwelling, and for this purpose comprises driving wheels 22, a suction slot 27 equipped with a rotating brush. The cleaning robot
    -7 embarks on its chassis 20 an outer box 21, as well as the bumper 10. Of course, there are means for storing electrical energy, such as a battery, drive wheel control means and a tank. waste storage, to be able to operate independently.
    The bumper 10 is movable relative to the chassis 20, in order to be able to detect the presence of possible obstacles to the path of the cleaning robot. In particular, there are provided detection means arranged to detect a displacement of the bumper 10 caused by the encounter with an obstacle, in order to be able to modify the trajectory of the cleaning robot, as will be explained in FIG. 8, which shows the detection means formed by sensors, such as switches 41A to 41 D.
    FIG. 2 represents a perspective view of the bumper 10, and in particular the side facing the cleaning robot. The latter comprises guide means 30 arranged to impose a particular movement of the bumper 10 relative to the rest of the cleaning robot, and in particular relative to the chassis 20.
    Indeed, the guide means 30 comprise three pairs of holding elements each formed by two washers 24 (also visible in FIGS. 6 and 7) mounted on an elongated support 23 which is integral with a chassis element 20a, connected to the chassis 20. It is possible to provide for the washers 24 as well as the bumper 10 made of plastic, and in particular of polyoxymethylene (or polyformaldehyde or polyacetal), of the acronym POM.
    The bumper 10 comprises two flat portions 11a and 11b, ribs or flat walls for example, and the two washers 24 of each pair of retaining elements sandwich one of the flat portions 11a or 11b (as shown in detail in the figures 5 and 6). In other words, each washer 24, with its respective flat portion 11a or 11b, forms or imposes a flat support on the bumper 10 in a direction normal to the flat portions 11a and 11b, in order to impose a displacement parallel to it, or
    -8contained in, a base plane, parallel to the flat portions 11a and 11b. As each pair of retaining elements comprises two washers 24 sandwiching the bumper 10, the latter can only move in the basic plane.
    For each pair of holding elements, a washer is threaded onto the elongated support 23, and another one covers it and is fixed by screws, by clipping or even gluing or stapling. As shown in Figures 2, 3 and 8, provision is made to equip the cleaning robot with at least 3 pairs of holding elements, which are not aligned, to provide effective guidance and which approximates an isostatic system. .
    However, it is obvious that a clearance between the bumper 10 and the guide means is provided, that is to say that the flat portions 11a and 11b of the bumper 10 can play in the pairs of elements. holding. As a result, the bumper may have parasitic movements in a direction perpendicular to the base plane. However, these movements are limited. In particular, the clearance can be 0.5 mm, and the total deflection of the bumper in the base plane can be 4.5 mm along each direction of a Cartesian coordinate system. In other words, the maximum possible movement of the bumper in the direction normal to the base plane is less than 15% of a maximum value of displacement of the bumper in the base plane.
    Consequently, the movement of the bumper 10 is essentially plane, which makes the movement of the bumper 10 independent of the height at which a possible obstacle touches the bumper. Indeed, that an obstacle is at ground level or high, it will impose a movement of the bumper 10 essentially plane, which makes the detection of obstacles more effective than if the bumper was articulated around an axis rotation for example.
    As can be seen in FIG. 3 and especially in FIG. 5, the flat portions 11a and 11b have openings 13 in the form of circular quarters, through which the elongated supports 23 pass. These slots 13 limit the
    Displacement of the bumper 10 by forming stop means which can for example limit the displacement of the bumper to 4.5 mm along the horizontal direction of FIG. 3 and of the same value along the vertical direction of the figure 3.
    The bumper 10 being movable relative to the chassis 20, it is important to be able to guarantee a nominal or rest position of the bumper 10 when no obstacle touches it. To this end, the cleaning robot comprises elastic means arranged to return the bumper 10 to a rest position, as shown in FIG. 3 or 5. These elastic means include springs 25 visible in FIG. 2 and especially in FIG. 4a.
    The springs 25 are fixed between the chassis element 20a and the bumper 10, possibly with a preload to press the bumper 10 onto the upper or lower washers 24, so as to avoid rattling noises. Any movement of the bumper will stretch the springs 25, which will then in return exert a force on the bumper to return it to the rest position as soon as contact between the bumper and the obstacle ends.
    FIGS. 4a and 4b show the mounting of the springs 25 between the chassis element 20a and the bumper 10. Each spring 25 is mounted on a chassis centering 26 (secured to the chassis 20) and an on-board centering 12 (secured to the bumper 10). In FIG. 4b, the chassis centralizations 26 and the on-board centralizations 12 are opposite and aligned (when the bumper 10 is in the rest position). One can plan to offset them to impose a bending of the springs 25 in the rest position (it is necessary to offset the centering of two springs 25 in an opposite manner to compensate for the bending forces), so that this bending or prestress makes it possible to accentuate the return efficiency of the springs 25 on the bumper 10 during small displacements.
    FIG. 8 represents the detection possibilities offered by the mobile bumper according to the invention. Indeed, if four sensors are provided
    - 10detection formed by switches 41A to 41D placed diagrammatically as in FIG. 8, and that the bumper 10 is subjected to contacts with obstacles noted 1 to 7, then the switches 41A to 41D will be activated as shown in the table below.
    Light switch41A Light switch41B Light switch41C Light switch41D Obstacle 1 1 0 0 0 Obstacle 2 1 1 0 0 Obstacle 3 0 1 0 0 Obstacle 4 0 1 1 0 Obstacle 5 0 0 1 0 Obstacle 6 0 0 1 1 Obstacle 7 0 0 0 1
    (0: switch not activated: switch activated)
    We understand that it is possible to determine with the four sensors the position of the obstacle, so that the trajectory modification strategy of the cleaning robot is effective. We can plan to space switches 41B and 41C by about 100mm for example.
    It will be understood that various modifications and / or improvements evident to those skilled in the art can be made to the various embodiments of the invention described in the present description without departing from the scope of the invention defined by the appended claims. In particular, reference is made to coil springs, but it is possible to provide leaf springs, flexible rods, or any other type of elastic element.
    -11 B.1 743
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    1. Floor cleaning robot, comprising:
    - a chassis (20),
    5 - a bumper (10) movable relative to the chassis (20),
    - means for detecting a movement of the bumper (10) relative to the chassis (20), characterized in that the cleaning robot comprises guide means (30) of the bumper (10) arranged to impose a movement of
    10 bumper (10) relative to the frame (20), in which the components of said movement are contained in a base plane.
    [2" id="c-fr-0002]
    2. Cleaning robot according to the preceding claim, wherein the guide means (30) comprise at least three support points between the frame (20) and the bumper (10), not aligned and each blocking at
    15 minus a translation of the bumper (10) in the same direction normal to the base plane.
    [3" id="c-fr-0003]
    3. Cleaning robot according to one of the preceding claims, in which the guide means (30) comprise at least three pairs of support points between the chassis (20) and the bumper (10), not aligned,
    20 each pair of support points comprising two opposite support points each blocking at least one translation of the bumper (10) in the same direction normal to the base plane.
    [4" id="c-fr-0004]
    4. Cleaning robot according to one of the preceding claims, in which the guide means (30) comprise:
    25 - at least one planar portion (11a, 11b) parallel to the base plane,
    - At least three pairs of retaining elements, each pair of retaining elements sandwiching said at least one flat portion (11a, 11b) to impose the movement of the bumper (10) in the base plane.
    - 12 5. A cleaning robot according to the preceding claim, comprising at least three elongated supports (23) each arranged to support a pair of holding elements, and wherein said at least one flat portion (11a, 11b) comprises at least three openings (13)
    [5" id="c-fr-0005]
    5 each arranged to allow a support and / or at least one holding element supported by said support to pass through said at least one planar portion (11a, 11b).
    [6" id="c-fr-0006]
    6. Cleaning robot according to one of the preceding claims, comprising stop means, arranged to limit movement
    10 relative to the bumper (10) with respect to the chassis (20), in a displacement zone which has the shape of a circular segment.
    [7" id="c-fr-0007]
    7. Cleaning robot according to the preceding claim in its dependency on claim 5, wherein the stop means comprise said at least three openings (13) and said at least three
    15 supports.
    [8" id="c-fr-0008]
    8. Cleaning robot according to the preceding claim, wherein said at least three openings (13) have the shape of a circular segment formed by a circle cut by a rope normal to a direction of advance of the cleaning robot.
    20
    [9" id="c-fr-0009]
    9. Cleaning robot according to one of the preceding claims, comprising elastic means arranged to bring the bumper (10) into a rest position, occupied by the bumper (10) when no obstacle touches the bumper -shocks (10).
    [10" id="c-fr-0010]
    10. Cleaning robot according to the preceding claim,
    25 comprising a plurality of pairs of centering each comprising: a chassis centering (26) integral with the chassis (20) and an on-board centering (12) integral with the bumper (10), and in which the elastic means comprise a plurality of springs (25) each having one end engaged with a chassis centering (26)
    - 13d'une pair of centering, and another end engaged with the on-board centering (12) of said pair of centering.
    [11" id="c-fr-0011]
    11. Cleaning robot according to the preceding claim, wherein at least one on-board centering (12) of a pair of centering has a projection in the base plane offset by a projection in the base plane of the chassis centering (26 ) corresponding, when the bumper (10) is in the rest position.
    [12" id="c-fr-0012]
    12. Cleaning robot according to the preceding claim, in which the projection in the base plane of said at least one on-board centering (12) of a pair of centering is offset by at least 1.5 mm from the projection in the base plane the corresponding chassis centering (26).
    [13" id="c-fr-0013]
    13. Cleaning robot according to one of the preceding claims, in which the detection means comprise at least:
    - a first sensor arranged to detect a movement of the bumper (10) in a transverse direction of the cleaning robot,
    a second sensor arranged to detect a movement of the bumper (10) in a transverse direction of the cleaning robot opposite to the direction detected by the first sensor,
    - A third sensor arranged to detect a movement in a direction of advance of the cleaning robot.
    [14" id="c-fr-0014]
    14. Cleaning robot according to the preceding claim, in which the detection means comprise a fourth sensor arranged to detect a movement in a direction of advance of the cleaning robot, and in which the third sensor and the fourth sensor are arranged on the side and on the other side of a median longitudinal plane of the cleaning robot.
    [15" id="c-fr-0015]
    15. Cleaning robot according to one of claims 13 or 14, wherein the sensors are switches (41 A, 41 B, 41 C, 41 D).
    1/3
    类似技术:
    公开号 | 公开日 | 专利标题
    FR3055787A1|2018-03-16|SOIL CLEANING ROBOT
    EP2072850A1|2009-06-24|System for installing a disc brake shoe
    EP2485935B1|2013-11-06|Anti-shock device for a motor vehicle member mounted under the frame
    FR2857844A1|2005-01-28|Robot cleaner for removing dust from along predetermined path has bumper attached to cleaner body by support structure, when collision occurs between obstacle and cleaner bumper moves towards cleaner body to absorb shock and protect body
    EP3426544B1|2021-11-03|Wheel deflector device and corresponding front-end module
    FR3010162A1|2015-03-06|DAMPING DEVICE, IN PARTICULAR FOR A TRANSMISSION OF A MOTOR VEHICLE
    EP2096002A1|2009-09-02|Shock-absorbing device with top and bottom absorbers connected by a deformable linking element
    EP1449804A1|2004-08-25|Improved transferring device for transportation systems like a moving walkway
    FR2514316A1|1983-04-15|MOTORCYCLE REAR SUSPENSION SYSTEM EQUIPPED WITH PROGRESSIVE JOINT MECHANISM
    EP1479592A1|2004-11-24|Device with deformable metallic inserts of a motor vehicle steering column energy absorption system
    FR3012107A1|2015-04-24|FRONT STRUCTURE OF A MOTOR VEHICLE EQUIPPED WITH A MOBILE SPOILER UNDER THE SHIELD
    EP1762533B1|2009-12-02|Device for laterally guiding an overhead crane and lifting device comprising such a guiding device
    CA2979001A1|2018-03-21|Obstacle detection device for a rail vehicle
    FR2925634A1|2009-06-26|Brake friction pad mounting device for vehicle, has sliding plate with end opposite to another end of plate exerting pressure force on lateral side of housing when mounting device is mounted on yoke joint
    EP3545135B1|2020-11-18|Street sweeper
    EP0214877A1|1987-03-18|Guiding device, especially for a robot-type machine having wheels
    FR2906769A1|2008-04-11|Seat`s rear base assembling system for motor vehicle, has bearing provided with housing having slot along cone distance, and bushing positioned in housing and including cylinder having diametral groove that receives articulation axle
    EP3005922A1|2016-04-13|Return spring for mobile vacuum cleaner part
    EP3799004A1|2021-03-31|Smoke detector
    EP1270390A1|2003-01-02|Support element for a bicycle wheel including a vibration damper
    FR2876367A1|2006-04-14|Aerial lifting gear for e.g. store, has aerial lift fixed to foot that projects outside recess formed in chassis to receive forearm actuated by hydraulic jack, when mast is in lower position
    FR2998467A1|2014-05-30|Vacuum cleaner has plastic made roller holder comprising one-piece structure in which deformable portion is received
    EP3069936A1|2016-09-21|Device forming a step of a motor vehicle
    WO2014063936A1|2014-05-01|Semi-automated device for assembling rear-suspension springs on a raised body of a vehicle in a motor vehicle production line
    FR3007011A1|2014-12-19|STAFF LIFTING PLATFORM WITH INTEGRATED TURRET
    同族专利:
    公开号 | 公开日
    EP3512398A1|2019-07-24|
    CN209421838U|2019-09-24|
    WO2018051008A1|2018-03-22|
    CN107811581A|2018-03-20|
    FR3055787B1|2019-03-22|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE10242257A1|2001-09-14|2003-04-24|Vorwerk Co Interholding|Automatically movable soil dust collector, as well as a combination of such a collector and a base station|
    GB2404140A|2003-07-24|2005-01-26|Samsung Kwangju Electronics Co|Robot cleaner|
    DE10357636A1|2003-12-10|2005-07-14|Vorwerk & Co. Interholding Gmbh|An automatic robotic floor cleaner has a loose housing and sponge springs which deflect the housing when impediments are contacted|
    SE518482C2|2001-02-28|2002-10-15|Electrolux Ab|Obstacle detection system for a self-cleaning cleaner|
    DE102009044554A1|2009-10-05|2011-04-07|Vorwerk & Co. Interholding Gmbh|Automatically displaceable sucking and/or sweeping device for use in household for cleaning floor, has projection element extending over one third or more than one third of device overall height, where projection element contacts obstacles|
    CN202699038U|2012-07-11|2013-01-30|余姚市精诚高新技术有限公司|Anti-drop and anti-collision dust collector|
    CN203885445U|2014-05-04|2014-10-22|科沃斯机器人有限公司|Self-moving robot and self-moving robot system|
    CN204909300U|2015-07-17|2015-12-30|杭州信多达电器有限公司|Dust catcher device with infrared detection collision|
    FR3055787B1|2016-09-13|2019-03-22|Seb S.A.|SOIL CLEANING ROBOT|FR3055787B1|2016-09-13|2019-03-22|Seb S.A.|SOIL CLEANING ROBOT|
    CN109340335B|2018-09-11|2021-08-24|安克创新科技股份有限公司|Intelligent self-moving equipment and speed reduction device thereof|
    CN112022001B|2020-08-06|2021-11-02|上海俊硕映达电子科技有限公司|Cleaning robot|
    法律状态:
    2017-09-29| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-16| PLSC| Search report ready|Effective date: 20180316 |
    2018-09-28| PLFP| Fee payment|Year of fee payment: 3 |
    2019-09-30| PLFP| Fee payment|Year of fee payment: 4 |
    2020-09-30| PLFP| Fee payment|Year of fee payment: 5 |
    2021-09-30| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1658529|2016-09-13|
    FR1658529A|FR3055787B1|2016-09-13|2016-09-13|SOIL CLEANING ROBOT|FR1658529A| FR3055787B1|2016-09-13|2016-09-13|SOIL CLEANING ROBOT|
    CN201710818138.6A| CN107811581A|2016-09-13|2017-09-12|Cleaning automatics for ground|
    CN201721164282.4U| CN209421838U|2016-09-13|2017-09-12|Cleaning automatic device for ground|
    PCT/FR2017/052427| WO2018051008A1|2016-09-13|2017-09-12|Floor cleaning robot|
    EP17784344.8A| EP3512398A1|2016-09-13|2017-09-12|Floor cleaning robot|
    [返回顶部]