CN109924930A - Robot for cleaning floor - Google Patents
Robot for cleaning floor Download PDFInfo
- Publication number
- CN109924930A CN109924930A CN201811533539.8A CN201811533539A CN109924930A CN 109924930 A CN109924930 A CN 109924930A CN 201811533539 A CN201811533539 A CN 201811533539A CN 109924930 A CN109924930 A CN 109924930A
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- Prior art keywords
- layer
- clean robot
- beams
- layers
- robot according
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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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
Robot for cleaning floor (100), it include: frame (30), relative to the mobilizable at least two beams (10A-10C of the frame (30), 20A-20C), detect the testing agency of movement of each of the described beam (10A-10C, 20A-20C) relative to the frame (30).According to the present invention, described two beam (10A-10C, it 20A-20C) is arranged at least two layers, is arranged on the different height relative to the ground supporting plane (P1) of the robot (100) for described at least two layers.
Description
Technical field
This patent disclosure relates generally to a kind of robot for cleaning floor, and have waste recovery and/or pumping more particularly to a kind of
Clean automatic robot in the ground for inhaling mechanism.
Background technique
Ground automatic cleaning apparatus known in the art detects barrier automatically especially in order to then bypass barrier
Ground automatic cleaning apparatus.Such cleaning device generally includes one, even two beams (pare-choc), institute
It states beam and is movably installed relative to frame.One or more of beams are equipped with one or more sensors, institute
The movement of beam can be detected when with bar contact by stating sensor.For example, as it is known that one kind is with trade markThe cleaning device of sale, trade name " 06025 Saugroboter Smart of CLEANmaxx", and include:
- two lower parts front beam, the centre that described two lower part fronts beam is disposed in the robot are flat
The two sides in face, the normal direction of the mid-plane main direction of advance comprising the robot and ground supporting plane,
- one top front hoop, one top front hoop are equipped with one or more red for detecting long-range presence
Outer line detector and the presence for being intended to non-contiguously detect nearby barrier.
Such construction is suitable for the clean robot with limited height, the usually less than clean robot of 5cm, still
The clean robot of its unsuitable height is especially designed to automatic running or is connected by the robot
" 2 the close 1 " clean robot run manually after to suction elastic tube.In fact, in this case, the clean robot
Whether detect that the barrier for being located at some height relative to ground is uncertain.This cause not detect barrier and
Clean robot is stuck at the barrier.
Summary of the invention
The shortcomings that the purpose of the present invention is overcoming the above-mentioned prior art and a kind of clean robot is specifically provided first,
The clean robot allows to detect all barriers, no matter the height of clean robot is regardless of the height of barrier.
For this purpose, the first aspect of the present invention is related to a kind of robot for cleaning floor comprising:
Frame,
Relative to mobilizable at least two beam of the frame,
The testing agency of movement of each of the described beam relative to frame is detected,
It is characterized in that, described two beams are arranged at least two layers, it is arranged in for described at least two layers
On different height relative to the ground supporting plane of the robot.
The robotic asssembly has one or more mobile members, such as wheel, and the mobile member is shelved at runtime
On the ground.The tangent planes bound ground supporting for being supported on ground of the robot with mobile member (such as wheel)
Plane.
The present invention proposes to be that clean robot is equipped with the double-deck beam, and so that the beam is distributed in two not
In same height or height above sea level.Therefore, the present invention provides a simple technical solutions to allow clean robot especially high
Spend detection of the high clean robot improvement to the barrier for being located at higher position.Therefore the detection sensitivity of clean robot is able to
Improve.
Advantageously, at least one layer in the layer includes multiple beams.
In the first variant embodiment, each layer in described two layers includes multiple beams.
In the second variant embodiment, one layer in the layer includes multiple beams and another layer includes only one
Beam.
Advantageously, there are two Lateral Collision Avoidance device, described two sides for one or more of layer tools with multiple beams
The two sides of the mid-plane of the robot are arranged on to beam, the mid-plane is perpendicular to ground supporting plane.
Additionally advantageously, a central beam is inserted between described two Lateral Collision Avoidance devices.The center beam
It can have two inclined side ribs, two Lateral Collision Avoidance device orientations be respectively facing, by the inner surface and appearance of central beam
Face links together, and the outer surface is bigger than the inner surface.Such configuration, which allows to limit, even to be eliminated positioned at the center
The non-check frequency in the gap between beam and Lateral Collision Avoidance device.The big outer surface of the center beam allows at least portion
Ground is divided to cover these non-check frequencies.
Advantageously, the normal by the ground supporting plane of the separated region between one layer of two adjacent beams passes through
Another layer of beam.Such configuration allows to be covered by another layer of beam to two adjacent beams being located on the same floor
Between gap in non-check frequency detection.
In a variant embodiment, the outer surface of one or more beams of the first layer in described two layers is set
It is set to and is retracted relative to enveloping surface towards the inside of the robot, the enveloping surface is perpendicular to ground supporting plane and with the
The outer surface of two layers of one or more beams is tangent.Knocked in its entire height when barrier as a result, robot (such as
Wall) when, it avoids and unnecessarily increases contact force in collision, this allows to limit the abrasion of robot and/or its is sensitive
Spend reduced risk.
It is long-range that there are detection devices to be advantageously inserted into described between two layers.For this purpose, described two layers cloth between each other
It sets one and is sufficient to accommodate that described there are the spaces of detection device.Therefore, before with bar contact, by beam by connecing
Touching detection barrier by means of one or more approaching sensors detection barrier by completing.
According to definition, it is believed that be located on two layers and passed through by the normal of identical ground support surface two
Beam forms a pair of of association beam.Advantageously, wherein the detection device of one layer of beam is associated with anticollision with another layer
The detection device of device is connected in parallel to control electronic unit or control electronic circuit.In this way, no matter passing through movement detecting mechanism
It is to detect the collision with barrier in top or lower part or simultaneously in upper and lower part, robot is not distinguished.It will
Detection information translates into the contact with barrier in the same area of its circumference, and triggers disengaging movement appropriate.
Detailed description of the invention
By reading the detailed of the following embodiments of the present invention for providing and being illustrated by drawings with non-limiting embodiment
Description, will be best understood other features and advantages of the present invention, in the accompanying drawings:
- Fig. 1 shows the perspective view of the clean robot of first embodiment according to the present invention, and the clean robot is matched
Have two layers of movable beam；
Fig. 2 shows the front views of the clean robot of Fig. 1；
- Fig. 3 shows the top view of the clean robot of Fig. 1；
- Fig. 4 shows the cross-sectional view of the clean robot of Fig. 1, and the cross-sectional view is shown perpendicular to ground supporting plane
Beam and the assembling details for detecting the detector that these beams move；
- Fig. 5 shows a variant embodiment of central beam for example shown in FIG. 1.
Specific embodiment
First, it should be noted that in various figures, the element with same reference numerals is the same or similar member
Part (corresponds to variant embodiment), unless otherwise indicated.
Fig. 1 shows the perspective view of the clean robot 100 of the first specific embodiment according to the present invention.
Clean robot 100 be intended to automatically (i.e. user is not intervened during its navigation) cleaning such as house or
The ground in the room in building.In known manner, the clean robot 100 includes frame 30, driving wheel 31, suction seam
Gap 32, and the litter-bin 33 positioned at the inside of shell, power storage mechanism, such as rechargeable battery element group 34, and control
The control electronic unit or control electronic circuit (not shown) of operation and the navigation of clean robot 100.The driving wheel 31 limits
Determine ground supporting plane P1 (perpendicular to the plane of Fig. 2), the visible wheel 31 of plane P1 and Fig. 2 is tangent.According to definition, with wheel
31 (it is shelved on the ground) the tangent planes bound ground supporting plane P1 of robot.
The clean robot 100 is equipped with multiple beam 10A-10C and 20A-20C, the multiple beam 10A-
10C and 20A-20C is movably installed relative to the frame 30, such as to be parallel to ground supporting plane P1 translatable actively
Installation.As deformation, the beam can pivotally activity installation.
Different beam 10A-10C and 20A-20C are mechanically independent of each other.In moving process, work as cleaning
When robot 100 encounters barrier, which contacts with one or more beams of robot, and touches described
The one or more beams bumped against are mobile to the inside of the robot.In known manner, elastic mechanism is provided clear
One or more of beams are recalled into resting guard after reason barrier.
In order to detect the presence of barrier during clean robot 100 navigates by water, testing agency, the testing agency are provided
It is arranged to detect movement of each beam relative to frame 30 caused by as meeting with barrier.Described control unit quilt
It is arranged to after encountering barrier, according to the testing result life for detecting one or more beam 10A-10C and 20A-20C
The clean robot 100 is enabled to change ship trajectory, to make the robot be detached from barrier and around the barrier
Continue to navigate by water.These testing agencies include a set detecting device.Each beam 10A-10C, 20A-20C be equipped with one or
Multiple detection devices, the detection device are able to detect movement of the corresponding beam relative to frame 30.It is specific real at one
It applies in example, the detection device for being equipped with beam includes optical sensor block and plugging device pivot, the optical sensor
Block is integrated with the optical launcher and optical receiver of coupling, and the plugging device pivot is intended to cut off hair in block-up position
Optical delivery between emitter and receiver, and the transmitting is not cut off (except the block-up position) in indentation position
Transmission between device and receiver.Two plugging devices 21A and 11A as seen from Figure 4.To assemble beam 10A and including blocking
For the detection device of device 11A, such as seen from Figure 4.Barrier is not resisted against in beam 10A (or to be resisted against any
Other elements) when, beam 10A is in resting guard and plugging device 11A is placed in indentation position, so as to by transmitter
The light of transmitting is received by the receiver of the optical sensor block.When the beam 10A is in the stroke of clean robot 100
When period collides barrier (or any other element), relative to the frame 30 into the robot 100
Portion is mobile, this causes the plugging device 11 to be pivoted to block-up position from its indentation position, in the block-up position, the optics
Optical delivery between the transmitter and receiver of sensor block is interrupted.The cutting of the optical signalling is construed to by control unit
The instruction of barrier is encountered at the region including considered beam 10A, on the track of the clean robot 100,
And then order driving wheel 31, to make the clean robot 100 leave the barrier.Other detection devices are with identical
Mode run.
Fig. 1 and Fig. 2 respectively illustrates the front perspective view and front view of clean robot 100.Term " preceding " reference herein
Be clean robot 100 nominal direction of advance.It such as can be from Fig. 1 and Fig. 2 as it can be seen that described beam 10A-10C, 20A-20C
It is arranged on two layers, is arranged in different height and the sea of the ground supporting plane P1 relative to robot for described two layers
It pulls out.In this case, beam 10A-10C forms first layer and beam 20A-20C forms the second layer.Every layer includes
One mid-plane, the mid-plane pass completely through the center of beam and are parallel to ground supporting plane P1.It is described anti-
The form of device 10A-10C, 20A-20C a part cylindrical herein is hit, it is having the same perpendicular to ground supporting plane P1
Central axis AX.Fig. 1 and Fig. 2 shows first embodiment in, the first layer have one group of three beam 10A-10C
And the second layer also has one group of three beam 20A-20C.Every group of three beam 10A-10C (20A-20C) include
Two Lateral Collision Avoidance device 10A, 10C (20A, 20C) and a center beam 10B (20B), described two Lateral Collision Avoidance device 10A,
10C (20A, 20C) is arranged on the two of the mid-plane P2 (completely cutting through robot 100 in its center) of the robot 100
Side, mid-plane P2 is perpendicular to ground supporting plane P1, and the center beam 10B (20B) is located at described two sides
It is passed through between beam 10A, 10C (20A, 20C) and by the mid-plane P2 of robot 100.The Lateral Collision Avoidance device
Each of 10A, 10C (20A, 20C) are for example assembled there are two motion detection apparatus.The center beam 10B (20B) can
To be equipped with an independent detection device.However, it is also possible to consider the other configurations of testing agency.Under any circumstance, each
Beam is equipped with the motion detection apparatus of at least one beam.
In first embodiment as there is shown in figs. 1 and 2, the normal of ground supporting plane P1 passes through the first layer
Point between two adjacent beams (such as between two beams 10A and 10B or between two beams 10B and 10C)
Septal area domain and also extend through between two adjacent beams of the second layer (accordingly in two beam 20A and 20B or
Between 20B and 20C) separated region.As mode of texturing, in order to improve the detection to barrier and avoid in cleaning machine
The appearance of non-check frequency in the design of people 100, described two layers of respective beam can be arranged to be passed through one
The normal of the ground supporting plane P1 of separated region between two adjacent beams of layer passes through another layer of a beam.
Therefore, in a mode of texturing of the first embodiment of Fig. 1, wherein central anticollision of one layer of the central beam than another layer
The angle of device is bigger.In another mode of texturing, wherein central beam of one layer of the central beam relative to another layer
It is angularly offset.
Two layers of beam 10A-10C and 20A-20C are disposed with a reception in-between, and there are detection devices 40
Groove is received, it is described to be intended to non-contiguously detect the barrier near the robot there are detection device 40.Therefore, described to deposit
It is inserted between two layers of beam 10A-10C and 20A-20C in detection device 40.For example, it is generally in having
The beam shapes of the column part of mandrel line AX.Its function is the appearance of the barrier near detection clean robot 100, and institute
State clean robot 100 not with the bar contact.It includes one or more approaching sensors or Existing detector, such as
Infrared sensor.
In the first embodiment of the present invention as shown in Figure 1, perpendicular to ground supporting plane P1 and with wherein one layer
One or more beams the tangent enveloping surface in outer surface also one or more beams with another layer outer surface phase
It cuts.Therefore, described two layers of beam is aligned vertically.
Since the double-deck beam and the double groups of movements for being distributed in robot upper part and lower part for being equipped with these beams pass
Sensor, the present invention provides simple technical solutions to improve the detection to barrier, this is especially suitable for highly very high
Be usually above 5 centimetres of robot.
According to definition, it is believed that two anticollisions for being belonging respectively to two layers and being passed through by the normal of identical ground supporting plane
Device forms a pair of of association beam.For example, in Fig. 1, the robot includes three pairs of association beams: 10A and 20A, 10B and
20B, 10C and 20C.In the specific embodiment of the present invention, wherein the detection device of one layer of a beam and another
The detection device of one layer of association beam is connected in parallel to control electronic unit or control electronic circuit.Therefore, no matter
How is the height for the barrier being knocked during clashing with clean robot 100, phase of the clean robot 100 in its circumference
With detecting contact in vertical portion, and the upper and lower part for distinguishing robot 100 is not had to.Then, the robot 100 can be with
Change track to bypass the barrier according to the order of control unit.Therefore, connect it is easy to implement, without with obstacle
The accuracy of navigation is reduced when object clashes.
In fig. 5 it is shown that the variant embodiment of the central beam (being beam 10B here) of a layer, packet
Two inclined side rib 12B, 13B are included, are oriented respectively to two adjacent Lateral Collision Avoidance device 10A, 10C, the two inclined sides
Rib 12B, 13B connect the inner surface and the outer surface of the central beam 10B.The outer surface of the center beam 10B is than it
Inner surface is big.Therefore, the geometry of central beam 10B is improved, to reduce or even eliminate positioned at described two adjacent
The non-check frequency of gap between beam 10A-10B and 10B-10C.
In the first embodiment of reference Fig. 1-4 description, described two layers respectively includes three beams 10A-10C and 20A-
20C.Other configurations are clearly possible.For example, the number of one layer of beam can be equal to 2 or greater than 3.There are two one layer
In the case where beam, two of the two sides mid-plane P2 of the robot 100 are for example, arranged in described two beams
Lateral Collision Avoidance device.Described two layers can also include respective different number beam, such as positioned at lower part two beams and
Superposed three beams.
According to second embodiment, wherein an one layer of only beam and another layer has multiple beams, such as two
A beam.In this case, the layer with multiple beams is preferably located in ground supporting plane P1 and only an anticollision
Between the layer of device.In other words, upper layer only has a beam and lower layer has multiple beams, such as two beams.
Have the first layer for only having a beam and band there are two in the case where the second layer of beam in the robot, passes through
The normal of the ground supporting plane P1 of separated region between two beams of the second layer passes through the anti-of the first layer
Hit device.The single beam of the first layer allows to cover between two adjacent beams for being located at the second layer as a result,
The detection of the non-check frequency of separated region.
(Fig. 1) in the first embodiment of the present invention, described two layers of beam are aligned vertically, as previously described.According to
The outer surface of one variant embodiment, one or more beams of described two layers of first layer is arranged to relative to vertical
In ground supporting plane P1 and the envelope object manipulator tangent with the outer surface of one or more beams of the second layer
Inside retraction.Preferably, the second layer is between ground supporting plane P1 and the first layer.In other words, the upper layer
Beam is retracted relative to lower layer's beam.The retraction can be about 1 centimetre even several centimetres of slight shift.This allows
Do not increase due to barrier collision robot and contact force caused by its entire height (such as wall), this, which has to reduce, detects
The risk of sensitivity at any time.
Clean robot 100 may include more than two layers, to cover its entire height when the height of the robot is very high
Degree.
It should be understood that the different embodiments of the invention that this specification describes can carry out those skilled in the art
Say apparent a variety of different transformations and/or improvement, and without departing from the protection scope of the present invention being defined by the following claims.
Claims (12)
1. robot for cleaning floor, comprising:
Frame (30),
Relative to mobilizable at least two beam (10A-10C, 20A-20C) of the frame (30),
Detect the detection of movement of each of the described beam (10A-10C, 20A-20C) relative to the frame (30)
Mechanism,
Described two beams (10A-10C, 20A-20C) are arranged at least two layers, are arranged separately for described at least two layers
In the different height relative to the ground supporting plane (P1) of the robot (100),
It is characterized in that,
At least one layer in the layer includes multiple beams (10A-10C, 20A-20C), and
Normal by the ground supporting plane (P1) of the separated region between one layer of two adjacent beams passes through another layer
Beam.
2. clean robot according to claim 1, which is characterized in that each layer in described two layers includes multiple anticollisions
Device (10A-10C, 20A-20C).
3. clean robot according to claim 1, which is characterized in that one layer in the layer include multiple beams simultaneously
And another layer includes only one beam.
4. clean robot according to any one of claim 1 to 3, which is characterized in that one or more of to have
The layer of multiple beams includes Lateral Collision Avoidance device (10A, the 10C of two directions of advance relative to robot；20A, 20C).
5. clean robot according to claim 4, which is characterized in that one or more of with multiple beams
Layer includes a central beam (10B；20B), the central beam (10B；20B) it is inserted into described two Lateral Collision Avoidances
Device (10A, 10C；20A, 20C) between.
6. the clean robot according to preceding claims, which is characterized in that there are two the center beam (10B) has
Inclined side rib is respectively facing two Lateral Collision Avoidance device (10A, 10C) orientations, by the inner surface of the central beam (10B)
It links together with outer surface, the outer surface is bigger than the inner surface.
7. clean robot according to claim 3, which is characterized in that the layer with multiple beams is located at ground supporting
Between plane (P1) and layer with only one beam.
8. clean robot according to any one of the preceding claims, which is characterized in that the first layer in described two layers
One or more beams be arranged to one or more beams of the beam relative to the second layer to the second layer
External envelope face inside retraction.
9. the clean robot according to preceding claims, which is characterized in that the second layer is located at the ground supporting
Between plane (P1) and the first layer.
10. clean robot according to any one of the preceding claims, which is characterized in that remotely there is detection device
(40) it is inserted between described two layers (10A-10C, 20A-20C).
11. clean robot according to any one of the preceding claims, which is characterized in that each beam be equipped with to
Few one for detecting the detection device of movement of the beam relative to the frame.
12. the clean robot according to preceding claims, which is characterized in that be located at it is on described two layers and by
Two beams that the normal of identical ground supporting plane (P1) passes through form a pair of of association beam, and in described two layers
The detection device of one layer of beam and another layer of the detection device for being associated with beam be connected in parallel it is single to control center
Member.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1762266 | 2017-12-15 | ||
| FR1762266A FR3075029B1 (en) | 2017-12-15 | 2017-12-15 | FLOOR CLEANING ROBOT |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109924930A true CN109924930A (en) | 2019-06-25 |
| CN109924930B CN109924930B (en) | 2022-05-17 |
Family
ID=61599372
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822112338.2U Withdrawn - After Issue CN210121109U (en) | 2017-12-15 | 2018-12-14 | Floor cleaning robot |
| CN201811533539.8A Active CN109924930B (en) | 2017-12-15 | 2018-12-14 | Floor cleaning robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822112338.2U Withdrawn - After Issue CN210121109U (en) | 2017-12-15 | 2018-12-14 | Floor cleaning robot |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3498144B1 (en) |
| CN (2) | CN210121109U (en) |
| ES (1) | ES2848840T3 (en) |
| FR (1) | FR3075029B1 (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005077240A2 (en) * | 2004-02-12 | 2005-08-25 | Arcelik Anonim Sirketi | A robot vacuum cleaner and a control method |
| KR100765848B1 (en) * | 2006-12-28 | 2007-10-10 | (주)다사로봇 | Omnidirectional sensing bumper |
| CN101621952A (en) * | 2007-02-28 | 2010-01-06 | Lg电子株式会社 | Robot and method for controlling the robot |
| CN104302218A (en) * | 2012-12-28 | 2015-01-21 | 艾罗伯特公司 | Autonomous coverage robot |
| CN106233218A (en) * | 2014-04-22 | 2016-12-14 | 东芝生活电器株式会社 | Self-discipline driving body |
-
2017
- 2017-12-15 FR FR1762266A patent/FR3075029B1/en not_active Expired - Fee Related
-
2018
- 2018-12-11 ES ES18211741T patent/ES2848840T3/en active Active
- 2018-12-11 EP EP18211741.6A patent/EP3498144B1/en active Active
- 2018-12-14 CN CN201822112338.2U patent/CN210121109U/en not_active Withdrawn - After Issue
- 2018-12-14 CN CN201811533539.8A patent/CN109924930B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005077240A2 (en) * | 2004-02-12 | 2005-08-25 | Arcelik Anonim Sirketi | A robot vacuum cleaner and a control method |
| KR100765848B1 (en) * | 2006-12-28 | 2007-10-10 | (주)다사로봇 | Omnidirectional sensing bumper |
| CN101621952A (en) * | 2007-02-28 | 2010-01-06 | Lg电子株式会社 | Robot and method for controlling the robot |
| CN104302218A (en) * | 2012-12-28 | 2015-01-21 | 艾罗伯特公司 | Autonomous coverage robot |
| CN106233218A (en) * | 2014-04-22 | 2016-12-14 | 东芝生活电器株式会社 | Self-discipline driving body |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3498144B1 (en) | 2021-01-06 |
| ES2848840T3 (en) | 2021-08-12 |
| EP3498144A1 (en) | 2019-06-19 |
| FR3075029B1 (en) | 2020-05-22 |
| CN109924930B (en) | 2022-05-17 |
| CN210121109U (en) | 2020-03-03 |
| FR3075029A1 (en) | 2019-06-21 |
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