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    Cleaning robot and control method therefor
    1.
    发明授权
    Cleaning robot and control method therefor 有权

    公开(公告)号：US11067998B2

    公开(公告)日：2021-07-20

    申请号：US16098594

    申请日：2017-04-26

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Dong Hun Lee ,  Young Do Kwon ,  Heum Yong Park ,  Min Jae Kim ,  Min Woo Ryu

    IPC: B25J19/02 ,  G05D1/02 ,  B25J9/16 ,  B25J9/00 ,  B25J11/00 ,  A47L9/28 ,  A47L9/00 ,  A47L9/30 ,  A47L11/40

    Abstract: Provided are a cleaning robot and a method of controlling the same, and more specifically, a cleaning robot provided to detect an obstacle in various directions and a method of controlling the same. The cleaning robot includes a light emitter configured to radiate light, a plurality of light receivers configured to receive a radiation of the light in a predetermined direction among radiations of the light reflected from an obstacle when the radiated light is reflected from the obstacle, a support plate to which the light emitter and the light receiver are fixed and which is rotatably provided, and a controller configured to detect the obstacle on the basis of output signals transmitted from the light emitter and the plurality of light receivers and rotation information of the support plate.

    Robot cleaner
    5.
    发明授权
    Robot cleaner 有权

    公开(公告)号：US10149590B2

    公开(公告)日：2018-12-11

    申请号：US14497671

    申请日：2014-09-26

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Jae Youl Jeong ,  Sung Jin Park ,  Heum Yong Park ,  Dong Hun Lee ,  Min Jae Kim

    IPC: A47L11/40 ,  A47L11/283

    Abstract: A robot cleaner includes a plurality of motors each of which transmits a driving force, a pad assembly which is connected to one of the plurality of motors to receive a rotational force from the motor, to rotate in a clockwise or counterclockwise direction, and thus to clean a floor surface, and a wire which is connected to the pad assembly and another one of the plurality of motors so that the pad assembly is tilted by the driving force of the motor, wherein the robot cleaner moves in a particular direction by a non-uniform frictional force between a bottom surface of the pad assembly and the floor surface. The robot cleaner uses wires to tilt the pad assembly and, thus, it is possible to miniaturize the robot cleaner.

    Robot cleaner
    6.
    发明授权
    Robot cleaner 有权
    机器人清洁剂

    公开(公告)号：US09560947B2

    公开(公告)日：2017-02-07

    申请号：US14132942

    申请日：2013-12-18

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Sung Jin Park ,  Jae Youl Jeong ,  Shin Kim ,  Heum Yong Park ,  Dong Hun Lee

    IPC: A47L11/40

    CPC classification number: A47L11/4069 ,  A47L11/4038 ,  A47L11/4061 ,  A47L11/4066 ,  A47L2201/04

    Abstract: A robot cleaner capable of moving in diverse directions and enhancing cleaning efficiency by increasing frictional force between a pad and a floor includes two or more driving units. Each of the driving units includes plural motors, a first subframe connected to at least any one of the motors and configured to rotate by receiving rotational force from the motor, a rotating plate assembly mounted to the first subframe and configured to be slanted with respect to a floor by rotation of the first subframe and to rotate clockwise or counterclockwise by receiving rotational force from another motor, and a pad provided at the rotating plate assembly and configured to contact the floor. When the rotating plate assembly is slanted with respect to the floor, nonuniform frictional force is generated between the pad and the floor, through which the robot cleaner travels.

    Abstract translation: 能够通过增加垫和地板之间的摩擦力而能够在不同方向移动并提高清洁效率的机器人清洁器包括两个或更多个驱动单元。 每个驱动单元包括多个电动机，第一子框架连接到至少任一个电动机并且被配置为通过接收来自电动机的旋转力而旋转;安装到第一子框架的旋转板组件，并被配置为相对于 通过第一子框架的旋转而通过接收来自另一个电动机的旋转力而顺时针或逆时针旋转的底板，以及设置在旋转板组件处并被配置为接触地板的衬垫。 当旋转板组件相对于地板倾斜时，在垫和地板之间产生不均匀的摩擦力，机器人清洁器通过该摩擦力移动。

    Cleaning robot and control method thereof
    10.
    发明授权
    Cleaning robot and control method thereof 有权
    清洁机器人及其控制方法

    公开(公告)号：US09480380B2

    公开(公告)日：2016-11-01

    申请号：US14510487

    申请日：2014-10-09

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Jeong Ki Yoo ,  Sung Jin Park ,  Jun Young Lee ,  Dong Min Shin ,  Dong Hun Lee ,  Jae Youl Jeong ,  Shin Kim ,  Heum Yong Park ,  In Hak Na

    IPC: A47L11/40 ,  G05D1/02

    CPC classification number: A47L11/4011 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4072 ,  A47L2201/04 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0215

    Abstract: A cleaning robot having improved traveling performance and a method of controlling the same. The cleaning robot detects a stuck state such as a ‘jammed state’, ‘lifted state’, or ‘object-caught state’ by using a motion instruction or sensor information and quickly escapes from the stuck state caused in various traveling conditions by using a wheel structure capable of changing a total height of the cleaning robot. In addition, a degree of risk and type of the stuck state is predicted before the cleaning robot is in the stuck state so that the cleaning robot may deal with the stuck state in advance. The cleaning robot may escape from the stuck state via rapidly deceleration or quick stopping in accordance with the predicted degree of risk of the stuck state, and the cleaning robot may efficiently deal with the stuck state by using information to select an escaping method suitable for the type of the stuck state.

    Abstract translation: 具有改善的行驶性能的清洁机器人及其控制方法。 清洁机器人通过使用运动指令或传感器信息来检测诸如“卡住状态”，“提升状态”或“被抓住状态”的卡住状态，并且通过使用 能够改变清洁机器人的总高度的轮结构。 此外，在清洁机器人处于卡住状态之前预测一定程度的卡住状态的风险和类型，使得清洁机器人可以预先处理卡住状态。 清洁机器人可以根据预测的卡住状态的风险，通过快速减速或快速停止从卡住状态脱离，并且清洁机器人可以通过使用信息来有效地处理卡住状态，以选择适合于 卡住状态的类型。

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