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    OBSTACLE SENSING MODULE AND CLEANING ROBOT INCLUDING THE SAME CROSS-REFERENCE TO RELATED APPLICATION
    14.
    发明申请
    OBSTACLE SENSING MODULE AND CLEANING ROBOT INCLUDING THE SAME CROSS-REFERENCE TO RELATED APPLICATION 有权
    异常感测模块及其清洁机器人相关申请的交叉引用

    公开(公告)号：US20130331990A1

    公开(公告)日：2013-12-12

    申请号：US13911525

    申请日：2013-06-06

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Yeon Kyu Jeong ,  Dong Won Kim ,  Jea Yun So ,  Sang Sik Yoon ,  Gwang Jin Jung ,  Joon Hyung Kwon

    IPC: G05D1/02 ,  G02B5/02

    CPC classification number: G05D1/0231 ,  A47L11/4061 ,  A47L2201/04 ,  G01S7/4802 ,  G01S7/4811 ,  G01S17/46 ,  G01S17/936 ,  G02B5/02 ,  G02B9/04 ,  G05D1/0238 ,  G05D2201/0203

    Abstract: Disclosed herein are an obstacle sensing module and a cleaning robot including the same. The cleaning robot includes a body, a driver to drive the body, an obstacle sensing module to sense an obstacle present around the body, and a control unit to control the driver, based on sensed results of the obstacle sensing module. The obstacle sensing module includes at least one light emitter including a light source, and a wide-angle lens to refract or reflect light from the light source so as to diffuse the incident light in the form of planar light, and a light receiver including a reflection mirror to again reflect reflection light reflected by the obstacle so as to generate reflection light, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, and an image sensor, and an image processing circuit.

    Abstract translation: 这里公开了一种障碍物检测模块和包括该障碍物的清洁机器人。 清洁机器人包括主体，用于驱动身体的驾驶员，用于感测身体周围的障碍物的障碍物感测模块，以及基于障碍物感测模块的感测结果来控制驾驶员的控制单元。 障碍物检测模块包括至少一个包括光源的光发射器和用于折射或反射来自光源的光以便将入射光以平面光的形式扩散的广角镜头，以及包括 反射镜，以再次反射由障碍物反射的反射光，以产生反射光，与反射镜间隔预定距离的光学透镜，以允许反射光通过光学透镜，以及图像传感器，以及 图像处理电路。

    Cleaning robot and controlling method therefor
    15.
    发明授权
    Cleaning robot and controlling method therefor 有权

    公开(公告)号：US11147424B2

    公开(公告)日：2021-10-19

    申请号：US15760162

    申请日：2016-09-13

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Jea Yun So ,  Yeon Kyu Jeong ,  Sang Sik Yoon ,  Shin Kim

    IPC: A47L9/28 ,  A47L9/04 ,  A47L9/30 ,  G05D1/02 ,  B25J11/00 ,  B25J9/16 ,  B25J9/00

    Abstract: A robot cleaner and a method for controlling the same are disclosed, which perform efficient cleaning by controlling a suction force or traveling route of the robot cleaner. The robot cleaner detects load applied to wheels of the robot cleaner so as to increase reliability and accuracy in floor state decision, thereby recognizing a floor state. The robot cleaner recognizes a floor state by combining load applied to wheels of the robot cleaner, load applied to brushes, and acceleration information of the robot cleaner with one another in a complementary manner, thereby increasing accuracy in floor state decision. The robot cleaner includes a traveling portion configured to include a traveling wheel to move a main body, and a wheel motor to provide the traveling wheel with drive power, a cleaning portion configured to include a brush module formed at a lower part of the main body to scatter dust or foreign substances accumulated on a floor on which the main body travels, and a suction module to suction the scattered dust or foreign substances, and a controller configured to determine a state of the floor, and control a suction force of the suction module and a traveling route of the main body according to the determined floor state.

    OBSTACLE SENSING MODULE AND CLEANING ROBOT INCLUDING THE SAME
    18.
    发明申请
    OBSTACLE SENSING MODULE AND CLEANING ROBOT INCLUDING THE SAME 审中-公开
    异常感测模块和清洁机器人，包括它们

    公开(公告)号：US20150112538A1

    公开(公告)日：2015-04-23

    申请号：US14584267

    申请日：2014-12-29

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Yeon Kyu Jeong ,  Dong Won Kim ,  Jea Yun So ,  Sang Sik Yoon ,  Gwang Jin Jung ,  Joon Hyung Kwon

    IPC: G05D1/02 ,  G01S17/93 ,  A47L11/40 ,  G01S17/46 ,  G02B9/04

    CPC classification number: G05D1/0231 ,  A47L11/4061 ,  A47L2201/04 ,  G01S7/4802 ,  G01S7/4811 ,  G01S17/46 ,  G01S17/936 ,  G02B5/02 ,  G02B9/04 ,  G05D1/0238 ,  G05D2201/0203

    Abstract: Disclosed herein are an obstacle sensing module and a cleaning robot including the same. The cleaning robot includes a body, a driver to drive the body, an obstacle sensing module to sense an obstacle present around the body, and a control unit to control the driver, based on sensed results of the obstacle sensing module. The obstacle sensing module includes at least one light emitter including a light source, and a wide-angle lens to refract or reflect light from the light source so as to diffuse the incident light in the form of planar light, and a light receiver including a reflection mirror to again reflect reflection light reflected by the obstacle so as to generate reflection light, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, and an image sensor, and an image processing circuit.

    Abstract translation: 这里公开了一种障碍物检测模块和包括该障碍物的清洁机器人。 清洁机器人包括主体，用于驱动身体的驾驶员，用于感测身体周围的障碍物的障碍物感测模块，以及基于障碍物感测模块的感测结果来控制驾驶员的控制单元。 障碍物检测模块包括至少一个包括光源的光发射器和用于折射或反射来自光源的光以便将入射光以平面光的形式扩散的广角镜头，以及包括 反射镜，以再次反射由障碍物反射的反射光，以产生反射光，与反射镜间隔预定距离的光学透镜，以允许反射光通过光学透镜，以及图像传感器，以及 图像处理电路。

    ROBOT CLEANER AND CONTROL METHOD FOR THE SAME
    19.
    发明申请
    ROBOT CLEANER AND CONTROL METHOD FOR THE SAME 有权
    机器清洁器及其控制方法

    公开(公告)号：US20130098402A1

    公开(公告)日：2013-04-25

    申请号：US13652879

    申请日：2012-10-16

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Sang Sik YOON ,  Dong Won Kim ,  Jea Yun So ,  Seung Il Han ,  Jun Hwa Lee

    IPC: A47L11/00 ,  B08B7/00

    CPC classification number: A47L11/4055 ,  A47L9/0488 ,  A47L9/0494 ,  A47L11/33 ,  A47L11/4011 ,  A47L11/4069 ,  A47L2201/04 ,  G05D1/0219 ,  G05D2201/0203

    Abstract: A robot cleaner and a control method for the same are disclosed. The robot cleaner and control method are capable of detecting malfunction of an auxiliary cleaning unit, and controlling travel of the robot cleaner in accordance with the detection result, to achieve efficient cleaning of an edge area even when there is an error in the auxiliary cleaning unit. The robot cleaner includes a plurality of auxiliary cleaning units mounted to a bottom portion of the robot cleaner such that the auxiliary cleaning units are extendable and retractable, a sensing unit to sense an extension, retraction, or rotation state of each of the auxiliary cleaning units, and a control unit to determine whether the auxiliary cleaning units operate normally, based on a sensing result of the sensing unit, and to control travel of the robot cleaner, based on a result of the determination.

    Abstract translation: 公开了一种机器人清洁器及其控制方法。 机器人清洁器和控制方法能够检测辅助清洁单元的故障，并且根据检测结果控制机器人清洁器的行程，以便即使在辅助清洁单元中存在错误的情况下也能有效地清洁边缘区域 。 所述机器人清洁器包括多个辅助清洁单元，所述多个辅助清洁单元安装到所述机器人清洁器的底部，使得所述辅助清洁单元是可伸缩的;感测单元，用于感测每个辅助清洁单元的延伸，缩回或旋转状态 以及控制单元，其基于感测单元的感测结果来确定辅助清洁单元是否正常工作，并且基于确定的结果来控制机器人清洁器的行进。

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