公开(公告)号：US08869342B2

公开(公告)日：2014-10-28

申请号：US13857649

申请日：2013-04-05

Applicant: Samsung Electronics Co., Ltd.

Inventor： Sang Sik Yoon ,  Hee Won Jin ,  Byung Chan Kim ,  Yeon Kyu Jeong ,  Sang Hwa Choi

IPC: A47L9/00 ,  A47L11/00 ,  A47L9/04

CPC classification number: A47L7/02 ,  A47L9/04 ,  A47L9/0494 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4038 ,  A47L11/4072 ,  A47L2201/04 ,  A47L2201/06

Abstract: A robot cleaner that automatically removes dust accumulated on a floor while navigating a cleaning area, and a method of controlling the robot cleaner, includes a main body that navigates a floor; a first detector that detects an obstacle getting closer to the main body; an auxiliary cleaner that is mounted on the main body to protrude and retract; a second detector that detects a protrusion state or a retraction state of the auxiliary cleaner; and a controller that determines an abnormal operation of the auxiliary cleaner based on a result of the detection of the second detector and controls a protrusion operation or a retraction operation of the auxiliary cleaner according to a result of the determination.

Abstract translation: 一种机器人清洁器，其在导航清洁区域时自动除去积聚在地板上的灰尘，以及控制机器人清洁器的方法，包括导航地板的主体; 第一检测器，其检测靠近主体的障碍物; 辅助清洁器，安装在主体上以突出和缩回; 第二检测器，其检测辅助清洁器的突出状态或缩回状态; 以及控制器，其基于第二检测器的检测结果来确定辅助清洁器的异常操作，并且根据确定的结果控制辅助清洁器的突出操作或缩回操作。

公开(公告)号：US11185203B2

公开(公告)日：2021-11-30

申请号：US16567232

申请日：2019-09-11

Applicant: Samsung Electronics Co., Ltd.

Inventor： Yeon Kyu Jeong ,  Hee Suk Yoon

IPC: A47L9/00 ,  A47L9/28 ,  A47L11/40 ,  H01M10/46 ,  H02J7/00

Abstract: A robot cleaner and a charging device capable of determining whether contact is made between charging terminals of the charging device and the robot cleaner are provided. The charging device may include a charging circuit including at least one terminal having at least a portion exposed to the outside, at least one object sensor to detect at least one identification object arranged in a robot cleaner, the at least one object sensor being arranged separately from the at least one terminal configured, and at least one processor configured to control the charging circuit to apply a voltage to the at least one terminal in response to the at least one object sensor detecting the at least one identification object.

公开(公告)号：US11103115B2

公开(公告)日：2021-08-31

申请号：US15884982

申请日：2018-01-31

Applicant: Samsung Electronics Co., Ltd.

Inventor： Byung Chan Kim ,  Sang Sik Yoon ,  Kyong Su Kim ,  Dong Won Kim ,  Jea Yun So ,  Yeon Kyu Jeong

IPC: A47L9/28 ,  G01S17/48 ,  G01S7/481 ,  A47L9/00 ,  G05D1/02 ,  G01S17/931

Abstract: A sensor module and a robot cleaner including the sensor module may provide accurate sensing of an obstacle and prevent an erroneous sensing of an obstacle. The robot cleaner may include a body including a cleaning unit to remove foreign substances from a surface of a floor, a cover to cover an upper portion of the body, a sensor module including an obstacle sensor mounted to sense an obstacle, and a sensor window provided at one side of the sensor module. The sensor module may include a light emitting device to emit light through the sensor window, a light receiving reflector on which light reflected from the obstacle is incident, and a light shielding portion interposed between the light emitting device and the light receiving reflector to block the light emitted from the light emitting device from being incident upon the light receiving reflector.

公开(公告)号：US10881257B2

公开(公告)日：2021-01-05

申请号：US15101410

申请日：2014-12-02

Applicant: Samsung Electronics Co., Ltd

Inventor： Byung Chan Kim ,  Kyung Han Jeong ,  Shin Kim ,  Won Min Lee ,  Eun Sung Kim ,  Sang Sik Yoon ,  Byoung In Lee ,  Woo Ram Oh ,  Yeon Kyu Jeong ,  Jae Young Jung

IPC: A47L9/28 ,  A47L5/28 ,  A47L9/32 ,  A47L5/30 ,  A47L9/00 ,  A47L9/04 ,  A47L9/16 ,  A47L9/26

Abstract: The present disclosure includes a main body, a cleaning tool assembly connected to the main body to be movable in at least one axial direction, a handle part connected to the main body and configured to receive an applied force of a user, a detection part provided in the handle part and configured to detect a magnitude and a direction of the force applied to the handle part, and a control part configured to control the movement direction of the cleaning tool assembly based on the detected direction of the force and to control the movement distance of the cleaning tool assembly based on the detected magnitude of the force. In this way, the steering performance may be improved by reducing a horizontal load felt by a user when the user holds and moves the handle of the cleaner, fatigue felt when performing the cleaning operation may be removed by removing a vertical load applied by the handle, and convenience may be improved.

公开(公告)号：US09020641B2

公开(公告)日：2015-04-28

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 ,  G01S17/93 ,  G01S7/48 ,  G01S7/481 ,  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感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。

公开(公告)号：US20140036062A1

公开(公告)日：2014-02-06

申请号：US13775972

申请日：2013-02-25

Applicant: SAMSUNG ELECTRONICS CO., LTD.

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

IPC: G01V8/10

CPC classification number: G01V8/10 ,  A47L9/009 ,  A47L9/28 ,  A47L2201/04 ,  Y10S901/46

Abstract: Disclosed herein are a sensor assembly executing functions of both an obstacle sensor and a vision sensor and a robot cleaner having the same. The robot cleaner includes a main body and at least one sensor assembly mounted on the main body, the sensor assembly includes a housing, a light emitting module mounted on the housing and generating a light beam, and a light receiving module mounted on the housing and receiving reflected light obtained by reflecting the light beam generated from the light emitting module by an obstacle, the light receiving module includes a receiving reflector concentrating the reflected light and provided with the opened central part to form a vision hole and a camera unit sensing light, and the camera unit senses the reflected light concentrated by the receiving reflector and photographs an image above the main body through the vision hole, simultaneously.

Abstract translation: 这里公开了执行障碍物传感器和视觉传感器的功能的传感器组件和具有该功能的机器人清洁器。 所述机器人清洁器包括主体和安装在所述主体上的至少一个传感器组件，所述传感器组件包括壳体，安装在所述壳体上并产生光束的发光模块以及安装在所述壳体上的光接收模块， 接收由障碍物反射从发光模块产生的光束而获得的反射光，该光接收模块包括：聚光反射光的接收反射镜，并设置有打开的中心部分以形成视觉孔;以及感测光的相机单元， 并且相机单元感测由接收反射器集中的反射光，同时通过视觉孔拍摄主体上方的图像。