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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
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.
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公开(公告)号：US10678236B2
公开(公告)日：2020-06-09
申请号：US15031978
申请日：2014-10-23
Applicant: Samsung Electronics Co, Ltd.
Inventor： Jae Young Jung , Shin Kim , Sang Sik Yoon , Byung Chan Kim , Byoung In Lee
Abstract: Provided is a cleaning robot including a main body; a driving unit configured to move the main body; a communication unit configured to establish wireless communication with a user terminal to which a manipulation command is input; and a controller configured to transmit a position detecting signal to the user terminal, and detect a position of the user terminal based on a time difference between the position detecting signal and a response signal transmitted from the user terminal.
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公开(公告)号：US10362919B2
公开(公告)日：2019-07-30
申请号：US15429776
申请日：2017-02-10
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： In Joo Kim , Dong Min Shin , Shin Kim
Abstract: A cleaning robot includes a non-circular main body, a moving assembly mounted on a bottom surface of the main body to perform forward movement, backward movement and rotation of the main body, a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor, a detector to detect an obstacle around the main body, and a controller to determine whether an obstacle is present in a forward direction of the main body based on a detection signal of the detector, control the rotation of the main body to determine whether the main body rotates by a predetermined angle or more upon determining that the obstacle is present in the forward direction, and determine that the main body is in a stuck state to control the backward movement of the main body if the main body rotates by the predetermined angle or less.
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公开(公告)号：US10213082B2
公开(公告)日：2019-02-26
申请号：US15670278
申请日：2017-08-07
Applicant: Samsung Electronics Co., Ltd.
Inventor： Sang Sik Yoon , Kyong Su Kim , Shin Kim , Yong-Seok Kim , Kyung Shik Roh , Hyun Soo Jung
Abstract: A robot cleaner includes a housing a sensor assembly disposed in the housing, wherein the sensor assembly comprises a light source configured to emit light toward an area in front of the housing; a camera unit comprising a lens; a reflector configured to reflect light incident on a front of the housing toward a front region of the lens; and a guide member hollow inside configured to guide light incident on a top of the housing toward a rear region of the lens. The robot cleaner estimates a current position of the robot cleaner more accurately by correcting the current position of the robot cleaner estimated by using odometry information based on images acquired by the camera unit.
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Patent Agency Ranking
公开(公告)号：US20180217611A1
公开(公告)日：2018-08-02
申请号：US15505574
申请日：2015-08-10
Applicant: Samsung Electronics Co., Ltd.
Inventor： Won Kuk Kim , Ji Won Chun , Shin Kim
CPC classification number: G05D1/0274 , A47L9/28 , A47L9/2805 , A47L9/2842 , A47L9/2847 , A47L9/2852 , A47L9/2857 , A47L11/4061 , A47L2201/04 , A47L2201/06 , G05D1/0263 , G05D2201/0203
Abstract: A cleaning robot may include a main body, a driver configured to move the main body, a cleaner configured to clean a cleaning space, and a controller configured to set at least one area among a plurality of areas included in the cleaning space as a cleaning area while the main body moves, and clean the cleaning area when the cleaning area is set.
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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。
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公开(公告)号：US09226635B2
公开(公告)日：2016-01-05
申请号：US14049715
申请日：2013-10-09
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Shin Kim , Jeong Gon Song , Ju Sang Lee , Jun Pyo Hong
CPC classification number: A47L11/4011 , A47L11/4061 , B25J9/0003 , G05D1/0219 , G05D2201/0215
Abstract: A control method of a robot cleaner for traveling to clean includes checking information about a predetermined traveling pattern; determining a traveling trajectory based on a traveling speed; generating a traveling pattern based on the determined traveling trajectory and the information about the predetermined traveling pattern, wherein the traveling pattern includes a first straight path, a first rotation path connected to the first straight path and for rotation in a first direction, a second straight path connected to the first rotation path, and a second rotation path connected to the second straight path and for rotation in a second direction; and repeatedly traveling along the generated traveling pattern at regular intervals. Therefore, since the robot cleaner performs cleaning without scattering dust, the efficiency of cleaning may be improved.
Abstract translation: 用于行进清洁的机器人清洁器的控制方法包括关于预定行驶模式的检查信息; 基于行驶速度确定行驶轨迹; 基于所确定的行进轨迹和关于预定行进图案的信息产生行进图案，其中行驶模式包括第一直线路径，连接到第一直线路径并且沿第一方向旋转的第一旋转路径，第二直线 连接到第一旋转路径的路径，以及连接到第二直线路径并用于沿第二方向旋转的第二旋转路径; 并且以规则的间隔重复地沿所产生的行驶模式行进。 因此，由于机器人清洁器进行清洁而不会飞散灰尘，因此可以提高清洁效率。
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公开(公告)号：US09164509B2
公开(公告)日：2015-10-20
申请号：US14190761
申请日：2014-02-26
Inventor： In Joo Kim , Seung Mok Lee , Shin Kim , Hyeon Myeong , Byeol Teo Park , Ji Eun Park , Jong Dae Jung
IPC: G05D1/02
CPC classification number: G05D1/021 , G05D1/0272
Abstract: A method of localization and mapping of a mobile robot may reduce position errors in localization and mapping using a plurality of vector field sensors. The method includes acquiring a relative coordinate in a movement space using an encoder, acquiring an absolute coordinate in the movement space by detecting intensity and direction of a signal using vector field sensors, defining a plurality of virtual cells on a surface of the movement space such that each of the cells has a plurality of nodes having predetermined positions, and updating position information about the nodes of the cells based on the relative coordinate acquired through the encoder and the absolute coordinate acquired through the vector field sensors and implementing localization and mapping in the movement space in a manner that position information of a new node is estimated while position information of a previous node is determined.
Abstract translation: 移动机器人的定位和映射的方法可以减少使用多个矢量场传感器的定位和映射中的位置误差。 该方法包括使用编码器获取移动空间中的相对坐标，通过使用矢量场传感器检测信号的强度和方向来获取移动空间中的绝对坐标，在移动空间的表面上定义多个虚拟单元， 每个小区具有多个具有预定位置的节点，并且基于通过编码器获取的相对坐标和通过矢量场传感器获取的绝对坐标来更新关于小区的节点的位置信息，并且在 在确定了前一节点的位置信息的同时估计新节点的位置信息的方式的移动空间。
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公开(公告)号：US20140244094A1
公开(公告)日：2014-08-28
申请号：US14190761
申请日：2014-02-26
Inventor： In Joo KIM , Seung Mok Lee , Shin Kim , Hyeon Myeong , Byeol Teo Park , Ji Eun Park , Jong Dae Jung
IPC: G05D1/02
CPC classification number: G05D1/021 , G05D1/0272
Abstract: A method of localization and mapping of a mobile robot may reduce position errors in localization and mapping using a plurality of vector field sensors. The method includes acquiring a relative coordinate in a movement space using an encoder, acquiring an absolute coordinate in the movement space by detecting intensity and direction of a signal using vector field sensors, defining a plurality of virtual cells on a surface of the movement space such that each of the cells has a plurality of nodes having predetermined positions, and updating position information about the nodes of the cells based on the relative coordinate acquired through the encoder and the absolute coordinate acquired through the vector field sensors and implementing localization and mapping in the movement space in a manner that position information of a new node is estimated while position information of a previous node is determined.
Abstract translation: 移动机器人的定位和映射的方法可以减少使用多个矢量场传感器的定位和映射中的位置误差。 该方法包括使用编码器获取移动空间中的相对坐标，通过使用矢量场传感器检测信号的强度和方向来获取移动空间中的绝对坐标，在移动空间的表面上定义多个虚拟单元， 每个小区具有多个具有预定位置的节点，并且基于通过编码器获取的相对坐标和通过矢量场传感器获取的绝对坐标来更新关于小区的节点的位置信息，并且在 在确定了前一节点的位置信息的同时估计新节点的位置信息的方式的移动空间。
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