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    Sensor module and robot cleaner having the same
    3.
    发明授权
    Sensor module and robot cleaner having the same 有权

    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.

    Obstacle sensing module and cleaning robot including the same
    4.
    发明授权
    Obstacle sensing module and cleaning robot including the same 有权
    障碍物检测模块和清洁机器人包括相同

    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。

    SENSOR ASSEMBLY AND ROBOT CLEANER HAVING THE SAME
    5.
    发明申请
    SENSOR ASSEMBLY AND ROBOT CLEANER HAVING THE SAME 审中-公开
    传感器总成和具有相同功能的机器人清洁器

    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。

    Cleaning robot and control method thereof
    8.
    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：US09504369B2

    公开(公告)日：2016-11-29

    申请号：US14273069

    申请日：2014-05-08

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Jea Yun So ,  Sang Sik Yoon ,  Joon Hyung Kwon ,  Shin Kim

    IPC: A47L11/40 ,  A47L9/28 ,  G05D1/02

    CPC classification number: A47L11/4061 ,  A47L9/2815 ,  A47L9/2852 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0219 ,  G05D1/0246 ,  G05D2201/0203

    Abstract: A cleaning robot may have a body, a moving unit provided on the body to move the body in a cleaning space, a cleaning unit provided on the body to clean a floor of the cleaning space, a floor image obtaining unit configured to obtain a floor image of the cleaning space, and a control unit configured to determine if foreign substance is present on the floor of the cleaning space based on the floor image, and control the moving unit to move the body to a position of the foreign substance, in which the cleaning robot, by obtaining an image of a floor to be cleaned, detects the foreign substance that is not positioned on a moving track of the cleaning robot, and when the foreign substance is detected, moves to the position of the foreign substance to perform a cleaning.

    Abstract translation: 清洁机器人可以具有主体，设置在身体上的移动单元以使身体移动到清洁空间中;清洁单元，设置在身体上以清洁清洁空间的地板;地板图像获取单元，被配置为获得地板 清洁空间的图像，以及控制单元，其被配置为基于地板图像来确定清洁空间的地板上是否存在异物，并且控制移动单元将身体移动到异物的位置，其中 清洁机器人通过获得要清洁的地板的图像来检测未位于清洁机器人的移动轨迹上的异物，并且当检测到异物时，移动到异物的位置以执行 一个清洁。

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