公开(公告)号：US09399284B2

公开(公告)日：2016-07-26

申请号：US14164595

申请日：2014-01-27

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Joonhyung Kwon ,  Shin Kim ,  Ji Won Chun

IPC: B25J9/00 ,  A47L9/28 ,  A47L11/40 ,  G01N29/11 ,  G05D1/02

CPC classification number: B25J9/0003 ,  A47L9/2826 ,  A47L11/4011 ,  A47L2201/04 ,  A47L2201/06 ,  G01N29/11 ,  G01N2291/044 ,  G01N2291/2632 ,  G05D1/0255 ,  G05D2201/0215

Abstract: A robot cleaner includes a main body, a traveling unit installed in the main body, to move the main body, an ultrasonic sensor to emit an oscillation wave, to receive a reflection wave reflected from an object surface, and to output vibration generated by the oscillation wave and vibration generated by the reception of the reflection wave as an electrical signal, a waveform analyzer to calculate a generation time period of the electrical signal output from the ultrasonic sensor, and a controller to determine information about the object surface based on the calculated generation time period of the electrical signal, and to control movement of the traveling unit based on the information about the object surface.

Abstract translation: 机器人清洁器包括：主体，安装在主体中的移动单元，使主体移动，超声波传感器发射振荡波，以接收从物体表面反射的反射波，并输出由 由反射波接收电信号产生的振荡波和振动;计算从超声波传感器输出的电信号的产生时间周期的波形分析器;以及基于计算出的关于物体表面的信息确定的控制器 根据关于物体表面的信息来控制行驶单元的移动。