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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
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。
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Patent Agency Ranking
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
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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3.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
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。
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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
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。
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公开(公告)号：US09846435B2
公开(公告)日：2017-12-19
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: G06F17/00 , G05D1/02 , G01S17/93 , G01S7/48 , G01S7/481 , G02B5/02 , 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.
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公开(公告)号：US20140336863A1
公开(公告)日：2014-11-13
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
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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