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1. 发明申请

US20170035263A1 CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME 审中-公开
标题翻译：清洁机器人及其控制方法
公开(公告)号：US20170035263A1
公开(公告)日：2017-02-09
申请号：US15297432
申请日：2016-10-19
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： In Joo KIM , Jeong Ki YOO , Dong Hyun LEE , Dong Hun LEE , Jin Sung KIM
IPC分类号： A47L11/40 , G05D1/02 , A47L11/283
CPC分类号： A47L11/4011 , A47L11/282 , A47L11/283 , A47L11/4038 , A47L11/4061 , A47L11/4069 , A47L11/4083 , A47L2201/022 , A47L2201/04 , A47L2201/06 , G05D1/0217 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D2201/0203 , Y10S901/01
摘要： A cleaning robot includes a main body; a plurality of pad assemblies mounted on the bottom of the main body for doing cleaning; a drive assembly for applying drive power for each of the plurality of pad assemblies; and a detection unit for detecting an obstacle. The drive assembly adjusts slopes of the plurality of pad assemblies individually based on the height of the obstacle.
摘要翻译：清洁机器人包括主体; 多个衬垫组件，安装在主体的底部用于进行清洁; 用于对所述多个垫组件中的每一个施加驱动力的驱动组件; 以及用于检测障碍物的检测单元。驱动组件基于障碍物的高度分别调整多个垫组件的倾斜度。

2. 发明申请

US20140244094A1 MOBILE ROBOT AND METHOD OF LOCALIZATION AND MAPPING OF THE SAME 有权
标题翻译：移动机器人及其本地化和映射方法
公开(公告)号：US20140244094A1
公开(公告)日：2014-08-28
申请号：US14190761
申请日：2014-02-26
申请人： KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY , SAMSUNG ELECTRONICS CO., LTD.
发明人： In Joo KIM , Seung Mok Lee , Shin Kim , Hyeon Myeong , Byeol Teo Park , Ji Eun Park , Jong Dae Jung
IPC分类号： G05D1/02
CPC分类号： G05D1/021 , G05D1/0272
摘要： 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.
摘要翻译：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。

3. 发明申请

US20180020893A1 CLEANING ROBOT AND CONTROL METHOD THEREFOR 审中-公开
公开(公告)号：US20180020893A1
公开(公告)日：2018-01-25
申请号：US15548008
申请日：2016-02-12
申请人： Samsung Electronics Co., Ltd.
发明人： Dong Hyun LEE , In Joo KIM , Dong Min SHIN , Jeong Ki YOO , Dong Hun LEE , Ji Won CHUN
IPC分类号： A47L9/28 , A47L9/04 , A47L5/22 , H04N5/225 , B25J19/04 , G05D1/02 , G06K9/00 , A47L9/00 , B25J9/00
CPC分类号： A47L9/2852 , A47L5/22 , A47L9/009 , A47L9/0411 , A47L9/0477 , A47L9/28 , A47L9/2826 , A47L9/2857 , A47L2201/04 , B25J9/0003 , B25J19/04 , G05D1/02 , G05D1/0214 , G05D1/0248 , G05D1/0274 , G05D2201/0203 , G05D2201/0215 , G06K9/00664 , G06K9/00805 , H04N5/2251 , Y10S901/01 , Y10S901/47
摘要： Disclosed is a cleaning robot for creating a 3Dimensional (3D) obstacle map including information about a height of an object existing on an area to be cleaned, and cleaning the area to be cleaned based on the 3D obstacle map, and a method of controlling the cleaning robot. In accordance with an aspect of the present disclosure, there is provided. The cleaning robot includes a main body, a moving portion configured to move the main body, an obstacle sensor configured to sense a height of an obstacle, and a controller configured to create an obstacle map including information about the height of the obstacle.

4. 发明申请

US20170150863A1 CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME 审中-公开
公开(公告)号：US20170150863A1
公开(公告)日：2017-06-01
申请号：US15429776
申请日：2017-02-10
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： In Joo KIM , Dong Min SHIN , Shin KIM
IPC分类号： A47L11/40 , G05D1/02 , G05D1/00
CPC分类号： A47L11/4011 , A47L9/2805 , A47L9/2852 , A47L11/4008 , A47L11/4061 , A47L2201/022 , A47L2201/04 , G05D1/0088 , G05D1/0214 , G08G1/16 , Y02B40/82
摘要： 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.

5. 发明申请

US20150142169A1 CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME 有权
标题翻译：清洁机器人及其控制方法
公开(公告)号：US20150142169A1
公开(公告)日：2015-05-21
申请号：US14531511
申请日：2014-11-03
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： In Joo KIM , Jeong Ki Yoo , Dong Hyun Lee , Dong Hun Lee , Jin Sung Kim
IPC分类号： A47L11/282 , G05D1/02 , A47L11/40
CPC分类号： A47L11/4011 , A47L11/282 , A47L11/283 , A47L11/4038 , A47L11/4061 , A47L11/4069 , A47L11/4083 , A47L2201/022 , A47L2201/04 , A47L2201/06 , G05D1/0217 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D2201/0203 , Y10S901/01
摘要： A cleaning robot including a main body, a pad mounted below the main body to implement cleaning, and a drive assembly to apply drive power to the pad. The drive assembly moves the main body to a target position by adjusting the drive power. The cleaning robot may move at a high speed owing to omni-directional movement thereof without rotation of the main body. Further, the cleaning robot may imitate a human wiping pattern, thus achieving enhanced cleaning efficiency. Furthermore, various cleaning patterns including a straight pattern and a curvilinear pattern may be applied to the cleaning robot.
摘要翻译：一种清洁机器人，包括主体，安装在主体下方以实现清洁的垫，以及驱动组件，用于向垫施加驱动力。驱动组件通过调节驱动力将主体移动到目标位置。清洁机器人可以由于其全方位的运动而以高速运动而不会旋转主体。此外，清洁机器人可以模拟人的擦拭图案，从而实现提高的清洁效率。此外，可以将包括直线图案和曲线图案的各种清洁图案应用于清洁机器人。

6. 发明申请

US20150032259A1 CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME 有权
标题翻译：清洁机器人及其控制方法
公开(公告)号：US20150032259A1
公开(公告)日：2015-01-29
申请号：US14282464
申请日：2014-05-20
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： In Joo KIM , Dong Min SHIN , Shin KIM
IPC分类号： A47L11/40 , G08G1/16 , G05D1/02
CPC分类号： A47L11/4011 , A47L9/2805 , A47L9/2852 , A47L11/4008 , A47L11/4061 , A47L2201/022 , A47L2201/04 , G05D1/0088 , G05D1/0214 , G08G1/16 , Y02B40/82
摘要： 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.
摘要翻译：清洁机器人包括非圆形主体，安装在主体的底面的移动组件，以执行主体的向前运动，向后运动和旋转;安装在主体的底表面上的清洁工具组件清洁地板，用于检测主体周围的障碍物的检测器;以及控制器，用于基于检测器的检测信号来确定主体的向前方向是否存在障碍物，控制主体的旋转以确定主体在向前方向上是否存在障碍物时，主体是否旋转预定角度，并且如果主体旋转，则确定主体处于卡住状态以控制主体的向后移动以预定角度或更小。

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