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1. 发明授权

US11067998B2 Cleaning robot and control method therefor 有权
公开(公告)号：US11067998B2
公开(公告)日：2021-07-20
申请号：US16098594
申请日：2017-04-26
申请人： Samsung Electronics Co., Ltd.
发明人： Dong Hun Lee , Young Do Kwon , Heum Yong Park , Min Jae Kim , Min Woo Ryu
IPC分类号： B25J19/02 , G05D1/02 , B25J9/16 , B25J9/00 , B25J11/00 , A47L9/28 , A47L9/00 , A47L9/30 , A47L11/40
摘要： Provided are a cleaning robot and a method of controlling the same, and more specifically, a cleaning robot provided to detect an obstacle in various directions and a method of controlling the same. The cleaning robot includes a light emitter configured to radiate light, a plurality of light receivers configured to receive a radiation of the light in a predetermined direction among radiations of the light reflected from an obstacle when the radiated light is reflected from the obstacle, a support plate to which the light emitter and the light receiver are fixed and which is rotatably provided, and a controller configured to detect the obstacle on the basis of output signals transmitted from the light emitter and the plurality of light receivers and rotation information of the support plate.

2. 发明授权

US09908432B2 Robot cleaner and control method thereof 有权
公开(公告)号：US09908432B2
公开(公告)日：2018-03-06
申请号：US15057432
申请日：2016-03-01
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Sung Jin Park , Dong Hun Lee , Heum Yong Park , Dong-Hyun Lee
IPC分类号： B60L15/20 , B60G17/016 , B60G17/019 , A47L9/28 , A47L11/40 , G05D1/02
CPC分类号： B60L15/20 , A47L9/2831 , A47L11/40 , A47L2201/00 , B60G17/016 , B60G17/019 , G05D1/00 , G05D1/02 , Y02T10/7258
摘要： Proposed are a robot cleaner having an improved wheel structure to escape from being stuck in various travel conditions, and a control method thereof. The robot cleaner may smoothly escape from a door sill or an obstacle to stably travel irrespective of a state of a floor by providing an optimal frictional force of the floor through the control of an electric current of a motor when the robot cleaner escapes from being stuck. Also, the robot cleaner may stably travel without shaking by controlling an electric current flowing through the motor after the robot cleaner escapes from being stuck and before the driving wheel returns to a normal mode. Furthermore, it is possible to prevent a wheel mechanism such as a gear from being damaged by an external shock (e.g., which is caused by a pet or an object drop) or a shock caused by autonomous vibration when the robot cleaner crosses over an obstacle.

3. 发明申请

US20160374527A1 CLEANING ROBOT 审中-公开
标题翻译：清洁机器人
公开(公告)号：US20160374527A1
公开(公告)日：2016-12-29
申请号：US15257204
申请日：2016-09-06
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Jeong Ki YOO , Sung Jin Park , Jun Young Lee , Dong Min Shin , Dong Hun Lee , Jae Youl Jeong , Shin Kim , Heum Yong Park , In Hak Na
IPC分类号： A47L11/40 , G05D1/02
CPC分类号： A47L11/4011 , A47L9/009 , A47L11/4041 , A47L11/4061 , A47L11/4066 , A47L11/4072 , A47L2201/04 , G05D1/027 , G05D1/0272 , G05D2201/0215
摘要： A cleaning robot includes a main body and a drive unit to move the main body. The drive unit includes a plurality of motors to generate driving force; a plurality of wheels connected to one of the plurality of motors and rotating by driving force received from the one of the plurality of motors; and a driving frame to support the plurality of wheels, receive driving force from another motor among the plurality of motors, and rotate for changing positions of the plurality of wheels.
摘要翻译：清洁机器人包括主体和用于移动主体的驱动单元。驱动单元包括产生驱动力的多个电动机; 连接到所述多个马达中的一个的多个轮，并且通过从所述多个马达中的一个马达接收的驱动力旋转; 以及用于支撑所述多个车轮的驱动框架，从所述多个电动机中的另一个电动机接收驱动力，并且旋转以改变所述多个车轮的位置。

4. 发明授权

US11019972B2 Cleaning robot and method for controlling same 有权
公开(公告)号：US11019972B2
公开(公告)日：2021-06-01
申请号：US15771350
申请日：2016-10-20
申请人： Samsung Electronics Co., Ltd
发明人： Dong Hun Lee , Heum Yong Park , Min Jae Kim , Min Woo Ryu , Young Do Kwon
IPC分类号： A47L9/28 , A47L11/20 , A47L11/202 , A47L11/18 , A47L11/40 , B25J11/00 , B25J9/16 , B25J9/00 , B25J13/08 , A47L7/00
摘要： Disclosed herein are a cleaning robot and a method of controlling the same. The cleaning robot according to one embodiment includes a modular in which one or more modules configured to support different functions are integrated, and a controller configured to control the overall operation of the cleaning robot.

5. 发明授权

US10149590B2 Robot cleaner 有权
公开(公告)号：US10149590B2
公开(公告)日：2018-12-11
申请号：US14497671
申请日：2014-09-26
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Jae Youl Jeong , Sung Jin Park , Heum Yong Park , Dong Hun Lee , Min Jae Kim
IPC分类号： A47L11/40 , A47L11/283
摘要： A robot cleaner includes a plurality of motors each of which transmits a driving force, a pad assembly which is connected to one of the plurality of motors to receive a rotational force from the motor, to rotate in a clockwise or counterclockwise direction, and thus to clean a floor surface, and a wire which is connected to the pad assembly and another one of the plurality of motors so that the pad assembly is tilted by the driving force of the motor, wherein the robot cleaner moves in a particular direction by a non-uniform frictional force between a bottom surface of the pad assembly and the floor surface. The robot cleaner uses wires to tilt the pad assembly and, thus, it is possible to miniaturize the robot cleaner.

6. 发明授权

US09560947B2 Robot cleaner 有权
标题翻译：机器人清洁剂
公开(公告)号：US09560947B2
公开(公告)日：2017-02-07
申请号：US14132942
申请日：2013-12-18
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Sung Jin Park , Jae Youl Jeong , Shin Kim , Heum Yong Park , Dong Hun Lee
IPC分类号： A47L11/40
CPC分类号： A47L11/4069 , A47L11/4038 , A47L11/4061 , A47L11/4066 , A47L2201/04
摘要： 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.
摘要翻译：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。

7. 发明授权

US10362917B2 Cleaning robot 有权
公开(公告)号：US10362917B2
公开(公告)日：2019-07-30
申请号：US15257204
申请日：2016-09-06
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Jeong Ki Yoo , Sung Jin Park , Jun Young Lee , Dong Min Shin , Dong Hun Lee , Jae Youl Jeong , Shin Kim , Heum Yong Park , In Hak Na
IPC分类号： A47L9/00 , G05D1/02 , A47L11/40
摘要： A cleaning robot includes a main body and a drive unit to move the main body. The drive unit includes a plurality of motors to generate driving force; a plurality of wheels connected to one of the plurality of motors and rotating by driving force received from the one of the plurality of motors; and a driving frame to support the plurality of wheels, receive driving force from another motor among the plurality of motors, and rotate for changing positions of the plurality of wheels.

8. 发明授权

US10034591B2 Robot cleaner 有权
公开(公告)号：US10034591B2
公开(公告)日：2018-07-31
申请号：US14580712
申请日：2014-12-23
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Sung Jin Park , Jun Young Lee , Dong Woo Ha , Heum Yong Park , Dong Hyun Lee , Dong Hun Lee , Jae Youl Jeong , Min Jae Kim
IPC分类号： A47L11/40 , A47L11/283
CPC分类号： A47L11/4069 , A47L11/283 , A47L11/4038 , A47L11/4055 , A47L11/4058 , A47L11/4061 , A47L11/4063 , A47L2201/04
摘要： Disclosed is a robot cleaner capable of reducing the material cost thereof by use of fewer motors, and performing wet cleaning while travelling in all directions and rubbing the floor surface, the robot cleaner includes a plurality of motors generating driving forces, a plurality of pad assemblies configured to rotate by receiving a driving force from one of the plurality of motors, and provided in a tilted manner so that a bottom surface of each of the plurality of pad assemblies has an uneven frictional force with respect to a floor surface, and a tilt gear unit configured to simultaneously vary tilting directions of the plurality of pad assemblies by receiving a driving force from another one of the plurality of motors, wherein the robot clean can travel in all directions depending on a tilting direction and a rotational direction of each of the plurality of pad assemblies.

9. 发明授权

US09480380B2 Cleaning robot and control method thereof 有权
标题翻译：清洁机器人及其控制方法
公开(公告)号：US09480380B2
公开(公告)日：2016-11-01
申请号：US14510487
申请日：2014-10-09
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Jeong Ki Yoo , Sung Jin Park , Jun Young Lee , Dong Min Shin , Dong Hun Lee , Jae Youl Jeong , Shin Kim , Heum Yong Park , In Hak Na
IPC分类号： A47L11/40 , G05D1/02
CPC分类号： A47L11/4011 , A47L11/4041 , A47L11/4061 , A47L11/4066 , A47L11/4072 , A47L2201/04 , G05D1/027 , G05D1/0272 , G05D2201/0215
摘要： A cleaning robot having improved traveling performance and a method of controlling the same. The cleaning robot detects a stuck state such as a ‘jammed state’, ‘lifted state’, or ‘object-caught state’ by using a motion instruction or sensor information and quickly escapes from the stuck state caused in various traveling conditions by using a wheel structure capable of changing a total height of the cleaning robot. In addition, a degree of risk and type of the stuck state is predicted before the cleaning robot is in the stuck state so that the cleaning robot may deal with the stuck state in advance. The cleaning robot may escape from the stuck state via rapidly deceleration or quick stopping in accordance with the predicted degree of risk of the stuck state, and the cleaning robot may efficiently deal with the stuck state by using information to select an escaping method suitable for the type of the stuck state.
摘要翻译：具有改善的行驶性能的清洁机器人及其控制方法。清洁机器人通过使用运动指令或传感器信息来检测诸如“卡住状态”，“提升状态”或“被抓住状态”的卡住状态，并且通过使用能够改变清洁机器人的总高度的轮结构。此外，在清洁机器人处于卡住状态之前预测一定程度的卡住状态的风险和类型，使得清洁机器人可以预先处理卡住状态。清洁机器人可以根据预测的卡住状态的风险，通过快速减速或快速停止从卡住状态脱离，并且清洁机器人可以通过使用信息来有效地处理卡住状态，以选择适合于卡住状态的类型。

10. 发明申请

US20150182089A1 PAD CHANGER, CLEANER AND CLEANER SYSTEM HAVING THE SAME 有权
标题翻译： PAD更换器，清洁器和清洁系统
公开(公告)号：US20150182089A1
公开(公告)日：2015-07-02
申请号：US14575076
申请日：2014-12-18
申请人： Samsung Electronics Co., Ltd.
发明人： Jae Youl Jeong , Dong Hun Lee , Min Jae Kim , Heum Yong Park , Dong Hyun Lee
IPC分类号： A47L11/40 , A47L11/28
CPC分类号： A47L11/4036 , A47L11/28 , A47L11/4038 , A47L2201/02 , Y10T483/1845
摘要： A pad changer capable of automatically replacing a pad used to wipe out dust on a floor, a cleaner and a cleaner system having the pad changer are provided. The pad changer to replace a pad mounted to a cleaner includes a replacement unit. The replacement unit includes a separation cartridge to separate the pad from the cleaner and receive the separated pad therein, and a mounting cartridge to receive a pad therein and mount the pad to the cleaner.
摘要翻译：提供了能够自动更换用于擦除地板上的灰尘的垫片，更清洁器和具有垫片更换器的清洁器系统的垫片更换器。用于更换安装到清洁器上的垫的换片器包括更换单元。更换单元包括分离盒，用于将垫与清洁器分离并接收其中的分离垫，以及安装盒，用于在其中容纳垫并将垫安装到清洁器。

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