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1. 发明授权

US10427085B2 Cleaning robot 有权
公开(公告)号：US10427085B2
公开(公告)日：2019-10-01
申请号：US14882195
申请日：2015-10-13
申请人： Samsung Electronics Co., Ltd.
发明人： Byung Chan Kim , Woo Ram Oh , Sang Sik Yoon
IPC分类号： B01D50/00 , A47L9/16 , A61L9/00 , A47L9/28
摘要： Disclosed herein is a cleaning robot including a body; a display unit configured to display information related to various operations of the cleaning robot; a dust collecting box separably coupled with the body to collect dust introduced through a dust suction port; an air cleaning box to replace the dust collecting box and installed at the body to purify air introduced into the body and then discharge the purified air; and a control unit configured to recognize whether a box installed at the body is the dust collecting box or the air cleaning box, and to control the cleaning robot to perform a cleaning mode or an air cleaning mode according to a recognized result.

2. 发明授权

US09918603B2 Sensor module and robot cleaner having the same 有权
公开(公告)号：US09918603B2
公开(公告)日：2018-03-20
申请号：US14247819
申请日：2014-04-08
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Byung Chan Kim , Sang Sik Yoon , Kyong Su Kim , Dong Won Kim , Jea Yun So , Yeon Kyu Jeong
IPC分类号： A47L9/28 , G05D1/02 , G01S17/48 , G01S17/93 , G01S7/481 , A47L9/00
CPC分类号： A47L9/28 , A47L9/009 , A47L9/2805 , A47L2201/04 , G01S7/4813 , G01S7/4815 , G01S17/48 , G01S17/936 , G05D1/0225 , G05D1/0238 , G05D1/0242 , G05D1/0246 , G05D2201/0215
摘要： 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.

3. 发明授权

US09846435B2 Obstacle sensing module and cleaning robot including the same 有权
公开(公告)号：US09846435B2
公开(公告)日：2017-12-19
申请号：US14584267
申请日：2014-12-29
申请人： Samsung Electronics Co., Ltd.
发明人： Yeon Kyu Jeong , Dong Won Kim , Jea Yun So , Sang Sik Yoon , Gwang Jin Jung , Joon Hyung Kwon
IPC分类号： G06F17/00 , G05D1/02 , G01S17/93 , G01S7/48 , G01S7/481 , G02B5/02 , A47L11/40 , G01S17/46 , G02B9/04
CPC分类号： G05D1/0231 , A47L11/4061 , A47L2201/04 , G01S7/4802 , G01S7/4811 , G01S17/46 , G01S17/936 , G02B5/02 , G02B9/04 , G05D1/0238 , G05D2201/0203
摘要： 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.

4. 发明申请

US20160302636A1 CLEANER AND METHOD FOR CONTROLLING CLEANER 审中-公开
标题翻译：用于控制清洁器的清洁剂和方法
公开(公告)号：US20160302636A1
公开(公告)日：2016-10-20
申请号：US15101410
申请日：2014-12-02
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Byung Chan Kim , Kyung Han Jeong , Shin Kim , Won Min Lee , Eun Sung Kim , Sang Sik Yoon , Byoung In Lee , Woo Ram Oh , Yeon Kyu Jeong , Jae Young Jung
IPC分类号： A47L9/28 , A47L9/16 , A47L9/32 , A47L9/04 , A47L9/00 , A47L5/30 , A47L9/26
CPC分类号： A47L9/2826 , A47L5/28 , A47L5/30 , A47L9/009 , A47L9/0477 , A47L9/1683 , A47L9/26 , A47L9/2805 , A47L9/2847 , A47L9/2852 , A47L9/2857 , A47L9/322 , A47L9/325
摘要： The present disclosure includes a main body, a cleaning tool assembly connected to the main body to be movable in at least one axial direction, a handle part connected to the main body and configured to receive an applied force of a user, a detection part provided in the handle part and configured to detect a magnitude and a direction of the force applied to the handle part, and a control part configured to control the movement direction of the cleaning tool assembly based on the detected direction of the force and to control the movement distance of the cleaning tool assembly based on the detected magnitude of the force. In this way, the steering performance may be improved by reducing a horizontal load felt by a user when the user holds and moves the handle of the cleaner, fatigue felt when performing the cleaning operation may be removed by removing a vertical load applied by the handle, and convenience may be improved.
摘要翻译：本公开内容包括：主体，连接到主体的至少一个轴向可移动的清洁工具组件;连接到主体并被配置为接收使用者施加的力的手柄部分;提供的检测部件并且构造成检测施加到把手部分的力的大小和方向;以及控制部，其被配置为基于检测到的力的方向来控制清洁工具组件的移动方向，并且控制该运动基于检测到的力的大小，清洁工具组件的距离。以这种方式，可以通过减少用户握住并移动清洁器的手柄时感觉到的水平负载来改善转向性能，当执行清洁操作时，疲劳感觉可以通过去除由手柄施加的垂直载荷来消除，并且可以提高方便性。

5. 发明申请

US20140336863A1 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：US20140336863A1
公开(公告)日：2014-11-13
申请号：US14273069
申请日：2014-05-08
申请人： Samsung Electronics Co., Ltd.
发明人： Jea Yun SO , Sang Sik Yoon , Joon Hyung Kwon , Shin Kim
IPC分类号： A47L11/40
CPC分类号： A47L11/4061 , A47L9/2815 , A47L9/2852 , A47L2201/04 , A47L2201/06 , G05D1/0219 , G05D1/0246 , G05D2201/0203
摘要： 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.
摘要翻译：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。

6. 发明授权

US08869342B2 Robot cleaner and method of controlling the same 有权
标题翻译：机器人清洁器和控制方法
公开(公告)号：US08869342B2
公开(公告)日：2014-10-28
申请号：US13857649
申请日：2013-04-05
申请人： Samsung Electronics Co., Ltd.
发明人： Sang Sik Yoon , Hee Won Jin , Byung Chan Kim , Yeon Kyu Jeong , Sang Hwa Choi
IPC分类号： A47L9/00 , A47L11/00 , A47L9/04
CPC分类号： A47L7/02 , A47L9/04 , A47L9/0494 , A47L11/24 , A47L11/4011 , A47L11/4038 , A47L11/4072 , A47L2201/04 , A47L2201/06
摘要： A robot cleaner that automatically removes dust accumulated on a floor while navigating a cleaning area, and a method of controlling the robot cleaner, includes a main body that navigates a floor; a first detector that detects an obstacle getting closer to the main body; an auxiliary cleaner that is mounted on the main body to protrude and retract; a second detector that detects a protrusion state or a retraction state of the auxiliary cleaner; and a controller that determines an abnormal operation of the auxiliary cleaner based on a result of the detection of the second detector and controls a protrusion operation or a retraction operation of the auxiliary cleaner according to a result of the determination.
摘要翻译：一种机器人清洁器，其在导航清洁区域时自动除去积聚在地板上的灰尘，以及控制机器人清洁器的方法，包括导航地板的主体; 第一检测器，其检测靠近主体的障碍物; 辅助清洁器，安装在主体上以突出和缩回; 第二检测器，其检测辅助清洁器的突出状态或缩回状态; 以及控制器，其基于第二检测器的检测结果来确定辅助清洁器的异常操作，并且根据确定的结果控制辅助清洁器的突出操作或缩回操作。

7. 发明授权

US11103115B2 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
申请人： Samsung Electronics Co., Ltd.
发明人： Byung Chan Kim , Sang Sik Yoon , Kyong Su Kim , Dong Won Kim , Jea Yun So , Yeon Kyu Jeong
IPC分类号： A47L9/28 , G01S17/48 , G01S7/481 , A47L9/00 , G05D1/02 , G01S17/931
摘要： 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.

8. 发明授权

US10881257B2 Cleaner and method for controlling cleaner 有权
公开(公告)号：US10881257B2
公开(公告)日：2021-01-05
申请号：US15101410
申请日：2014-12-02
申请人： Samsung Electronics Co., Ltd
发明人： Byung Chan Kim , Kyung Han Jeong , Shin Kim , Won Min Lee , Eun Sung Kim , Sang Sik Yoon , Byoung In Lee , Woo Ram Oh , Yeon Kyu Jeong , Jae Young Jung
IPC分类号： A47L9/28 , A47L5/28 , A47L9/32 , A47L5/30 , A47L9/00 , A47L9/04 , A47L9/16 , A47L9/26
摘要： The present disclosure includes a main body, a cleaning tool assembly connected to the main body to be movable in at least one axial direction, a handle part connected to the main body and configured to receive an applied force of a user, a detection part provided in the handle part and configured to detect a magnitude and a direction of the force applied to the handle part, and a control part configured to control the movement direction of the cleaning tool assembly based on the detected direction of the force and to control the movement distance of the cleaning tool assembly based on the detected magnitude of the force. In this way, the steering performance may be improved by reducing a horizontal load felt by a user when the user holds and moves the handle of the cleaner, fatigue felt when performing the cleaning operation may be removed by removing a vertical load applied by the handle, and convenience may be improved.

9. 发明授权

US10678236B2 Cleaning robot 有权
公开(公告)号：US10678236B2
公开(公告)日：2020-06-09
申请号：US15031978
申请日：2014-10-23
申请人： Samsung Electronics Co, Ltd.
发明人： Jae Young Jung , Shin Kim , Sang Sik Yoon , Byung Chan Kim , Byoung In Lee
IPC分类号： G05D1/00 , G05D1/02 , A47L11/24 , A47L11/40
摘要： Provided is a cleaning robot including a main body; a driving unit configured to move the main body; a communication unit configured to establish wireless communication with a user terminal to which a manipulation command is input; and a controller configured to transmit a position detecting signal to the user terminal, and detect a position of the user terminal based on a time difference between the position detecting signal and a response signal transmitted from the user terminal.

10. 发明授权

US10213082B2 Robot cleaner 有权
公开(公告)号：US10213082B2
公开(公告)日：2019-02-26
申请号：US15670278
申请日：2017-08-07
申请人： Samsung Electronics Co., Ltd.
发明人： Sang Sik Yoon , Kyong Su Kim , Shin Kim , Yong-Seok Kim , Kyung Shik Roh , Hyun Soo Jung
IPC分类号： A47L11/40 , A47L9/28 , G01S15/93 , G01S17/88
摘要： A robot cleaner includes a housing a sensor assembly disposed in the housing, wherein the sensor assembly comprises a light source configured to emit light toward an area in front of the housing; a camera unit comprising a lens; a reflector configured to reflect light incident on a front of the housing toward a front region of the lens; and a guide member hollow inside configured to guide light incident on a top of the housing toward a rear region of the lens. The robot cleaner estimates a current position of the robot cleaner more accurately by correcting the current position of the robot cleaner estimated by using odometry information based on images acquired by the camera unit.

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