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1. 发明授权

US08442683B2 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：US08442683B2
公开(公告)日：2013-05-14
申请号：US13109216
申请日：2011-05-17
申请人： Yung-Shen Lee , Shui-Shih Chen
发明人： Yung-Shen Lee , Shui-Shih Chen
IPC分类号： G05B15/00 , G05B19/04 , A47L5/00 , A47L11/00
CPC分类号： G05D1/0255 , A47L2201/04 , G05D2201/0203
摘要： A cleaning robot including a roller unit, a sensing unit, a first control unit and a second control unit is disclosed. The roller unit includes a plurality of rollers. The sensing unit receives a reflection signal and generates a detection signal according to the reflection signal. When the detection signal is less than or equal to a reference signal, the first control unit controls the traveling direction of the rollers according to the detection signal such that a distance between the cleaning robot and a wall is equal to a first distance. When the detection signal is larger than the reference signal, the second control unit controls the traveling direction of the rollers according to the detection signal such that a distance between the cleaning robot and a wall is equal to a second distance larger then the first distance.
摘要翻译：公开了一种包括辊单元，感测单元，第一控制单元和第二控制单元的清洁机器人。辊单元包括多个辊。感测单元接收反射信号并根据反射信号产生检测信号。当检测信号小于或等于参考信号时，第一控制单元根据检测信号控制滚筒的行进方向，使得清洁机器人与墙壁之间的距离等于第一距离。当所述检测信号大于所述参考信号时，所述第二控制单元根据所述检测信号来控制所述滚筒的行进方向，使得所述清洁机器人与所述壁之间的距离等于距所述第一距离大的第二距离。

2. 发明申请

US20120197437A1 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：US20120197437A1
公开(公告)日：2012-08-02
申请号：US13109216
申请日：2011-05-17
申请人： Yung-Shen Lee , Shui-Shih Chen
发明人： Yung-Shen Lee , Shui-Shih Chen
IPC分类号： G06F7/00
CPC分类号： G05D1/0255 , A47L2201/04 , G05D2201/0203
摘要： A cleaning robot including a roller unit, a sensing unit, a first control unit and a second control unit is disclosed. The roller unit includes a plurality of rollers. The sensing unit receives a reflection signal and generates a detection signal according to the reflection signal. When the detection signal is less than or equal to a reference signal, the first control unit controls the traveling direction of the rollers according to the detection signal such that a distance between the cleaning robot and a wall is equal to a first distance. When the detection signal is larger than the reference signal, the second control unit controls the traveling direction of the rollers according to the detection signal such that a distance between the cleaning robot and a wall is equal to a second distance larger then the first distance.
摘要翻译：公开了一种包括辊单元，感测单元，第一控制单元和第二控制单元的清洁机器人。辊单元包括多个辊。感测单元接收反射信号并根据反射信号产生检测信号。当检测信号小于或等于参考信号时，第一控制单元根据检测信号控制滚筒的行进方向，使得清洁机器人与墙壁之间的距离等于第一距离。当所述检测信号大于所述参考信号时，所述第二控制单元根据所述检测信号来控制所述滚筒的行进方向，使得所述清洁机器人与所述壁之间的距离等于距所述第一距离大的第二距离。

3. 发明授权

US11234571B2 Cleaning robot and material identification method thereof 有权
公开(公告)号：US11234571B2
公开(公告)日：2022-02-01
申请号：US16584869
申请日：2019-09-26
申请人： Jason Yan , Shui-Shih Chen
发明人： Jason Yan , Shui-Shih Chen
IPC分类号： A47L9/28 , A47L11/40 , G05D1/02
摘要： The invention relates to a cleaning robot and a material identification method thereof, which is suitable for cleaning robots. The cleaning robot is pre-set with a threshold comparison table and comprises a plurality of comparison thresholds, wherein each comparison threshold defines an interval of accumulated energy information accumulated by the moving plane of different materials within a predetermined period of time. The cleaning robot generates accumulated energy information during the movement, so that the cleaning robot can find the comparison threshold corresponding to the accumulated energy information from the threshold comparison table, and then determines the material of the moving plane contacted by the cleaning robot.

4. 发明授权

US08871030B2 Cleaning path guidance method combined with dirt detection mechanism 有权
标题翻译：清洁路径引导方法结合污物检测机制
公开(公告)号：US08871030B2
公开(公告)日：2014-10-28
申请号：US13184700
申请日：2011-07-18
申请人： Shui-Shih Chen , You-Wei Teng
发明人： Shui-Shih Chen , You-Wei Teng
IPC分类号： B08B5/04 , B08B7/04 , G05D1/02
CPC分类号： G05D1/0274 , A47L2201/04 , A47L2201/06 , G05D1/0219 , G05D2201/0203
摘要： A cleaning path guidance method combined with a dirt detection mechanism is performed in an automatic cleaning device to generate a cleaning path, so as to guide the automatic cleaning device to clean an area to be cleaned, in which plural grids are defined in the area. The method includes: moving the automatic cleaning device in the area to clear dirt away, and continuously detecting a flow of the dirt cleared away to obtain a dirt level of a current gird; if the dirt level of the current gird exceeds a threshold, marking the grid as a dirty grid; performing an algorithm and finding a shortest path passing through all dirty grids as a cleaning path according to the marked dirty grids; and moving the automatic cleaning device to pass through each dirty grid according to the clean path, so as to clean each dirty gird sequentially.
摘要翻译：在自动清洁装置中执行与污物检测机构结合的清洁路径引导方法以产生清洁路径，以引导自动清洁装置清洁在该区域中限定多个网格的待清洁区域。该方法包括：移动该区域中的自动清洁装置以清除污垢，并连续检测清除的污物的流动，以获得当前网的污垢水平; 如果当前网格的污垢水平超过阈值，则将网格标记为脏网格; 执行算法并根据标记的脏网格找到通过所有脏网格作为清洁路径的最短路径; 并根据清洁路径移动自动清洁装置通过每个脏格，以便顺序清洁每个脏网。

5. 发明申请

US20120259465A1 CLEANING SYSTEM 审中-公开
标题翻译：清洁系统
公开(公告)号：US20120259465A1
公开(公告)日：2012-10-11
申请号：US13114128
申请日：2011-05-24
申请人： Shui-Shih CHEN , You-Wei Teng
发明人： Shui-Shih CHEN , You-Wei Teng
IPC分类号： G06F7/00
CPC分类号： G01S17/87 , A47L9/2805 , A47L9/2852 , A47L2201/04 , G01S17/74 , G05D1/0234 , G05D2201/0203
摘要： A cleaning system including a first virtual wall, a second virtual wall and a cleaning robot is disclosed. The first virtual wall includes a first specific pattern. When a light emits the first specific pattern, a first specific reflected light is generated. The second virtual wall includes a second specific pattern. When the light emits the second specific pattern, a second specific reflected light is generated. The cleaning robot, based on the first and the second specific reflected lights, obtains and records positions of the first and the second virtual walls. The cleaning robot defines a first virtual line according to the recorded positions. A traveling path of the cleaning robot is limited by the first virtual line.
摘要翻译：公开了一种包括第一虚拟墙，第二虚拟墙和清洁机器人的清洁系统。第一虚拟墙包括第一特定模式。当光发射第一特定图案时，产生第一特定反射光。第二虚拟墙包括第二特定模式。当光发射第二特定图案时，产生第二特定反射光。基于第一和第二特定反射光的清洁机器人获得并记录第一和第二虚拟壁的位置。清洁机器人根据记录位置定义第一虚拟线。清洁机器人的行进路径受到第一虚拟线路的限制。

6. 发明申请

US20210038040A1 Cleaning Robot and Material Identification Method Thereof 有权
公开(公告)号：US20210038040A1
公开(公告)日：2021-02-11
申请号：US16584869
申请日：2019-09-26
申请人： Shui-Shih Chen
发明人： Shui-Shih Chen
IPC分类号： A47L9/28 , A47L11/40 , G05D1/02
摘要： The invention relates to a cleaning robot and a material identification method thereof, which is suitable for cleaning robots. The cleaning robot is pre-set with a threshold comparison table and comprises a plurality of comparison thresholds, wherein each comparison threshold defines an interval of accumulated energy information accumulated by the moving plane of different materials within a predetermined period of time. The cleaning robot generates accumulated energy information during the movement, so that the cleaning robot can find the comparison threshold corresponding to the accumulated energy information from the threshold comparison table, and then determines the material of the moving plane contacted by the cleaning robot.

7. 发明申请

US20120291810A1 CLEANING SYSTEMS AND CONTROL METHODS THEREOF 审中-公开
标题翻译：清洁系统及其控制方法
公开(公告)号：US20120291810A1
公开(公告)日：2012-11-22
申请号：US13419682
申请日：2012-03-14
申请人： Shui-Shih CHEN , You-Wei Teng
发明人： Shui-Shih CHEN , You-Wei Teng
IPC分类号： A47L11/00 , A47L11/40 , B08B7/04
CPC分类号： G05D1/0234 , A47L2201/04 , G05D2201/0203
摘要： A cleaning system is provided. The cleaning system includes at least one sign object and a cleaning robot. The cleaning robot detects and records a position of the sign object to generate a recorded result. The cleaning robot has a locking function. When the locking function has been activated, the cleaning robot performs a cleaning operation according to the recorded result. When the locking function has been activated and the sign object has been removed, the cleaning robot is capable of performing the cleaning operation according to the position of the sign object before it was removed.
摘要翻译：提供清洁系统。清洁系统包括至少一个标志物和清洁机器人。清洁机器人检测并记录符号对象的位置以产生记录结果。清洁机器人具有锁定功能。当锁定功能被激活时，清洁机器人根据记录结果执行清洁操作。当锁定功能被激活并且符号对象已被移除时，清洁机器人能够根据标志对象在移除之前的位置执行清洁操作。

8. 发明申请

US20120247510A1 CLEANING PATH GUIDANCE METHOD COMBINED WITH DIRT DETECTION MECHANISM 有权
标题翻译：与DIRT检测机制组合的清洁路径指导方法
公开(公告)号：US20120247510A1
公开(公告)日：2012-10-04
申请号：US13184700
申请日：2011-07-18
申请人： Shui-Shih CHEN , You-Wei Teng
发明人： Shui-Shih CHEN , You-Wei Teng
IPC分类号： B08B7/04 , B08B5/00
CPC分类号： G05D1/0274 , A47L2201/04 , A47L2201/06 , G05D1/0219 , G05D2201/0203
摘要： A cleaning path guidance method combined with a dirt detection mechanism is performed in an automatic cleaning device to generate a cleaning path, so as to guide the automatic cleaning device to clean an area to be cleaned, in which plural grids are defined in the area. The method includes: moving the automatic cleaning device in the area to clear dirt away, and continuously detecting a flow of the dirt cleared away to obtain a dirt level of a current gird; if the dirt level of the current gird exceeds a threshold, marking the grid as a dirty grid; performing an algorithm and finding a shortest path passing through all dirty grids as a cleaning path according to the marked dirty grids; and moving the automatic cleaning device to pass through each dirty grid according to the clean path, so as to clean each dirty gird sequentially.
摘要翻译：在自动清洁装置中执行与污物检测机构结合的清洁路径引导方法以产生清洁路径，以引导自动清洁装置清洁在该区域中限定多个网格的待清洁区域。该方法包括：移动该区域中的自动清洁装置以清除污垢，并连续检测清除的污物的流动，以获得当前网的污垢水平; 如果当前网格的污垢水平超过阈值，则将网格标记为脏网格; 执行算法并根据标记的脏网格找到通过所有脏网格作为清洁路径的最短路径; 并根据清洁路径移动自动清洁装置通过每个脏格，以便顺序清洁每个脏网。

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