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1. 发明授权

EP2325714B1 Control method of performing rotational traveling of robot cleaner 有权转让
标题翻译：执行机器人清洁器的旋转行进的控制方法
公开(公告)号：EP2325714B1
公开(公告)日：2018-04-25
申请号：EP10191128.7
申请日：2010-11-15
申请人： Samsung Electronics Co., Ltd.
发明人： Yoo, Kyung Hwan , Kim, Dong Won , Joo, Jae Man , Lee, Jun Hwa , Hong, Jun Pyo , Chung, Woo Ram , Jung, Jae Young , Jang, Hwi Chan
IPC分类号： G05D1/02 , A47L9/28
CPC分类号： G05D1/0272 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L9/2873 , A47L9/2894 , A47L2201/04 , G05D1/0225 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D2201/0203 , Y02B40/82
摘要： Disclosed herein is a control method of a robot cleaner in which a robot cleaner is moved at an arbitrary starting angle along a rotation trajectory having an arbitrary rotational center and rotation radius during obstacle-following traveling, whereby an obstacle-following traveling time is reduced and consequently, a movement time of the robot cleaner is reduced.

2. 发明授权

EP1977673B1 Wall-following robot cleaner and method to control the same 有权
标题翻译：壁面向清洁机器人系统及其控制方法
公开(公告)号：EP1977673B1
公开(公告)日：2015-04-08
申请号：EP08150407.8
申请日：2008-01-18
申请人： Samsung Electronics Co., Ltd.
发明人： Hong, Jun Pyo , Chung, Woo Ram , Yoo, Kyung Hwan , Joo, Jae Man , Wee, Hoon , Kim, Dong Won , Kim, Yong Tae
IPC分类号： A47L9/00 , G05D1/02
CPC分类号： A47L9/009 , A47L2201/04 , G05D1/0219 , G05D1/0238 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203

3. 发明公开

EP2263510A3 Robot cleaner and method of its travel control 有权
标题翻译： Reinigungsroboter und Verfahren zu dessen Verfahrsteuerung
公开(公告)号：EP2263510A3
公开(公告)日：2014-12-10
申请号：EP10165161.0
申请日：2010-06-08
申请人： Samsung Electronics Co., Ltd.
发明人： Lee, Jun Hwa , Joo, Jae Man , Kim, Dong Won , Hong, Jun Pyo , Chung, Woo Ram , Jung, Jae Young , Yoo, Kyung Hwan , Jang, Hwi Chan , Ko, Jang Youn , Song, Jeong Gon , Jeung, Sam Jong
IPC分类号： A47L11/33 , G05D1/02 , A47L11/40
CPC分类号： A47L11/33 , A47L11/4002 , A47L11/4011 , A47L11/4061 , A47L11/4072 , A47L2201/04 , A47L2201/06 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： A robot cleaner (1) that travels straight through alignment of its drive wheels (21,28) and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner (1) is detected (208) from heading angle (θ) information (206) of a caster wheel (23) rotating depending upon a state of a floor, such as a carpet in a state in which the texture of the carpet occurs in one direction; and, when the movement angle of the robot cleaner (1) deviates due to slippages of the drive wheels (21,22), rates of rotation of the drive wheels (21,22) are adjusted (210) to correct the slippages of the drive wheels (21,22) such that the robot cleaner (1) easily travels straight.
摘要翻译：一种机器人清洁器（1），其通过其驱动轮（21,28）的对准直线行进，以及控制其移动的方法。从根据地板的状态旋转的脚轮（23）的航向角（¸）信息（¸）信息（206）中检测与机器人清洁器（1）的移动角有关的信息，例如地毯中的地毯地毯的纹理发生在一个方向的状态; 并且当所述机器人清洁器（1）的移动角度由于所述驱动轮（21,22）的滑动而偏移时，所述驱动轮（21,22）的旋转速度被调整（210）以校正所述驱动轮驱动轮（21,22），使得机器人清洁器（1）容易地直线行进。

4. 发明公开

EP2662742A1 Cleaning robot guidance system including a cleaning robot and a docking station, and method of controlling the cleaning robot 有权
标题翻译：机器人清洁器，对接站，机器人清洁系统具有机器人吸尘器和对接站以及用于控制机器人清洁器的方法
公开(公告)号：EP2662742A1
公开(公告)日：2013-11-13
申请号：EP13179628.6
申请日：2010-06-15
申请人： Samsung Electronics Co., Ltd
发明人： Yoo, Kyung Hwan , Joo, Jae Man , Kim, Dong Won , Lee, Jun Hwa , Hong, Jun Pyo , Chung, Woo Ram , Jung, Jae Young , Jang, Hwi Chang , Song, Jeong Gon , Jeung, Sam Jong , Ko, Jang Youn
IPC分类号： G05D1/02
CPC分类号： G05D1/0225 , A47L2201/00 , A47L2201/022 , G05D1/0234 , G05D1/0276 , G05D2201/0203
摘要： A robot cleaner system is described comprising a docking station having a first transmission unit to transmit a first docking guide signal comprising at least a first signal pulse and a second signal pulse having an amplitude greater than an amplitude of the first signal pulse, and a second transmission unit to transmit a second docking guide signal comprising at least a first signal pulse and a second signal pulse each having an amplitude greater than the amplitude of the first signal pulse. The robot cleaner system further comprises a robot cleaner including a plurality of reception units to sense the signals transmitted by the docking station and a control unit to control a driving unit to move the robot cleaner to the docking station based on the first docking guide signal and the second docking guide signal sensed by the reception unit, the robot cleaner distinguishing the first docking guide signal sensed in a first short-distance docking guide area from the first docking guide signal sensed by the robot cleaner in a first long-distance guide area, and the robot cleaner distinguishing the second docking guide signal sensed in a second short-distance docking guide area from the second docking guide signal sensed by the robot cleaner in a second long-distance guide area.
摘要翻译：一种机器人清洁器系统被描述为包括具有第一发送单元发送的第一对接引导信号至少包括第一信号脉冲和具有在振幅比所述第一信号脉冲的振幅大的第二信号脉冲的对接站;以及第二发送单元发送的第二对接引导信号至少包括第一信号脉冲和具有每个幅度比所述第一信号脉冲的振幅大的第二脉冲信号。的机器人清洁器系统进一步包括机器人清洁器，包括接收单元的多元化，以感测由对接站mitted信号反式和一个控制单元，用于控制驱动单元，以使机器人吸尘器基于所述第一对接引导信号的对接站和由所述接收单元所感测的第二对接引导信号时，机器人清洁器区分由机器人清洁器在第一远距离引导区域感测到的第一对接引导信号在一个第一短距离对接引导区域感测到的第一对接引导信号，和机器人清洁器区分第二对接引导信号在从由所述机器人清洁器在第二远距离引导区域感测到的第二对接引导信号的第二短距离对接引导区域感测。

5. 发明公开

EP2253258A3 Autonomous cleaning machine 有权转让
标题翻译：自清洗机
公开(公告)号：EP2253258A3
公开(公告)日：2013-09-04
申请号：EP10161936.9
申请日：2010-05-05
申请人： Samsung Electronics Co., Ltd.
发明人： Jang, Hwi Chan , Kim, Dong Won , Chung, Woo Ram , Joo, Jae Man , Hong, Jun Pyo , Jung, Jae Young , Yoo, Kyung Hwan
IPC分类号： A47L9/00 , A47L9/04
CPC分类号： A47L11/4041 , A47L9/009 , A47L9/0488 , A47L9/122 , A47L9/248 , A47L11/24 , A47L11/4044 , A47L2201/00
摘要： Disclosed herein is an autonomous cleaning machine (1) with a brush cleaning unit to clean a brush unit. The autonomous cleaning machine (1) includes a main body (10), the brush unit (70) rotatably provided on the main body (10), first brush cleaning members (81) contacting the brush unit (70) to move foreign substances wound on the brush unit (70) in a lengthwise direction of the brush unit (70), and second brush cleaning members (82) contacting the brush unit (70) to remove the foreign substances wound on the brush unit (70) from the brush unit (70).

6. 发明公开

EP1977673A3 Wall-following robot cleaner and method to control the same 有权
标题翻译：壁面向清洁机器人系统及其控制方法
公开(公告)号：EP1977673A3
公开(公告)日：2013-08-14
申请号：EP08150407.8
申请日：2008-01-18
申请人： Samsung Electronics Co., Ltd.
发明人： Hong, Jun Pyo , Chung, Woo Ram , Yoo, Kyung Hwan , Joo, Jae Man , Wee, Hoon , Kim, Dong Won , Kim, Yong Tae
IPC分类号： A47L9/00 , G05D1/02
CPC分类号： A47L9/009 , A47L2201/04 , G05D1/0219 , G05D1/0238 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： A robot cleaner that cleans a cleaning region while traveling the cleaning region and a method to control the same are provided. The robot cleaner can uniformly clean a cleaning region based on a wall-following technique which allows the robot cleaner to travel along the outline of the cleaning region. The method selects, as a reference wall, a wall at a left or right side of the robot cleaner at a start position of the robot cleaner based on a left or right-based travel algorithm, which allows the robot cleaner to travel along a left or right wall, and controls the robot cleaner to travel the cleaning region in a zigzag travel pattern in which the robot cleaner moves a predetermined distance in a direction perpendicular to the reference wall at specific intervals along the selected reference wall while following the selected reference wall.

7. 发明公开

EP2290490A1 Cleaning robot guidance system including a cleaning robot and a docking station, and method of controlling the cleaning robot 有权转让
标题翻译：清洁机器人系统，机器人清洁器和对接站，和控制机器人清洁器的方法
公开(公告)号：EP2290490A1
公开(公告)日：2011-03-02
申请号：EP10165910.0
申请日：2010-06-15
申请人： Samsung Electronics Co., Ltd.
发明人： Yoo, Kyung Hwan , Joo, Jae Man , Kim, Dong Won , Lee, Jun Hwa , Hong, Jun Pyo , Chung, Woo Ram , Jung, Jae Young , Jang, Hwi Chan , Ko, Jang Youn , Song, Jeong Gon , Jeung, Sam Jong
IPC分类号： G05D1/02
CPC分类号： G05D1/0225 , A47L2201/00 , A47L2201/022 , G05D1/0234 , G05D1/0276 , G05D2201/0203
摘要： A robot cleaner system is described including a docking station to form a docking area within a predetermined angle range of a front side thereof, to form docking guide areas which do not overlap each other on the left and right sides of the docking area, and to transmit a docking guide signal such that the docking guide areas are distinguished as a first docking guide area and a second docking guide area according to an arrival distance of the docking guide signal. The robot cleaner system also includes a robot cleaner to move to the docking area along a boundary between the first docking guide area and the second docking guide area when the docking guide signal is sensed and to move along the docking area so as to perform docking when reaching the docking area.
摘要翻译：一种机器人清洁器系统被描述包含一个对接站，以形成前侧的预定角度范围内的对接面积物，以形成不重叠彼此对接区域的左侧和右侧导向对接的区域，并发送检查对接引导信号做对接引导区域被区分为第一停靠区域引导和第二引导停靠区域gemäß对对接引导信号的到达距离。因此，机器人清洁器系统包括：机器人清洁器在对接引导信号被感测到移动到停靠区域沿着第一对接引导区域和第二对接引导区域之间的边界，并沿所述对接区域移动，从而进行对接时到达停靠区。

8. 发明授权

EP2583608B1 Robot Cleaner and Method for Controlling the Same 有权
公开(公告)号：EP2583608B1
公开(公告)日：2018-08-15
申请号：EP12188989.3
申请日：2012-10-18
申请人： Samsung Electronics Co., Ltd.
发明人： Yoon, Sang Sik , Chung, Woo Ram , Han, Kyu Sun , Hong, Jun Pyo , Lee, Jun Hwa
IPC分类号： A47L11/33 , A47L11/40 , A47L9/04
CPC分类号： A47L11/4011 , A47L9/0488 , A47L11/20 , A47L11/24 , A47L11/33 , A47L11/4036 , A47L11/4055 , A47L11/4061 , A47L2201/04 , A47L2201/06 , B25J9/0003 , G05B2219/45098 , G05D1/0219 , G05D2201/0215
摘要： Disclosed are a robot cleaner (1) and a method for controlling the same, capable of controlling a travelling or cleaning pattern of a robot cleaner in accordance with extension and retraction operations of an auxiliary cleaning tool (100, 100a, 100b) to perform an efficient cleaning operation. The robot cleaner (1) includes a plurality of auxiliary cleaning units (100, 100a, 100b) mounted to a bottom of the robot cleaner (1) such that the auxiliary cleaning units (100, 100a, 100b) are extendable and retractable, an obstacle sensor (61) to sense an obstacle in a cleaning region of the robot cleaner (1), and a control unit (200) to extend the auxiliary cleaning units (100, 100a, 100b) while travelling in a wall tracing manner along the periphery of the cleaning region, and to retract the auxiliary cleaning units (100, 100a, 100b) while the robot cleaner (1) travels in an inner portion of the cleaning region when traveling of the periphery of the cleaning region is finished.

9. 发明公开

EP2910166A1 ROBOT CLEANER AND METHOD FOR CONTROLLING THE SAME 有权
标题翻译：机器人清洁器及其控制方法
公开(公告)号：EP2910166A1
公开(公告)日：2015-08-26
申请号：EP15158210.3
申请日：2010-03-16
申请人： Samsung Electronics Co., Ltd
发明人： Chung, Woo Ram , Joo, Jae Man , Kim, Dong Won , Hong, Jun Pyo , Jung, Jae Young , Yoo, Kyung Hwan , Jang, Hwi Chan
IPC分类号： A47L9/00 , A47L9/28
CPC分类号： A47L11/4011 , A47L11/4061 , A47L2201/00 , A47L2201/04 , A47L2201/06 , G05D1/0225 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： A robot cleaner to perform a cleaning process by changing a traveling pattern according to a cleaning start position and a method for controlling the same are disclosed. The robot cleaner recognizes a current position of the robot cleaner upon receiving the automatic cleaning command. If the automatic cleaning process starts from the charger, the robot cleaner performs the automatic cleaning process using a conventional cleaning method. Otherwise, if the automatic cleaning process starts from the outside of the charger, the robot cleaner changes a traveling pattern, performs the spot cleaning process and then selectively performs the automatic cleaning process.
摘要翻译：公开了一种通过根据清洁开始位置改变行进模式来执行清洁处理的机器人清洁器及其控制方法。机器人清洁器在接收到自动清洁命令时识别机器人清洁器的当前位置。如果自动清洁过程从充电器开始，则机器人清洁器使用常规清洁方法执行自动清洁过程。否则，如果自动清洁处理从充电器外部开始，则机器人清洁器改变行进模式，执行点清洁处理，然后选择性地执行自动清洁处理。

10. 发明公开

EP2325714A3 Control method of performing rotational traveling of robot cleaner 有权转让
标题翻译：用于机器人清洁器的执行旋转位移的控制方法
公开(公告)号：EP2325714A3
公开(公告)日：2015-07-08
申请号：EP10191128.7
申请日：2010-11-15
申请人： Samsung Electronics Co., Ltd.
发明人： Yoo, Kyung Hwan , Kim, Dong Won , Joo, Jae Man , Lee, Jun Hwa , Hong, Jun Pyo , Chung, Woo Ram , Jung, Jae Young , Jang, Hwi Chan
IPC分类号： G05D1/02 , A47L9/28
CPC分类号： G05D1/0272 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L9/2873 , A47L9/2894 , A47L2201/04 , G05D1/0225 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D2201/0203 , Y02B40/82
摘要： Disclosed herein is a control method of a robot cleaner in which a robot cleaner is moved at an arbitrary starting angle along a rotation trajectory having an arbitrary rotational center and rotation radius during obstacle-following traveling, whereby an obstacle-following traveling time is reduced and consequently, a movement time of the robot cleaner is reduced.

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