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1. 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.

2. 发明申请

US20170001490A1 DRIVING UNIT AND CLEANING ROBOT COMPRISING SAME 有权
标题翻译：驾驶单位和包括相同的清洁机器人
公开(公告)号：US20170001490A1
公开(公告)日：2017-01-05
申请号：US15125776
申请日：2015-03-13
申请人： SAMSUNG ELECTRONICS CO., LTD
发明人： Sung Jin PARK , Jae Youl JEONG , Heum Young PARK , Dong Min SHIN , Jeong Ki YOO , Dong Hun LEE
IPC分类号： B60G17/0165 , B60G17/015 , B60K17/14 , A47L11/40 , B60K7/00
CPC分类号： B60G17/0165 , A47L9/009 , A47L11/4011 , A47L11/4041 , A47L11/4066 , A47L11/4072 , A47L2201/04 , B60G17/0157 , B60K7/0007 , B60K17/145
摘要： Disclosed herein is a cleaning robot including an improved driving unit to escape from an undriveable state occurring under various driving conditions. The cleaning robot includes a body, and a driving unit that drives the body. The driving unit includes a first driving motor and a second driving motor that generate driving power; a driving wheel that rotates when the driving power is delivered to the driving wheel from the first driving motor; and a wheel frame that supports the driving wheel to be rotatable and rotates between a first position and a second position with respect to a motor shaft of the first driving motor. The wheel frame rotates in at least one section between the first position and the second position when the driving power is delivered to the wheel frame from the second driving motor.
摘要翻译：本文公开了一种清洁机器人，其包括改进的驱动单元，以从各种驾驶条件下发生的不可驱动状态逃逸。清洁机器人包括主体和驱动主体的驱动单元。驱动单元包括产生驱动力的第一驱动电动机和第二驱动电动机; 当所述驱动力从所述第一驱动马达传送到所述驱动轮时旋转的驱动轮; 以及车轮框架，其支撑所述驱动轮以能够相对于所述第一驱动电动机的电动机轴在第一位置和第二位置之间旋转并旋转。当驱动力从第二驱动马达输送到轮架时，轮架在第一位置和第二位置之间的至少一个部分中旋转。

3. 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。

4. 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。

5. 发明申请

US20150150429A1 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：US20150150429A1
公开(公告)日：2015-06-04
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 Young PARK , In Hak NA
IPC分类号： A47L11/40
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”，“抬起状态”或“被抓住状态”的卡住状态，并通过使用轮子快速地从各种行驶状态引起的卡死状态结构能够改变清洁机器人的总高度。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。

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