公开(公告)号：US20160259336A1

公开(公告)日：2016-09-08

申请号：US15057432

申请日：2016-03-01

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Dong Hun LEE ,  Sung Jin PARK ,  Heum Yong PARK ,  Dong-Hyun LEE

IPC: G05D1/00 ,  B60G17/019 ,  B60L15/20 ,  B60G17/016

CPC classification number: B60L15/20 ,  A47L9/2831 ,  A47L11/40 ,  A47L2201/00 ,  B60G17/016 ,  B60G17/019 ,  G05D1/00 ,  G05D1/02 ,  Y02T10/7258

Abstract: 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.

Abstract translation: 提出了一种机器人清洁器及其控制方法，该机器人清洁器具有改进的轮结构以避免在各种行驶条件下被卡住。 机器人清洁器可以通过在机器人清洁器脱离卡住时通过控制电动机的电流提供地板的最佳摩擦力而平稳地从门槛或障碍物逸出以稳定地行进，而不管地板的状态如何 。 此外，机器人清洁器在机器人清洁器脱离卡住之后并且在驱动轮返回到正常模式之前，通过控制流过马达的电流可以稳定地行进而不会摇动。 此外，当机器人清洁器越过障碍物时，可以防止诸如齿轮的轮机构被外部冲击（例如，由宠物或物体掉落引起）或由自主振动引起的冲击而损坏 。

公开(公告)号：US20150182090A1

公开(公告)日：2015-07-02

申请号：US14580712

申请日：2014-12-23

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： 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: A47L11/40

CPC classification number: A47L11/4069 ,  A47L11/283 ,  A47L11/4038 ,  A47L11/4055 ,  A47L11/4058 ,  A47L11/4061 ,  A47L11/4063 ,  A47L2201/04

Abstract: 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.

Abstract translation: 公开了一种机器人清洁器，其能够通过使用较少的马达来降低其材料成本，并且在所有方向上行进并且摩擦地板表面时进行湿式清洁，机器人清洁器包括产生驱动力的多个马达，多个垫组件 被配置为通过从多个马达中的一个接收驱动力而旋转，并以倾斜的方式设置，使得多个垫组件中的每一个的底表面相对于地板表面具有不均匀的摩擦力，并且倾斜 齿轮单元，其构造成通过从多个马达中的另一个马达接收驱动力来同时改变多个垫组件的倾斜方向，其中机器人清洁可以根据每个的每个的倾斜方向和旋转方向在所有方向上行进 多个垫组件。

公开(公告)号：US20150143646A1

公开(公告)日：2015-05-28

申请号：US14497671

申请日：2014-09-26

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Jae Youl JEONG ,  Sung Jin PARK ,  Heum Yong PARK ,  Dong Hun LEE ,  Min Jae KIM

IPC: A47L11/40

CPC classification number: A47L11/4036 ,  A47L11/283 ,  A47L11/4038 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4069 ,  A47L11/4088 ,  A47L2201/04

Abstract: 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.

Abstract translation: 机器人清洁器包括多个电动机，每个电动机都传递驱动力，焊接组件连接到多个电动机中的一个以接收来自电动机的旋转力，以沿顺时针或逆时针方向旋转，因此， 清洁地板表面，以及连接到焊盘组件和多个电动机中的另一个的电线，使得焊盘组件通过电动机的驱动力而倾斜，其中机器人清洁器沿着特定方向移动通过非电动机 - 垫组件的底表面和地板表面之间的摩擦力不均匀。 机器人清洁器使用电线来倾斜衬垫组件，因此可以使机器人清洁器小型化。