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    CLEANING ROBOT AND CONTROL METHOD THEREFOR
    2.
    发明申请
    CLEANING ROBOT AND CONTROL METHOD THEREFOR 审中-公开

    公开(公告)号：US20190146504A1

    公开(公告)日：2019-05-16

    申请号：US16098594

    申请日：2017-04-26

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Dong Hun LEE ,  Young Do KWON ,  Heum Yong PARK ,  Min Jae KIM ,  Min Woo RYU

    IPC: G05D1/02 ,  A47L11/40 ,  B25J11/00 ,  B25J19/02 ,  A47L9/30

    Abstract: Provided are a cleaning robot and a method of controlling the same, and more specifically, a cleaning robot provided to detect an obstacle in various directions and a method of controlling the same. The cleaning robot includes a light emitter configured to radiate light, a plurality of light receivers configured to receive a radiation of the light in a predetermined direction among radiations of the light reflected from an obstacle when the radiated light is reflected from the obstacle, a support plate to which the light emitter and the light receiver are fixed and which is rotatably provided, and a controller configured to detect the obstacle on the basis of output signals transmitted from the light emitter and the plurality of light receivers and rotation information of the support plate.

    VACUUM CLEANER AND GRAVITY COMPENSATION APPARATUS THEREFOR
    3.
    发明申请
    VACUUM CLEANER AND GRAVITY COMPENSATION APPARATUS THEREFOR 审中-公开
    真空清洁器及其重量补偿装置

    公开(公告)号：US20170020353A1

    公开(公告)日：2017-01-26

    申请号：US15302416

    申请日：2015-03-27

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Heum Yong PARK ,  Sung Jin PARK ,  Dong Hun LEE ,  Shin KIM

    IPC: A47L9/32 ,  A47L5/30

    CPC classification number: A47L9/325 ,  A47L5/28 ,  A47L5/30

    Abstract: In accordance with one aspect of the present invention, a cleaner includes a gravity compensation apparatus for applying compensation force to a handle unit, the gravity compensation apparatus having an elastic member connected to one side of the handle unit to generate compensation force and a sliding member for making translational movement in conjunction with turning motion of the handle unit to keep the compensation force in a constant direction regardless of an angle of the handle unit. The torque due to gravity applied to a handle unit of a vacuum cleaner may be precisely compensated, thereby relieving the burden of the user from the weight of the handle unit while the user holds the handle unit for cleaning.

    Abstract translation: 根据本发明的一个方面，一种清洁器包括：用于向手柄单元施加补偿力的重力补偿装置，所述重力补偿装置具有连接到手柄单元的一侧以产生补偿力的弹性构件，并且滑动构件 用于使手柄单元的旋转运动结合使平移运动保持补偿力恒定的方向，而与手柄单元的角度无关。 可以精确地补偿由施加到真空吸尘器的手柄单元的重力引起的扭矩，从而在使用者握持手柄单元以进行清洁时减轻使用者的负担，因为手柄单元的重量。

    LINK UNIT, ARM MODULE, AND SURGICAL APPARATUS INCLUDING THE SAME
    4.
    发明申请
    LINK UNIT, ARM MODULE, AND SURGICAL APPARATUS INCLUDING THE SAME 有权
    链路单元，ARM模块和手术设备，包括它们

    公开(公告)号：US20130199327A1

    公开(公告)日：2013-08-08

    申请号：US13759506

    申请日：2013-02-05

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Heum Yong PARK ,  Yong Jae Kim ,  Jeong Hun Kim ,  Youn Baek Lee

    IPC: B25J18/06 ,  F16C11/04

    CPC classification number: B25J18/06 ,  A61B1/00078 ,  A61B1/0055 ,  A61B17/115 ,  A61B2017/00278 ,  A61B2017/00314 ,  A61B2017/00327 ,  A61B2090/508 ,  B25J9/104 ,  F16C11/04 ,  Y10T74/20323 ,  Y10T403/32622

    Abstract: A surgical apparatus having sufficient rigidity in a fixed mode and being freely operable in a steering mode includes one or more arm modules having at least one degree of freedom, each arm module including at least one steering cable to steer the arm module and a plurality of link units to form the at least one arm module, each link unit including a head disposed at an upper portion thereof and having a hemispherical shape, a seat formed at a lower portion thereof, and a sliding ball arranged at the seat, wherein the link units are arranged such that the head of one of the link units is seated on the seat of the other of the link units, and the head of one of the link units and the seat of the other of the link units are slid with respect to each other by the sliding ball.

    Abstract translation: 具有固定模式的足够的刚度并且能够在转向模式下自由操作的手术装置包括具有至少一个自由度的一个或多个臂模块，每个臂模块包括至少一个转向电缆以转向臂模块和多个 连杆单元以形成至少一个臂模块，每个连杆单元包括设置在其上部并具有半球形状的头部，形成在其下部的座椅和布置在座椅处的滑动球，其中，连杆 单元布置成使得一个链接单元的头部位于另一个链接单元的座位上，并且一个链接单元的头部和另一个连接单元的座部相对于 彼此通过滑球。

    CLEANING ROBOT AND CONTROL METHOD THEREFOR
    5.
    发明申请
    CLEANING ROBOT AND CONTROL METHOD THEREFOR 有权

    公开(公告)号：US20210311477A1

    公开(公告)日：2021-10-07

    申请号：US17348327

    申请日：2021-06-15

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Dong Hun LEE ,  Young Do KWON ,  Heum Yong PARK ,  Min Jae KIM ,  Min Woo RYU

    IPC: G05D1/02 ,  B25J9/16 ,  B25J9/00 ,  B25J11/00 ,  B25J19/02 ,  A47L9/28 ,  A47L9/00 ,  A47L9/30 ,  A47L11/40

    Abstract: Provided are a cleaning robot and a method of controlling the same, and more specifically, a cleaning robot provided to detect an obstacle in various directions and a method of controlling the same. The cleaning robot includes a light emitter configured to radiate light, a plurality of light receivers configured to receive a radiation of the light in a predetermined direction among radiations of the light reflected from an obstacle when the radiated light is reflected from the obstacle, a support plate to which the light emitter and the light receiver are fixed and which is rotatably provided, and a controller configured to detect the obstacle on the basis of output signals transmitted from the light emitter and the plurality of light receivers and rotation information of the support plate.

    ROBOT CLEANER
    6.
    发明申请
    ROBOT CLEANER 有权
    机器人清洁剂

    公开(公告)号：US20140196231A1

    公开(公告)日：2014-07-17

    申请号：US14132942

    申请日：2013-12-18

    Applicant: Samsung Electronics Co., Ltd.

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

    IPC: A47L11/40

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

    Abstract: A robot cleaner capable of moving in diverse directions and enhancing cleaning efficiency by increasing frictional force between a pad and a floor includes two or more driving units. Each of the driving units includes plural motors, a first subframe connected to at least any one of the motors and configured to rotate by receiving rotational force from the motor, a rotating plate assembly mounted to the first subframe and configured to be slanted with respect to a floor by rotation of the first subframe and to rotate clockwise or counterclockwise by receiving rotational force from another motor, and a pad provided at the rotating plate assembly and configured to contact the floor. When the rotating plate assembly is slanted with respect to the floor, nonuniform frictional force is generated between the pad and the floor, through which the robot cleaner travels.

    Abstract translation: 能够通过增加垫和地板之间的摩擦力而能够在不同方向移动并提高清洁效率的机器人清洁器包括两个或更多个驱动单元。 每个驱动单元包括多个电动机，第一子框架连接到至少任一个电动机并且被配置为通过接收来自电动机的旋转力而旋转;安装到第一子框架的旋转板组件，并被配置为相对于 通过第一子框架的旋转而通过接收来自另一个电动机的旋转力而顺时针或逆时针旋转的底板以及设置在旋转板组件处并被配置为接触地板的衬垫。 当旋转板组件相对于地板倾斜时，在垫和地板之间产生不均匀的摩擦力，机器人清洁器通过该摩擦力移动。

    ROBOT CLEANER AND CONTROL METHOD THEREOF
    9.
    发明申请
    ROBOT CLEANER AND CONTROL METHOD THEREOF 有权
    机器清洁器及其控制方法

    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 。

    ROBOT CLEANER
    10.
    发明申请
    ROBOT CLEANER 审中-公开
    机器人清洁剂

    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。

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