公开(公告)号：US20150150429A1

公开(公告)日：2015-06-04

申请号：US14510487

申请日：2014-10-09

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： 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: A47L11/40

CPC classification number: A47L11/4011 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4072 ,  A47L2201/04 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0215

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20170001490A1

公开(公告)日：2017-01-05

申请号：US15125776

申请日：2015-03-13

Applicant: SAMSUNG ELECTRONICS CO., LTD

Inventor： Sung Jin PARK ,  Jae Youl JEONG ,  Heum Young PARK ,  Dong Min SHIN ,  Jeong Ki YOO ,  Dong Hun LEE

IPC: B60G17/0165 ,  B60G17/015 ,  B60K17/14 ,  A47L11/40 ,  B60K7/00

CPC classification number: B60G17/0165 ,  A47L9/009 ,  A47L11/4011 ,  A47L11/4041 ,  A47L11/4066 ,  A47L11/4072 ,  A47L2201/04 ,  B60G17/0157 ,  B60K7/0007 ,  B60K17/145

Abstract: 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.

Abstract translation: 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。

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。

公开(公告)号：US20210321842A1

公开(公告)日：2021-10-21

申请号：US17365302

申请日：2021-07-01

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jae Youl JEONG ,  Dong Wook KIM

IPC: A47L9/00 ,  A47L11/24 ,  A47L11/40

Abstract: Disclosed herein are a wheel assembly and a robot cleaner including a main body and a wheel assembly coupled to the main body to guide movement of the main body. The wheel assembly has a rotation arm including a first end portion rotatably mounted on the main body, a drive wheel rotatably installed on a second end portion of the rotation arm opposite the first end portion, and an elastic member including a first end installed at the main body and a second end vertically moveably installed at the rotation arm opposite the first end, such that a reduction degree of a contact force due to a descent of the drive wheel.

公开(公告)号：US20210068606A1

公开(公告)日：2021-03-11

申请号：US17101430

申请日：2020-11-23

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Dong Hun LEE ,  Heum Yong PARK ,  Chang Yeong KIM ,  Jae Youl JEONG ,  Young Do KWON ,  Jin Wook YOON

IPC: A47L9/28 ,  G05D1/02 ,  B25J9/16 ,  B25J11/00

Abstract: A cleaning robot having an improved structure capable of improving a user convenience and method for controlling the same are disclosed herein. A cleaning robot includes a main body to form an outer appearance and having an inlet port provided to suck a foreign matter present in a cleaning area, an operation unit detachably coupled to the main body and provided to be gripped, at least one motion sensor provided to detect a motion of the operation unit, and a control unit electrically connected to the at least one motion sensor to drive a driving motor of the main body based on the motion of the operation unit detected by the at least one motion sensor.

公开(公告)号：US20190090703A1

公开(公告)日：2019-03-28

申请号：US15767255

申请日：2016-11-16

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jae Youl JEONG ,  Dong Wook KIM

IPC: A47L9/00 ,  A47L11/24 ,  A47L11/40

Abstract: Disclosed herein are a wheel assembly and a robot cleaner including a main body and a wheel assembly coupled to the main body to guide movement of the main body. The wheel assembly has a rotation arm including a first end portion rotatably mounted on the main body, a drive wheel rotatably installed on a second end portion of the rotation arm opposite the first end portion, and an elastic member including a first end installed at the main body and a second end vertically moveably installed at the rotation arm opposite the first end, such that a reduction degree of a contact force due to a descent of the drive wheel.

公开(公告)号：US20180249878A1

公开(公告)日：2018-09-06

申请号：US15913560

申请日：2018-03-06

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jae Youl JEONG ,  Dong Wook KIM ,  Sung Jin PARK ,  Sin-Ae KIM

IPC: A47L11/40 ,  A47L5/24 ,  A47L9/00

Abstract: Disclosed herein are a vacuum cleaner including: a base including a suction opening; a main frame including a dust collecting apparatus configured to remove dust from air sucked through the suction opening; and a wheel assembly including a forward wheel and a reverse wheel, and rotatably coupled with the base, wherein when the main frame slides with respect to the base, any one of the forward wheel and the reverse wheel contacts a floor. Therefore, the vacuum cleaner may understand a user's intention without adding a senor and a control circuit, and travel actively according to the user's intention.

公开(公告)号：US20180242807A1

公开(公告)日：2018-08-30

申请号：US15550670

申请日：2015-09-15

Applicant: Samsung Electronics Co., Ltd.

Inventor： Dong Hun LEE ,  Heum Yong PARK ,  Chang Yeong KIM ,  Jae Youl JEONG ,  Young Do KWON ,  Jin Wook YOON

IPC: A47L9/28 ,  B25J11/00 ,  G05D1/02

CPC classification number: A47L9/2863 ,  A47L9/28 ,  A47L9/2852 ,  A47L2201/00 ,  A47L2201/04 ,  B25J9/16 ,  B25J11/0085 ,  G05D1/02 ,  G05D1/021 ,  G05D2201/0215 ,  Y10S901/01

Abstract: A cleaning robot having an improved structure capable of improving a user convenience and method for controlling the same are disclosed herein. A cleaning robot includes a main body to form an outer appearance and having an inlet port provided to suck a foreign matter present in a cleaning area, an operation unit detachably coupled to the main body and provided to be gripped, at least one motion sensor provided to detect a motion of the operation unit, and a control unit electrically connected to the at least one motion sensor to drive a driving motor of the main body based on the motion of the operation unit detected by the at least one motion sensor.

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。