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公开(公告)号：KR101484940B1
公开(公告)日：2015-01-22
申请号：KR1020090042029
申请日：2009-05-14
Applicant: 삼성전자주식회사
CPC classification number: A47L11/4011 , A47L11/4061 , A47L2201/00 , A47L2201/04 , A47L2201/06 , G05D1/0225 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
Abstract: 본 발명은 로봇청소기의 청소 시작 위치에 따라 주행 패턴을 변경하여 청소를 수행하는 로봇청소기 및 그 제어방법에 관한 것이다.
이를 위해 본 발명은 로봇청소기에 자동청소 명령이 수신되면, 로봇청소기의 현재 위치를 인식하여 충전기에서 자동청소를 시작하는 경우 기존의 청소 방식으로 자동청소를 수행하고, 충전기 이외의 지역에서 자동청소를 시작하는 경우 주행 패턴을 변경하여 부분청소를 먼저 수행한 후 자동청소를 선택적으로 수행함으로써 사용자가 부분청소를 원하는 위치에서 부분청소 버튼을 조작하지 않더라도 먼지가 모여 있는 특정 위치를 집중적으로 청소할 수 있도록 한다.Abstract translation: 本发明涉及一种机器人清洁器和通过根据机器人清洁器的清洁开始位置变更行驶模式进行清洗的控制方法。
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公开(公告)号：KR101397103B1
公开(公告)日：2014-05-20
申请号：KR1020090079131
申请日：2009-08-26
Applicant: 삼성전자주식회사
Abstract: 본 발명은 로봇청소기의 주행 성능을 개선한 로봇청소기 및 그 주행 제어 방법에 관한 것이다.
이를 위해 본 발명은 로봇청소기를 이동시키는 구동 바퀴의 회전 방향과 바닥 면의 먼지를 쓸어 주는 브러시유닛을 동일한 방향으로 회전하여 카펫과 같이 주행 저항이 큰 바닥 면에서도 로봇청소기의 전후 주행이 원활히 이루어질 수 있도록 한다.-
公开(公告)号：KR1020100136885A
公开(公告)日：2010-12-29
申请号：KR1020090077561
申请日：2009-08-21
Applicant: 삼성전자주식회사
CPC classification number: G05B19/4155 , A47L9/2805 , A47L9/2852 , A47L9/2873 , A47L9/2894 , A47L2201/02 , A47L2201/022 , A47L2201/04 , G05B19/416 , G05B2219/45098 , G05D1/0225 , G05D1/0242 , G05D2201/0203 , Y10S901/01
Abstract: PURPOSE: A robot cleaner and a movement control method thereof are provided to enable a robot cleaner to move linearly. CONSTITUTION: A robot cleaner(1) comprises a body, driving wheels(21,22), a caster wheel(23), a rotating angle detector and a control unit. The driving wheels transfer the body. The caster wheel is rotatably formed on the body. The rotating angle detector detects the rotating angle of the caster wheel. The control unit adjusts the rotation of the driving wheel according to the rotating angle of the caster wheel.
Abstract translation: 目的：提供一种机器人清洁器及其运动控制方法，以使机器人清洁器能够线性移动。 构成：机器人清洁器（1）包括主体，驱动轮（21,22），脚轮（23），旋转角度检测器和控制单元。 驱动轮传动身体。 脚轮可旋转地形成在主体上。 旋转角度检测器检测脚轮的旋转角度。 控制单元根据脚轮的旋转角度来调节驱动轮的旋转。
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公开(公告)号：KR1020100133884A
公开(公告)日：2010-12-22
申请号：KR1020100019004
申请日：2010-03-03
Applicant: 삼성전자주식회사
CPC classification number: A47L9/2852 , A47L9/2805 , A47L2201/04
Abstract: PURPOSE: A robot cleaner and a control method thereof are provided to clean a target area without skipped part by executing a normal cleaning driving mode of zigzag pattern and then a finish cleaning driving mode of arbitrary pattern. CONSTITUTION: A control method of a robot cleaner(7) is as follows. A zigzag driving mode including a first driving path and a second driving path is executed. In the first driving path, the robot cleaner moves from a spot to a wall of a target area. In the second driving path, the robot cleaner moves apart from the wall. The first driving path and the second driving path keep a fixed interval.
Abstract translation: 目的：提供机器人清洁器及其控制方法，通过执行锯齿形图案的正常清洁驱动模式，然后执行任意图案的完成清洁驱动模式来清洁目标区域而不跳过部分。 构成：机器人清洁器（7）的控制方法如下。 执行包括第一驱动路径和第二驱动路径的之字形驱动模式。 在第一驱动路径中，机器人清洁器从目标区域的点移动到壁。 在第二驱动路径中，机器人清洁器从墙壁移开。 第一驱动路径和第二驱动路径保持固定的间隔。
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公开(公告)号：KR1020100123581A
公开(公告)日：2010-11-24
申请号：KR1020090101527
申请日：2009-10-26
Applicant: 삼성전자주식회사
CPC classification number: G05D1/0231 , G05D2201/0203
Abstract: PURPOSE: A mobile robot system and a control method thereof are provided to minimize the movement limit area of a mobile robot, since sensing result is reported to the mobile robot only when a remote controller reception module of a beacon senses transmission signals of the mobile robot. CONSTITUTION: A mobile robot system comprises a mobile robot(10) and a beacon(20). The mobile robot transmits signals with moving in a running region. The beacon receives signals transmitted from the mobile robot and transmits response signals to the mobile robot. The beacon restricts the receiving area of signals and transmits response signals to the mobile robot only when the beacon receives transmission signals inside a limited reception region.
Abstract translation: 目的：提供一种移动机器人系统及其控制方法，以使移动机器人的移动限制区域最小化，因为只有当信标的遥控器接收模块感测到移动机器人的传输信号时才将感测结果报告给移动机器人 。 构成：移动机器人系统包括移动机器人（10）和信标（20）。 移动机器人在运行区域中发送信号。 信标接收从移动机器人发送的信号，并向移动机器人发送响应信号。 信标限制信号的接收区域，并且只有当信标在有限的接收区域内接收到传输信号时才将响应信号发送到移动机器人。
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Patent Agency Ranking
公开(公告)号：KR1020100096970A
公开(公告)日：2010-09-02
申请号：KR1020090037400
申请日：2009-04-29
Applicant: 삼성전자주식회사
CPC classification number: G05D1/0234 , G05D2201/0203
Abstract: PURPOSE: A localization system and a method thereof are provided to detect the accurate location of mobile platform by calculating a relative angle and a relative distance of a mobile platform after taking an image of a beacon. CONSTITUTION: A localization system comprises a beacon(10) and a mobile platform(20). The beacon has a recognizable image pattern. The mobile platform recognizes the location by using the image pattern of the beacon. The beacon is arranged to separate from the mobile platform.
Abstract translation: 目的：提供一种定位系统及其方法，通过计算移动平台拍摄信标图像后的相对角度和相对距离来检测移动平台的准确位置。 构成：本地化系统包括信标（10）和移动平台（20）。 信标具有可识别的图像模式。 移动平台通过使用信标的图像模式识别位置。 信标被安排为与移动平台分离。
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公开(公告)号：KR1020090051319A
公开(公告)日：2009-05-22
申请号：KR1020070117651
申请日：2007-11-19
Applicant: 삼성전자주식회사
CPC classification number: A47L9/2894 , A47L9/2873 , A47L2201/02 , A47L2201/06
Abstract: 본 발명은 로봇청소기 시스템 및 그 제어방법에 관한 것으로, 본 발명의 목적은 청소가 수행되지 않은 영역(미청소 영역)이 거의 없이 전체 청소 대상 영역이 고르게 청소되면서도 중복 청소 영역은 최소화 할 수 있는 청소 완료 시점을 판단하는 로봇청소기 시스템 및 그 제어방법을 제공함에 있다.
이를 위해 본 발명에 따른 로봇청소기 시스템의 제어방법은 로봇청소기가 벽면 참조 주행 패턴으로 주행하면서 청소 작업을 수행하는 단계; 상기 청소 작업 수행 도중 상기 로봇청소기가 도킹 스테이션에 접근하였는가 여부를 판단하는 단계; 상기 판단 단계에서 상기 로봇청소기가 상기 도킹 스테이션에 접근하였다고 판단되면 상기 청소 작업을 종료하도록 제어하는 단계를 포함한다.
로봇청소기, 벽면 참조 주행, 청소 완료-
公开(公告)号：KR1020090018562A
公开(公告)日：2009-02-20
申请号：KR1020080021869
申请日：2008-03-10
Applicant: 삼성전자주식회사
CPC classification number: A47L9/2857 , A47L9/009 , A47L9/2805 , A47L2201/04
Abstract: A robot cleaner and a control method are provided to reduce operation quantity by using a local map in which obstacle is reflected to avoid the obstacle and prevent being locked with the obstacle. A robot cleaner comprises an input unit(110) allowing a user to manipulating the robot cleaner, obstacle sensors(S1,S2,S3,S4,S5,S6,S7) installed in circumference of a main body and sensing obstacles, a driving part(160) including a left and right traveling motor(162,163) rotating a right and left drive wheel(40,41), a foreign material collecting part(140) including a brush rotation motor(142) rotating a brush(141), a cleaning part(130) consisting of a foreign material suction part(150) including a suction motor(152) rotating a lift pump(151) and a memory(120) storing a local map consisting of a plurality of cells reflecting the obstacle domain of the robot cleaner neighboring.
Abstract translation: 提供机器人清洁器和控制方法，通过使用其中反射障碍物的局部地图来减少操作量，以避免障碍物并防止与障碍物锁定。 机器人清洁器包括允许用户操纵机器人清洁器的输入单元（110），安装在主体周围并感测障碍物的障碍物传感器（S1，S2，S3，S4，S5，S6，S7），驱动部分 （160），包括旋转左右驱动轮（40,41）的左右行进马达（162,163），包括旋转刷（141）的刷旋转马达（142）的异物收集部（140） 由包括旋转提升泵（151）的抽吸马达（152）和外部材料抽吸部（150）组成的清洁部件（130）和存储器（120），所述存储器存储由反映所述障碍物区域的多个单元组成的局部地图 机器人清洁器邻近。
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公开(公告)号：KR1020090018336A
公开(公告)日：2009-02-20
申请号：KR1020070082726
申请日：2007-08-17
Applicant: 삼성전자주식회사
CPC classification number: A47L9/2805 , A47L9/2857 , A47L2201/04
Abstract: A robot cleaner and a control method is provided to prevent wrongly detecting a wall due to steal frame structure affecting the detection of a sensor by sensing wall with a gyro sensor module. A robot cleaner comprises an input unit(110) controlling the robot cleaner by a user, an obstacle distant sensor(120) measuring distance between the cleaner and an object material, a driving part(40) consisting of driving wheels and a drive motor, a mileage detection department(140) detecting mileage information, a foreign substance remove part(60) including a brush rotation motor(62), a foreign material suction part(70) including a suction motor(72) and a controller(100) storing a rotation angle of the robot cleaner in a memory unit(150) after receiving the rotation angle from a gyro sensor module(130), if the robot cleaner drives following the wall.
Abstract translation: 提供了一种机器人清洁器和控制方法，以防止由于通过用陀螺传感器模块感测壁而影响传感器检测的窃取框架结构而错误地检测墙壁。 机器人清洁器包括用户控制机器人清洁器的输入单元（110），测量清洁器和物体材料之间的距离的障碍物远距离传感器（120），由驱动轮和驱动马达组成的驱动部分（40） 检测里程信息的里程检测部（140），包括刷旋转马达（62）的异物清除部（60），包括吸引马达（72）的异物吸引部（70）和存储 如果机器人清洁器驱动跟随墙壁，则在接收到来自陀螺仪传感器模块（130）的旋转角度之后的存储单元（150）中的机器人清洁器的旋转角度。
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公开(公告)号：KR1020080090925A
公开(公告)日：2008-10-09
申请号：KR1020070034403
申请日：2007-04-06
Applicant: 삼성전자주식회사
CPC classification number: A47L9/009 , A47L2201/04 , G05D1/0219 , G05D1/0238 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
Abstract: A robot cleaner and a control method thereof are provided to minimize the repeated cleaning of the same spot by setting a left wall surface from a starting point of the cleaner as a reference wall surface based on a left weight method and turning the cleaner to the left at 90°. A control method of a robot cleaner comprises the steps of: setting a left wall surface from a starting point of the cleaner as a reference wall surface based on a left weight method(S100); operating the cleaner along the wall surface(S110); turning from the reference wall surface to the right at 90°(S120); moving forward the cleaner at a set distance(S130); turning the cleaner to the left at 90°(S140); moving forward the cleaner by a predetermined distance(S150); turning the cleaner to the left at 90°(S160); moving forward the cleaner to a p1 area for returning to the reference wall surface(S170); turning the cleaner to the right at 90° for moving along the wall surface(S180); and judging whether an angle of the reference wall surface is changed at more than a predetermined angle(S190).
Abstract translation: 提供了一种机器人清洁器及其控制方法，以通过基于左重量方法将来自清洁器的起点的左壁表面设置为基准壁面，并将清洁器向左转动来最小化同一点的重复清洁 在90°。 机器人清洁器的控制方法包括以下步骤：基于左重量方法将来自清洁器起点的左壁面设置为基准壁面（S100）; 沿着墙面操作清洁剂（S110）; 从参考壁面向右转90°（S120）; 向前移动清洁器一定距离（S130）; 将清洁剂向左转90°（S140）; 将清洁器向前移动预定距离（S150）; 将清洁器向左转90°（S160）; 将清洁器向前移动到p1区域以返回到参考壁表面（S170）; 将清洁剂向右转90°以沿着墙壁表面移动（S180）; 以及判断基准壁面的角度是否变化超过预定角度（S190）。
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