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公开(公告)号：KR101403954B1
公开(公告)日：2014-06-11
申请号：KR1020070120013
申请日：2007-11-23
Applicant: 삼성전자주식회사
Abstract: 본 발명은 로봇청소기 시스템의 제어방법에 관한 것으로, 본 발명의 목적은 청소 작업 수행 도중 배터리 부족 등의 이유로 청소 작업을 중단하고 도킹 스테이션으로 귀환하여 충전 등을 수행한 후 청소 작업이 재개될 경우에 청소가 중단된 영역으로 복귀하여 그 지점에서부터 다시 청소를 수행함으로써 중복 청소 영역을 최소화하고 미청소 영역에 대한 청소가 가능하도록 하는 로봇청소기 시스템의 제어방법을 제공함에 있다.
이를 위해 본 발명에 따른 로봇청소기 시스템의 제어방법은 로봇청소기가 벽면 참조 주행 패턴으로 주행하면서 청소 작업을 수행하는 단계; 상기 청소 작업을 중단하고, 충전 또는 먼지 배출을 위해 도킹 스테이션으로 귀환하는 단계; 상기 청소 작업의 중단 전 상기 로봇청소기의 위치 정보를 이용하여 복귀 거리를 산출하는 단계; 상기 복귀 거리를 이용하여 청소 중단 영역으로 복귀한 후 청소 작업을 재개하도록 제어하는 단계를 포함한다.
로봇청소기, 벽면 참조 주행, 중단 영역 복귀-
公开(公告)号：KR101290726B1
公开(公告)日：2013-07-26
申请号：KR1020070084102
申请日：2007-08-21
Applicant: 삼성전자주식회사
Abstract: 본 발명은 로봇청소기에 관한 것으로, 본 발명의 목적은 로봇청소기가 복귀조건일 경우, 외부 충전장치로 용이하게 복귀할 수 있는 로봇청소기의 제어방법을 제공함에 있다.
이를 위해 본 발명은 청소공간을 구획하는 벽면을 따라 제1 주행하고, 벽면에서 멀어지는 방향으로 제2 주행하고, 주행 시, 외부 충전장치에서 발생된 복귀신호가 감지될 때까지 제1 및 제2 주행을 반복한다.-
公开(公告)号：KR101198773B1
公开(公告)日：2012-11-12
申请号：KR1020080007209
申请日：2008-01-23
Applicant: 삼성전자주식회사
Abstract: 본 발명은 로봇청소기 시스템의 복귀방법에 관한 것으로, 충전장치로부터 발신된 복수단계의 복귀신호를 수신하고, 상기 수신된 복수단계의 복귀신호를 우선순위에 따라 정렬하고, 상기 우선순위에 따라 정렬된 복수단계의 복귀신호를 상기 우선순위가 높은 순으로 반사파 유무를 확인하여 상기 반사파가 없다면 로봇청소기를 상기 복귀신호의 수신 위치에 따라 이동한다.
로봇청소기, 복귀, 발신-
公开(公告)号：KR1020110054839A
公开(公告)日：2011-05-25
申请号：KR1020090111628
申请日：2009-11-18
Applicant: 삼성전자주식회사
CPC classification number: G05D1/0272 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L9/2873 , A47L9/2894 , A47L2201/04 , G05D1/0225 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D2201/0203 , Y02B40/82
Abstract: PURPOSE: A control method of a robot cleaner is provided to reduce travelling time of a robot cleaner due to the following of obstacles since the robot cleaner moves along rotation trace having center of rotation and radius of rotation. CONSTITUTION: A control method of a robot cleaner comprises the following steps. Whether a robot cleaner traces an obstacle or not is determined(200). The controller reads an obstacle sensor value which is an output signal of a sensing unit(210). If the obstacle is detected, the controller rotates the robot cleaner on the detected obstacle at an arbitrary angle(230). A spiral trace is calculated using the rotation angle as a starting angle(240). The controller moves the center of the robot cleaner along the spiral trace and spirally moves the robot cleaner(250).
Abstract translation: 目的：提供一种机器人清洁器的控制方法，以减少由于以下障碍物引起的机器人清洁器的行进时间，因为机器人清洁器沿着具有旋转中心和旋转半径的旋转轨迹移动。 构成：机器人清洁器的控制方法包括以下步骤。 确定机器人清洁器是否跟踪障碍物（200）。 控制器读取作为感测单元（210）的输出信号的障碍物传感器值。 如果检测到障碍物，则控制器以任意角度使机器人清洁器以任意角度旋转（230）。 使用旋转角度作为起始角度计算螺旋迹线（240）。 控制器沿着螺旋迹线移动机器人清洁器的中心并螺旋地移动机器人清洁器（250）。
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公开(公告)号：KR1020100123035A
公开(公告)日：2010-11-24
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: PURPOSE: A robot cleaner and a control method thereof are provided to specifically clean a certain position at which dusts are collected without operating a partial cleaning button. CONSTITUTION: A robot cleaner(10) comprises: a body(12) which forms the external appearance thereof; a pair of driving wheels(14) for moving the movement of the robot cleaner; an input unit(100) for receiving a command from a user; an obstacle sensing unit(102) which generates an ultra sonic wave to a path on which the robot cleaner moves; and a charger sensing unit which senses the voltage of a charging terminal in order to recognize the current position of the robot cleaner.
Abstract translation: 目的：提供一种机器人清洁器及其控制方法，以特别清洁收集灰尘的特定位置，而不需要操作部分清洁按钮。 构成：机器人清洁器（10）包括：形成其外观的主体（12）; 一对用于移动机器人清洁器的运动的驱动轮（14）; 用于从用户接收命令的输入单元（100） 障碍物检测单元，其生成超声波到机器人清洁器移动的路径; 以及充电器感测单元，其感测充电终端的电压以识别机器人清洁器的当前位置。
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Patent Agency Ranking
公开(公告)号：KR1020100052702A
公开(公告)日：2010-05-20
申请号：KR1020080111526
申请日：2008-11-11
Applicant: 삼성전자주식회사
CPC classification number: A47L9/2805 , A47L2201/04
Abstract: PURPOSE: An automatic driving robot is provided to be controlled with sensing a collision by the rotation of a rotating member. CONSTITUTION: An automatic driving robot comprises: a robot body(120); and a collision perception part which is placed in the outside of the body of a robot and senses a collision by a rotating member(111) which revolves by an external force which is applied while a collision to an obstacle. The rotating member comprises a guide protrusion(112) and a bearing.
Abstract translation: 目的：提供一种自动驾驶机器人，通过旋转构件的旋转感测碰撞来进行控制。 构成：自动驾驶机器人包括：机器人主体（120）; 以及被放置在机器人的身体的外部的碰撞感知部分，并且通过在与障碍物碰撞时施加的外力旋转的旋转部件（111）感测碰撞。 旋转构件包括导向突起（112）和轴承。
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公开(公告)号：KR1020090081236A
公开(公告)日：2009-07-28
申请号：KR1020080007209
申请日：2008-01-23
Applicant: 삼성전자주식회사
CPC classification number: A47L9/2894 , A47L2201/04
Abstract: A return method of a robot cleaner system is provided to return a robot cleaner in a short time to a charging device by discriminating a reflected wave and a normal return signal according to priority of the return signal. A return method of a robot cleaner system includes the following steps of: transmitting a return signal of multi-steps from a charging device(410); arranging the transmitted return signal of multi-steps according to priority(420); confirming existence and nonexistence of a reflected wave according to the priority; and moving the robot cleaner to a receiving location of the return signal if there is no the reflected wave(470).
Abstract translation: 提供机器人清洁器系统的返回方法，通过根据返回信号的优先级区分反射波和正常返回信号，将机器人清洁器在短时间内返回到充电装置。 机器人清洁系统的返回方法包括以下步骤：从充电装置（410）发送多级的返回信号; 根据优先级排列所发送的多级返回信号（420）; 根据优先权确认反射波的存在和不存在; 如果没有反射波，则将机器人清洁器移动到返回信号的接收位置（470）。
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公开(公告)号：KR1020090033782A
公开(公告)日：2009-04-06
申请号：KR1020080021870
申请日：2008-03-10
Applicant: 삼성전자주식회사
Abstract: An ultrasonic wave distance sensor and a robot cleaner using the same are provided to reduce a manufacturing cost of the robot cleaner by reducing the number of the ultrasonic wave distance sensors for sensing an obstacle distance positioned in an upper part of the robot cleaner or a route in which the robot cleaner moves. A robot cleaner includes a body of an upper part(11) and a lower part(12) and a driving unit installed in the lower part of the body. A display unit displays the operation state of the robot cleaner. A cleaning unit is comprised of an agitator and a suction part and cleans the route in which the robot cleaner moves. The ultrasonic wave distance sensor is installed in the body and senses the distance between the robot cleaner and the obstacles around the robot cleaner. The input unit includes a plurality of buttons whose part is exposed upward in an upper surface of the upper part. The display unit has a display panel and a display panel driving unit driving the display panel.
Abstract translation: 提供超声波距离传感器和使用其的机器人清洁器，以通过减少用于感测位于机器人清洁器的上部的障碍物距离的超声波距离传感器的数量或路线来降低机器人清洁器的制造成本 机器人清洁器移动。 机器人清洁器包括上部（11）和下部（12）的主体以及安装在主体的下部的驱动单元。 显示单元显示机器人清洁器的操作状态。 清洁单元由搅拌器和抽吸部件组成，并且清洁机器人清洁器移动的路线。 超声波距离传感器安装在体内，感测机器人清洁器与机器人清洁器周围的障碍物之间的距离。 输入单元包括多个按钮，其部分在上部的上表面中向上露出。 显示单元具有显示面板和驱动显示面板的显示面板驱动单元。
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公开(公告)号：KR1020090022217A
公开(公告)日：2009-03-04
申请号：KR1020070087369
申请日：2007-08-30
Applicant: 삼성전자주식회사
CPC classification number: A47L9/2857 , A47L9/2805 , A47L2201/04
Abstract: A control method of a robot cleaner is provided to minimize the overlapped cleaning area by changing an existing staggered pattern mode. A control method of a robot cleaner comprises: a step of cleaning driving with a staggered pattern; a step of detecting the wall crossing the former wall at right angels while cleaning driving; and a step moving by force as the vertical movement distance at the staggered pattern along the wall once detect the wall crossing the former wall at right angels.
Abstract translation: 提供一种机器人清洁器的控制方法，通过改变现有的交错图案模式来最小化重叠的清洁区域。 机器人清洁器的控制方法包括：以交错图案清洁驾驶的步骤; 在清洁驾驶时检测在右天使穿过前墙的墙壁的步骤; 并且随着沿着交错格局的垂直运动距离沿着墙壁一度检测到以右天使穿过前壁的墙壁，其力量移动了一步。
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公开(公告)号：KR1020090019570A
公开(公告)日：2009-02-25
申请号：KR1020070084107
申请日：2007-08-21
Applicant: 삼성전자주식회사
CPC classification number: A47L9/2805 , A47L2201/00 , G01C3/02
Abstract: A robot cleaner using a PSD distance calculation module is provided to allow a producer to manufacture the cleaner thin by installing a wide width restraining member in the PSD distance calculation module. A robot cleaner using a PSD(Position Sensitive Detector) distance calculation module comprises a light-emitting area(320) and a light-receiving area(330) at inside, a case containing a substrate(340), a project lens posted at a front of the lighting-emitting area, a wide width restraining member installed in the front of the project lens and a PSD distance calculation module controller producing distance between the PSD distance calculation module and an object. The wide width restraining member(350) is installed in the front of discharging port(322).
Abstract translation: 提供使用PSD距离计算模块的机器人清洁器，通过在PSD距离计算模块中安装宽幅限制构件来允许生产者制造清洁器薄层。 使用PSD（位置敏感检测器）距离计算模块的机器人清洁器包括在内部的发光区域（320）和光接收区域（330），包含基板（340）的壳体， 发光区域的前方，安装在投影镜头前方的宽幅限制元件和PSD距离计算模块控制器，其产生PSD距离计算模块与物体之间的距离。 宽幅限制部件（350）安装在排出口（322）的前方。
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