公开(公告)号：WO2015076593A1

公开(公告)日：2015-05-28

申请号：PCT/KR2014/011214

申请日：2014-11-20

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： KIM, In Joo ,  YOO, Jeong Ki ,  LEE, Dong Hyun ,  LEE, Dong Hun ,  KIM, Jin Sung

IPC: A47L9/28 ,  B25J13/00 ,  G05D1/02

CPC classification number: A47L11/4011 ,  A47L11/282 ,  A47L11/283 ,  A47L11/4038 ,  A47L11/4061 ,  A47L11/4069 ,  A47L11/4083 ,  A47L2201/022 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0217 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A cleaning robot including a main body, a pad mounted below the main body to implement cleaning, and a drive assembly to apply drive power to the pad. The drive assembly moves the main body to a target position by adjusting the drive power. The cleaning robot may move at a high speed owing to omni-directional movement thereof without rotation of the main body. Further, the cleaning robot may imitate a human wiping pattern, thus achieving enhanced cleaning efficiency. Furthermore, various cleaning patterns including a straight pattern and a curvilinear pattern may be applied to the cleaning robot.

Abstract translation: 一种清洁机器人，包括主体，安装在主体下面的垫以实现清洁;以及驱动组件，用于向垫施加驱动力。 驱动组件通过调节驱动功率将主体移动到目标位置。 清洁机器人由于其全方位运动而高速运动，而不会旋转主体。 此外，清洁机器人可以模拟人的擦拭图案，从而实现提高的清洁效率。 此外，可以对清洁机器人应用包括直线图案和曲线图案的各种清洁图案。

公开(公告)号：EP3071088B1

公开(公告)日：2019-10-09

申请号：EP14863108.8

申请日：2014-11-20

Applicant: Samsung Electronics Co., Ltd.

Inventor： KIM, In Joo ,  YOO, Jeong Ki ,  LEE, Dong Hyun ,  LEE, Dong Hun ,  KIM, Jin Sung

IPC: A47L9/28 ,  B25J13/00 ,  G05D1/02 ,  A47L11/283 ,  A47L11/40

公开(公告)号：EP3071088A1

公开(公告)日：2016-09-28

申请号：EP14863108.8

申请日：2014-11-20

Applicant: Samsung Electronics Co., Ltd.

Inventor： KIM, In Joo ,  YOO, Jeong Ki ,  LEE, Dong Hyun ,  LEE, Dong Hun ,  KIM, Jin Sung

IPC: A47L9/28 ,  B25J13/00 ,  G05D1/02

CPC classification number: A47L11/282 ,  A47L11/283 ,  A47L11/4011 ,  A47L11/4038 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4069 ,  A47L2201/04 ,  G05D1/0217 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A cleaning robot including a main body, a pad mounted below the main body to implement cleaning, and a drive assembly to apply drive power to the pad. The drive assembly moves the main body to a target position by adjusting the drive power. The cleaning robot may move at a high speed owing to omni-directional movement thereof without rotation of the main body. Further, the cleaning robot may imitate a human wiping pattern, thus achieving enhanced cleaning efficiency. Furthermore, various cleaning patterns including a straight pattern and a curvilinear pattern may be applied to the cleaning robot.

公开(公告)号：EP3257420A1

公开(公告)日：2017-12-20

申请号：EP16749490.5

申请日：2016-02-12

Applicant: Samsung Electronics Co., Ltd.

Inventor： LEE, Dong Hyun ,  KIM, In Joo ,  SHIN, Dong Min ,  YOO, Jeong Ki ,  LEE, Dong Hun ,  CHUN, Ji Won

IPC: A47L9/28 ,  G05D1/02 ,  B25J19/04

CPC classification number: A47L9/2852 ,  A47L5/22 ,  A47L9/009 ,  A47L9/0411 ,  A47L9/0477 ,  A47L9/28 ,  A47L9/2826 ,  A47L9/2857 ,  A47L2201/04 ,  B25J9/0003 ,  B25J19/04 ,  G05D1/02 ,  G05D1/0214 ,  G05D1/0248 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0215 ,  G06K9/00664 ,  G06K9/00805 ,  H04N5/2251 ,  Y10S901/01 ,  Y10S901/47

Abstract: Disclosed is a cleaning robot of creating a 3Dimensional (3D) obstacle map including information about a height of an object existing on an area to be cleaned, and cleaning the area to be cleaned based on the 3D obstacle map, and a method of controlling the cleaning robot. Another aspect of the present disclosure is to provide a cleaning robot of matching, when it moves to another area by an external force during cleaning, a feature point map of an area where the cleaning robot is located before moving with a feature point map of another area where the cleaning robot is located after moving, and performing cleaning based on the matched feature point map, and a method of controlling the cleaning robot. In accordance with an aspect of the present disclosure, there is provided A cleaning robot including: a main body; a moving portion configured to move the main body; an obstacle sensor configured to sense a height of an obstacle; and a controller configured to create an obstacle map including information about the height of the obstacle.

Abstract translation: 本发明公开了一种清洁机器人，该清洁机器人创建包括关于存在于要清洁的区域上的物体的高度的信息并且基于3D障碍物图清洁要清洁的区域的三维（3D）障碍物地图，以及控制 清洁机器人。 本公开的另一方面在于提供一种清洁机器人，该清洁机器人当在清洁期间通过外力移动到另一个区域时匹配清洁机器人在移动之前所处的区域的特征点地图与另一区域的特征点地图 移动之后清洁机器人所在的区域以及基于匹配的特征点地图执行清洁的方法以及控制清洁机器人的方法。 根据本公开的一个方面，提供了一种清洁机器人，包括：主体; 移动部，其构造成移动主体; 障碍物传感器，被配置为感测障碍物的高度; 以及控制器，被配置为创建包括关于障碍物的高度的信息的障碍地图。