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    CLEANING ROBOT AND CONTROL METHOD THEREOF
    2.
    发明申请
    CLEANING ROBOT AND CONTROL METHOD THEREOF 审中-公开
    清洁机器人及其控制方法

    公开(公告)号：WO2015084078A1

    公开(公告)日：2015-06-11

    申请号：PCT/KR2014/011842

    申请日：2014-12-04

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： YOO, Jeong Ki ,  PARK, Sung Jin ,  LEE, Jun Young ,  SHIN, Dong Min ,  LEE, Dong Hun ,  JEONG, Jae Youl ,  KIM, Shin ,  PARK, Heum Yong ,  NA, In Hak

    IPC: A47L9/28 ,  B25J13/08

    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”，“提升状态”或“物体捕获状态”的卡住状态，并且通过使用车轮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。

    ROBOT CLEANER
    3.
    发明申请
    ROBOT CLEANER 审中-公开
    机器人清洁剂

    公开(公告)号：WO2015102300A1

    公开(公告)日：2015-07-09

    申请号：PCT/KR2014/012823

    申请日：2014-12-24

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： PARK, Sung Jin ,  LEE, Jun Young ,  HA, Dong Woo ,  PARK, Heum Yong ,  LEE, Dong Hyun ,  LEE, Dong Hun ,  JEONG, Jae Youl ,  KIM, Min Jae

    IPC: A47L9/00 ,  A47L9/28

    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。

    CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME
    4.
    发明申请
    CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME 审中-公开
    清洁机器人及其控制方法

    公开(公告)号：WO2014200252A1

    公开(公告)日：2014-12-18

    申请号：PCT/KR2014/005101

    申请日：2014-06-11

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： LEE, Dong Hun ,  PARK, Heum Yong

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

    CPC classification number: G05D1/0033 ,  G05D1/0016 ,  G05D1/0223 ,  G05D1/0246 ,  G05D2201/0203 ,  G06F3/00 ,  G06F3/017 ,  G06K9/00375 ,  G06K9/00664 ,  G06T7/248 ,  G06T2207/30196 ,  G06T2207/30204 ,  Y10S901/02

    Abstract: A cleaning robot includes a main body, a moving assembly to move the main body, a cleaning tool provided at a bottom part of the main body to collect foreign substances on a floor, an imager to collect images around the main body and a controller to recognize motion of a hand by performing image processing of the collected images, identify a control command corresponding to the motion of the hand, plan a moving direction and a moving distance of the main body as movement information based on the control command, and control operations of the moving assembly and the cleaning tool based on the planned movement information. Since the user directly controls movement of the cleaning robot, it is possible to improve interactivity between human and cleaning robot, reduce the user's labour and increase convenience.

    Abstract translation: 清洁机器人包括：主体，移动主体的移动组件;设置在主体的底部的清洁工具，用于在地板上收集异物;成像器，用于收集主体周围的图像;以及控制器， 通过对所收集的图像执行图像处理来识别手的运动，识别与手的运动相对应的控制命令，基于控制命令来计划主体的移动方向和移动距离作为移动信息，以及控制操作 的移动组件和清洁工具。 由于用户直接控制清洁机器人的移动，所以可以提高人与清洁机器人之间的交互性，减少用户的劳动并增加便利性。

    ROBOT CLEANER
    5.
    发明申请
    ROBOT CLEANER 审中-公开
    机器人清洁剂

    公开(公告)号：WO2014112772A1

    公开(公告)日：2014-07-24

    申请号：PCT/KR2014/000411

    申请日：2014-01-15

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

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

    IPC: A47L11/16 ,  A47L11/283 ,  B25J13/00 ,  B25J9/00

    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。

    VACUUM CLEANER AND GRAVITY COMPENSATION APPARATUS THEREFOR
    7.
    发明公开
    VACUUM CLEANER AND GRAVITY COMPENSATION APPARATUS THEREFOR 审中-公开
    维也纳大学教授维多利亚大学DAFÜR

    公开(公告)号：EP3130269A1

    公开(公告)日：2017-02-15

    申请号：EP15776778.1

    申请日：2015-03-27

    Applicant: Samsung Electronics Co., Ltd.

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

    IPC: A47L5/28

    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 用于与手柄单元的转动运动相结合地进行平移运动，以将补偿力保持在恒定方向，而与手柄单元的角度无关。 可以精确地补偿由于施加到真空吸尘器的手柄单元的重力引起的扭矩，从而在使用者握住手柄单元以进行清洁时减轻使用者的负担，从而减轻使用者的重量。

    CLEANING ROBOT AND CONTROL METHOD THEREOF
    8.
    发明公开
    CLEANING ROBOT AND CONTROL METHOD THEREOF 审中-公开
    清洁机器人及其控制方法

    公开(公告)号：EP3076845A1

    公开(公告)日：2016-10-12

    申请号：EP14867029.2

    申请日：2014-12-04

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： YOO, Jeong Ki ,  PARK, Sung Jin ,  LEE, Jun Young ,  SHIN, Dong Min ,  LEE, Dong Hun ,  JEONG, Jae Youl ,  KIM, Shin ,  PARK, Heum Yong ,  NA, In Hak

    IPC: A47L9/28 ,  B25J13/08

    CPC classification number: A47L11/4011 ,  A47L9/009 ,  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: 具有改进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动作指令或传感器信息来检测诸如“卡住状态”，“抬起状态”或“物体抓住状态”的卡住状态，并通过使用轮子快速脱离在各种行驶状态中引起的卡住状态 结构能够改变清洁机器人的总高度。 另外，在清洁机器人处于卡住状态之前预测卡住状态的风险程度和类型，从而清洁机器人可预先处理卡住状态。 根据预测的卡住状态的危险程度，清洁机器人可以通过快速减速或快速停止而从卡住状态脱离，并且清洁机器人可以通过使用信息选择适合于卡住状态的逃脱方法来有效地处理卡住状态 卡住状态的类型。

    PORTABLE EXPANSION MODULE, X-RAY DETECTOR, AND CONTROL METHOD OF X-RAY DETECTOR
    9.
    发明公开
    PORTABLE EXPANSION MODULE, X-RAY DETECTOR, AND CONTROL METHOD OF X-RAY DETECTOR 审中-公开

    公开(公告)号：EP3682805A1

    公开(公告)日：2020-07-22

    申请号：EP20152700.9

    申请日：2020-01-20

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： KIM, Jeong Sik ,  KIM, Sung Nam ,  LEE, Dong Hun

    IPC: A61B6/00

    Abstract: Disclosed herein is a portable expansion module, an X-ray detector, and a method of controlling the X-ray detector. The portable expansion module includes a connecting portion configured to connect to a connector of an X-ray detector, and a display configured to operate using power supplied from the X-ray detector to the portable expansion module based on the connecting portion being connected to the connector, receive data from the X-ray detector based on the connecting portion being connected to the connector, and display state information of the X-ray detector based on the data received from the X-ray detector.

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