公开(公告)号：US20040204804A1

公开(公告)日：2004-10-14

申请号：US10819984

申请日：2004-04-08

Applicant: Samsung Electronics Co., Ltd.

Inventor： Hyoung-ki Lee ,  Sun-gi Hong ,  Seok-won Bang ,  Il-hwan Kim ,  Kl-wan Choi

IPC: B25J005/00 ,  G06F019/00 ,  G01C022/00 ,  G05D001/00

CPC classification number: G05D1/0225 ,  A47L2201/02 ,  A47L2201/04 ,  G05D1/0219 ,  G05D1/0255 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: A method and apparatus generating and tracing a cleaning trajectory of a home cleaning robot the method including: controlling the home cleaning robot to straightly travel as much as a set distance from the docking station and then rotationally travel, maintaining the set distance from the docking station, until the home cleaning robot reaches one of two walls; controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls; and repeatedly controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls until the home cleaning robot arrives at a point where it cannot travel in a direction in which a distance between the docking station and the home cleaning robot increases.

Abstract translation: 一种产生和追踪家用清洁机器人的清洁轨迹的方法和装置，该方法包括：控制家用清洁机器人从对接站直线行进一定距离，然后旋转地行进，保持与对接站的距离 ，直到家用清洁机器人到达两面墙之一; 如果家用清洁机器人到达墙壁并且在对接站周围继续旋转运行，则控制家用清洁机器人沿着墙壁的设定距离行进多达一点距离，保持对接站和家庭清洁机器人之间的距离增加了设置 距离直到它到达两个墙壁之一; 并且如果家用清洁机器人到达墙壁并且在对接站周围继续旋转移动，则反复地控制家用清洁机器人沿着墙壁的设定距离行进多达一点，保持对接站和家用清洁机器人之间的距离增加 直到到达两个墙壁之一的设定距离，直到家庭清洁机器人到达其不能在对接站和家用清洁机器人之间的距离增加的方向上行进的点时。

公开(公告)号：US20040210346A1

公开(公告)日：2004-10-21

申请号：US10823548

申请日：2004-04-14

Applicant: Samsung Electronics Co., Ltd.

Inventor： Hyoung-ki Lee ,  Sun-gi Hong ,  Seok-won Bang ,  Il-hwan Kim ,  Ki-wan Choi

IPC: G06F019/00

CPC classification number: G06N3/008 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0208

Abstract: A method and apparatus allowing a mobile robot to return to a designated location the method including: calculating a first direction angle of the mobile robot at a second location arrived at after the mobile robot travels a predetermined distance from the first location; determining whether the mobile robot approaches or moves away from the designated location, at a third location arrived at after the mobile robot rotates by the first direction angle and then travels a predetermined distance; and if the result of the determination indicates that the mobile robot approaches the docking station, controlling the mobile robot to travel according to the first direction angle, and if the result indicates the mobile robot moves away from the docking station, calculating a second direction angle of the mobile robot at the third location, and controlling the mobile robot to travel according to the second direction angle.

Abstract translation: 一种允许移动机器人返回到指定位置的方法和装置，包括：在移动机器人从第一位置行进预定距离之后到达的第二位置处计算移动机器人的第一方向角; 在移动机器人旋转第一方向角度然后行进预定距离之后到达的第三位置处，确定移动机器人是否接近或远离指定位置; 并且如果确定结果指示移动机器人接近对接站，则控制移动机器人根据第一方向角行进，并且如果结果指示移动机器人远离对接站移动，则计算第二方向角 在第三位置处移动机器人，并且根据第二方向角度控制移动机器人行进。