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公开(公告)号：WO2009011542A1
公开(公告)日：2009-01-22
申请号：PCT/KR2008/004164
申请日：2008-07-16
Applicant: LG ELECTRONICS INC. , REW, Ho-Seon , YI, Dong-Hoon , KIM, Young-Gie , JUNG, Young-Gyu , CHUNG, Moon-Kee , PARK, Jong-Il , CHOI, Woo-Jin
Inventor： REW, Ho-Seon , YI, Dong-Hoon , KIM, Young-Gie , JUNG, Young-Gyu , CHUNG, Moon-Kee , PARK, Jong-Il , CHOI, Woo-Jin
CPC classification number: A47L9/009 , A47L2201/04 , G05D1/0255 , G05D2201/0215
Abstract: Disclosed are a mobile robot and a controlling method thereof. The mobile robot comprises: a case; and a sensor unit having two or more sending portions and two or more receiving portions arranged on an outer surface of the case separately and alternately. The plurality of sending portions and receiving portions are arranged in an alternating manner, thereby having a directivity. Also, since signals received through the receiving portions are judged based on a reference value, an area unallowable to be detected for an obstacle sensing is minimized, which allows an obstacle to be detected more accurately. When the obstacle corresponds to a side wall on the basis of a moving path of the mobile robot, a distance between the side wall and the mobile robot is calculated based on signals received by the receiving portion closest to the side wall. Accordingly, the mobile robot can move with maintaining a constant distance from the side wall.
Abstract translation: 公开了一种移动机器人及其控制方法。 移动机器人包括：壳体; 以及传感器单元，其具有两个或更多个发送部分和两个或更多个接收部分，分别和交替地布置在壳体的外表面上。 多个发送部分和接收部分以交替的方式布置，从而具有方向性。 此外，由于基于参考值判断通过接收部分接收到的信号，所以不容易被检测用于障碍物感测的区域被最小化，这允许更准确地检测障碍物。 当障碍物基于移动机器人的移动路径对应于侧壁时，基于最靠近侧壁的接收部分接收的信号来计算侧壁和移动机器人之间的距离。 因此，移动机器人可以在与侧壁保持恒定距离的情况下移动。
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2.发明申请MOBILE ROBOT WITH SINGLE CAMERA AND METHOD FOR RECOGNIZING 3D SURROUNDINGS OF THE SAME 审中-公开具有单个摄像机的移动机器人和用于识别其中的3D环绕的方法
公开(公告)号：WO2010114235A1
公开(公告)日：2010-10-07
申请号：PCT/KR2010/001556
申请日：2010-03-12
Applicant: LG ELECTRONICS INC. , CHOI, Yoo-Jin , KIM, Young-Gie , YOON, Jeong-Suk , LEE, Seong-Soo , KIM, Yie-Bin , BAEK, Seung-Min , NA, Sang-Ik , CHOE, Su-Uk , YI, Dong-Hoon , LEE, Jei-Hun
Inventor： CHOI, Yoo-Jin , KIM, Young-Gie , YOON, Jeong-Suk , LEE, Seong-Soo , KIM, Yie-Bin , BAEK, Seung-Min , NA, Sang-Ik , CHOE, Su-Uk , YI, Dong-Hoon , LEE, Jei-Hun
CPC classification number: A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
Abstract: Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
Abstract translation: 公开了具有能够对周围环境进行清洁处理的单个摄像机的移动机器人，并且能够更精确地制作包括多个特征点的周围环境的3D地图，以及用于识别3D环境的方法。 根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取 环境的3D信息。
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Patent Agency Ranking3.发明申请DETECTING APPARATUS OF ROBOT CLEANER AND CONTROLLING METHOD OF ROBOT CLEANER 审中-公开机器清洁器的检测装置和机器人清洁器的控制方法
公开(公告)号：WO2009057918A1
公开(公告)日：2009-05-07
申请号：PCT/KR2008/006316
申请日：2008-10-24
Applicant: LG ELECTRONICS INC. , PARK, Dong-Woo , KIM, Sung-Woon , YI, Dong-Hoon , YOON, Jeong-Suk , PARK, Jong-Il , YOON, Hyoung-Hwa
Inventor： PARK, Dong-Woo , KIM, Sung-Woon , YI, Dong-Hoon , YOON, Jeong-Suk , PARK, Jong-Il , YOON, Hyoung-Hwa
IPC: A47L9/28
CPC classification number: G05D1/0219 , A47L2201/04 , A47L2201/06 , G05D1/0225 , G05D1/0255 , G05D1/027 , G05D2201/0203
Abstract: A method for controlling a robot cleaner includes: detecting a cleaning target space, setting a cleaning region within the detected cleaning space and cleaning the set cleaning region; if the set cleaning region is completely cleaned, moving to a not-yet-cleaned region adjacent to a cleaning completion spot of the cleaning region; and setting a new cleaning region in the not-yet-cleaned region and performing cleaning. Without repeating a cleaning region in the cleaning target space, the robot cleaner can extend its cleaning region, so the cleaning efficiency of the robot cleaner can be improved. Also, the robot cleaner can be smoothly enter a new cleaning target space or released therefrom. In particular, even when the entrance of the new cleaning target space is narrow, the robot cleaner can smoothly enter the new cleaning target space and gets out thereof.
Abstract translation: 一种用于控制机器人清洁器的方法包括：检测清洁目标空间，设置检测到的清洁空间内的清洁区域并清洁设置的清洁区域; 如果设置的清洁区域被完全清洁，移动到与清洁区域的清洁完成点相邻的尚未清洁的区域; 并且在尚未清洁的区域中设置新的清洁区域并进行清洁。 机器人清洁器不会在清洁目标空间中重复清洁区域，所以能够延长其清洁区域，从而可以提高机器人清洁器的清洁效率。 此外，机器人清洁器可以顺利地进入新的清洁目标空间或从其中释放。 特别是，即使新的清洁对象空间的入口狭窄，机器人清洁器也可以平稳地进入新的清洁对象空间并离开。
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公开(公告)号：EP2219506B1
公开(公告)日：2017-06-21
申请号：EP08843380.0
申请日：2008-10-24
Applicant: LG Electronics Inc.
Inventor： PARK, Dong-Woo , KIM, Sung-Woon , YI, Dong-Hoon , YOON, Jeong-Suk , PARK, Jong-Il , YOON, Hyoung-Hwa
CPC classification number: G05D1/0219 , A47L2201/04 , A47L2201/06 , G05D1/0225 , G05D1/0255 , G05D1/027 , G05D2201/0203
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公开(公告)号：EP2413772B1
公开(公告)日：2019-05-08
申请号：EP10758960.8
申请日：2010-03-12
Applicant: LG Electronics Inc.
Inventor： CHOI, Yoo-Jin , KIM, Young-Gie , YOON, Jeong-Suk , LEE, Seong-Soo , KIM, Yie-Bin , BAEK, Seung-Min , NA, Sang-Ik , CHOE, Su-Uk , YI, Dong-Hoon , LEE, Jei-Hun
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6.发明公开MOBILE ROBOT WITH SINGLE CAMERA AND METHOD FOR RECOGNIZING 3D SURROUNDINGS OF THE SAME 审中-公开随着对检测3D UMGEBGUNG机器人的单摄像机和法的移动机器人
公开(公告)号：EP2413772A1
公开(公告)日：2012-02-08
申请号：EP10758960.8
申请日：2010-03-12
Applicant: LG Electronics Inc.
Inventor： CHOI, Yoo-Jin , KIM, Young-Gie , YOON, Jeong-Suk , LEE, Seong-Soo , KIM, Yie-Bin , BAEK, Seung-Min , NA, Sang-Ik , CHOE, Su-Uk , YI, Dong-Hoon , LEE, Jei-Hun
CPC classification number: A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
Abstract: Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
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7.发明公开DETECTING APPARATUS OF ROBOT CLEANER AND CONTROLLING METHOD OF ROBOT CLEANER 有权清洁机器人的清洁机器人与控制方法检测装置
公开(公告)号：EP2219506A1
公开(公告)日：2010-08-25
申请号：EP08843380.0
申请日：2008-10-24
Applicant: LG Electronics Inc.
Inventor： PARK, Dong-Woo , KIM, Sung-Woon , YI, Dong-Hoon , YOON, Jeong-Suk , PARK, Jong-Il , YOON, Hyoung-Hwa
IPC: A47L9/28
CPC classification number: G05D1/0219 , A47L2201/04 , A47L2201/06 , G05D1/0225 , G05D1/0255 , G05D1/027 , G05D2201/0203
Abstract: A method for controlling a robot cleaner includes: detecting a cleaning target space, setting a cleaning region within the detected cleaning space and cleaning the set cleaning region; if the set cleaning region is completely cleaned, moving to a not-yet-cleaned region adjacent to a cleaning completion spot of the cleaning region; and setting a new cleaning region in the not-yet-cleaned region and performing cleaning. Without repeating a cleaning region in the cleaning target space, the robot cleaner can extend its cleaning region, so the cleaning efficiency of the robot cleaner can be improved. Also, the robot cleaner can be smoothly enter a new cleaning target space or released therefrom. In particular, even when the entrance of the new cleaning target space is narrow, the robot cleaner can smoothly enter the new cleaning target space and gets out thereof.
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