公开(公告)号：US07233122B2

公开(公告)日：2007-06-19

申请号：US11318500

申请日：2005-12-28

Applicant: Jong-sung Kim ,  Ji-hoon Sung

Inventor： Jong-sung Kim ,  Ji-hoon Sung

IPC: B25J9/00

CPC classification number: A47L9/2857 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L2201/04 ,  B25J5/007 ,  G05D1/0227 ,  G05D1/0272 ,  G05D2201/0215

Abstract: Disclosed is a pressing sensing technology of a self-running robot, comprising a pressing sensing unit for sensing pressing on the top of the self-running robot and a microprocessor for controlling driving of the self-running robot in accordance with the sensing signal from the pressing sensing unit to enable the self-running robot to escape from an area where the pressing has occurred. Accordingly, the invention has an advantage in that it can prevent a function degradation and damage of the self-running robot by changing a running direction of the self-running robot when pressing on the self-running robot is sensed to enable the self-running robot to escape from the area where the pressing has occurred, or notifying, when the pressing cannot be released, a user of the state in voice to take any necessary action.

Abstract translation: 公开了一种自行式机器人的按压感测技术，其包括用于感测按压自行车机器人的顶部的按压感测单元和用于根据来自所述自行车的机器人的感测信号来控制自行车机器人的驱动的微处理器 按压感测单元使得自行走的机器人能够从已经发生按压的区域逸出。 因此，本发明的优点在于，通过改变自行式机器人的行驶方向，能够防止自行式机器人的功能退化和损坏，因此，能够自行行驶 机器人从发生按压的区域逃离，或者当按压不能释放时通知用户，声音状态的用户采取任何必要的动作。

公开(公告)号：US20070069680A1

公开(公告)日：2007-03-29

申请号：US11533294

申请日：2006-09-19

Applicant: Gregg Landry ,  David Cohen ,  Daniel Ozick

Inventor： Gregg Landry ,  David Cohen ,  Daniel Ozick

IPC: G05D1/00

CPC classification number: A47L9/281 ,  A47L5/362 ,  A47L9/0466 ,  A47L9/0488 ,  A47L9/2805 ,  A47L9/2831 ,  A47L9/2842 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2884 ,  A47L9/2889 ,  A47L9/2894 ,  A47L11/4005 ,  A47L11/4008 ,  A47L11/4011 ,  A47L11/4061 ,  A47L11/4066 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/021 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby, enable an autonomous device to steer in the direction of debris.

Abstract translation: 响应于碎片撞击的压电碎片传感器和相关联的信号处理器使得自主或非自主的清洁装置能够检测碎屑的存在，并且作为响应，选择行为模式，操作条件或运动模式，例如斑点覆盖或 喜欢。 可以使用多个传感器通道（例如左侧和右侧）来检测或产生差分的左/右碎片信号，从而使得自主装置能够沿着碎屑的方向转向。

公开(公告)号：US07185478B1

公开(公告)日：2007-03-06

申请号：US11119434

申请日：2005-04-28

Applicant: Hulen J. Willis, II

Inventor： Hulen J. Willis, II

IPC: A01B69/00 ,  A01B79/00

CPC classification number: A01D34/008 ,  A01D43/0635 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0242 ,  G05D2201/0208 ,  G05D2201/0215

Abstract: An automated lawn cutting and vacuum system is disclosed. The system includes an automated lawnmower comprising a mower housing. A control panel provided on the mower housing automatically controls the mowing, driving and steering functions of the automated lawnmower.

Abstract translation: 公开了一种自动化草坪切割和真空系统。 该系统包括包括割草机壳体的自动割草机。 设在割草机外壳上的控制面板可自动控制自动割草机的割草，驾驶和转向功能。

公开(公告)号：US07177737B2

公开(公告)日：2007-02-13

申请号：US10739581

申请日：2003-12-17

Applicant: L. Niklas Karlsson ,  Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo ,  Paolo Pirjanian

Inventor： L. Niklas Karlsson ,  Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo ,  Paolo Pirjanian

IPC: G05D1/00

CPC classification number: G05D1/0246 ,  G01C21/12 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0215 ,  G06T7/55 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30204 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/50

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利地，可以使用这种可视化技术来自主地生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。 进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

公开(公告)号：US20070021867A1

公开(公告)日：2007-01-25

申请号：US11344200

申请日：2006-02-01

Applicant: Chun-Kyu Woo

Inventor： Chun-Kyu Woo

IPC: G06F19/00

CPC classification number: H04L12/2803 ,  B25J5/00 ,  G05D1/0242 ,  G05D2201/0215 ,  H04L12/282 ,  H04L67/125 ,  H04L67/38 ,  H04L2012/2841

Abstract: A home networking system using a self-moving robot is provided. The self-moving robot and household devices connected via a network can be wirelessly controlled indoors or outdoors. The self-moving robot receives an operating command transmitted from a wireless operating unit, transmits information, indicating whether or not the command has been received, to the operating unit, executes a task corresponding to the command, and outputs a control signal to an accessible household device. Each signal transmission device is driven according to a drive signal transmitted within a specific range from the robot, transmits its state information including identification information to the robot when driven, and transmits a direction change signal for the robot in a specific direction. The operating unit displays the command reception information and/or state information of the signal transmission device transmitted from the self-moving robot and outputs a control signal to an accessible household device through the robot.

Abstract translation: 提供了使用自动移动机器人的家庭网络系统。 通过网络连接的自动移动机器人和家用设备可以在室内或室外无线控制。 自动机器人接收从无线操作单元发送的操作命令，向操作单元发送指示是否已经接收到命令的信息，执行与该命令相对应的任务，并将控制信号输出到可访问的 家用设备。 每个信号传输装置根据在机器人的特定范围内传输的驱动信号来驱动，在被驱动时将包括识别信息的状态信息发送给机器人，并且向特定方向发送机器人的方向改变信号。 操作单元显示从自动机器人发送的信号传输装置的命令接收信息和/或状态信息，并通过机器人将控制信号输出到可访问家用设备。

公开(公告)号：US07167775B2

公开(公告)日：2007-01-23

申请号：US10007103

申请日：2001-12-04

Applicant: Shai Abramson ,  Shalom Levin ,  Ran Zaslavsky

Inventor： Shai Abramson ,  Shalom Levin ,  Ran Zaslavsky

IPC: G05B19/00

CPC classification number: A47L5/34 ,  A46B13/001 ,  A47L5/22 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0444 ,  A47L9/0477 ,  A47L9/0494 ,  A47L2201/00 ,  A47L2201/04 ,  F04D29/281 ,  F04D29/30 ,  G05D1/0219 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0215

Abstract: An autonomous robot, that is for example, suitable for operations such as vacuuming and surface cleaning includes a payload configured for vacuum cleaning, a drive system including a steering system, a navigation system, and a control system for integrating operations of the aforementioned systems.

公开(公告)号：US20060293788A1

公开(公告)日：2006-12-28

申请号：US11167675

申请日：2005-06-26

Applicant: Pavel Pogodin

Inventor： Pavel Pogodin

IPC: G06F19/00

CPC classification number: G05D1/0011 ,  A47L2201/04 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0246 ,  G05D2201/0215 ,  H04L67/12

Abstract: A robotic floor care appliance with flexible web-enabled scheduling and status information/diagnostics systems. The robotic floor care appliance is supplied with a wireless network interface unit, which enables the appliance to establish network connections with remote network entities. The appliance may be provided with web and/or e-mail server(s) to enable the user to easily access the status/diagnostic information of the appliance and to furnish scheduling information to the appliance via various web-enabled protocols. The status/diagnostic information may be displayed to the user as a web page or sent to the user via e-mail. The scheduling information may be received from the user and transmitted to the appliance via HTTP protocol. The appliance may use web or e-mail connections to automatically notify the user of the status of the cleaning supplies, presence of malfunctions, if any, and the need for service. The appliance may also send the performance information to the manufacturer, which can be used to diagnose performance problems, create software patches, and to improve design of future products. Finally, the appliance may automatically download control software updates via a network connection.

Abstract translation: 一种机器人地板护理设备，具有灵活的支持Web功能的调度和状态信息/诊断系统。 机器人护理设备配有无线网络接口单元，使设备能够与远程网络实体建立网络连接。 设备可以被提供有web和/或电子邮件服务器，以使用户能够容易地访问设备的状态/诊断信息，并通过各种启用Web的协议向设备提供调度信息。 状态/诊断信息可以作为网页显示给用户，或者通过电子邮件发送给用户。 调度信息可以从用户接收并通过HTTP协议传送到设备。 设备可以使用网络或电子邮件连接来自动通知用户清洁用品的状态，存在故障（如果有的话）以及服务的需要。 设备还可以将性能信息发送给制造商，其可以用于诊断性能问题，创建软件补丁以及改进未来产品的设计。 最后，设备可以通过网络连接自动下载控制软件更新。

公开(公告)号：US07107132B2

公开(公告)日：2006-09-12

申请号：US10401266

申请日：2003-03-27

Applicant: Jason A. Dean

Inventor： Jason A. Dean

IPC: G05D1/00

CPC classification number: A01D34/008 ,  G05D1/0221 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0276 ,  G05D2201/0202 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y10S56/07

Abstract: A robotic apparatus for traversing a selected area autonomously that senses orientation relative to the Earth's magnetic field. The robotic apparatus is provided in two models, a master that can record directive and compass readings to provide at least one command recorded on a machine-readable medium representing an instruction for traversing an area of interest, and a slave that lacks the recording capability. Both master and slave models can replay recorded commands, and compare the expected orientation from the command with an actual orientation sensed during autonomous operation. If an error exceeding a predetermined value is observed, a corrective action is taken. The robotic apparatus is able to utilize a tool to perform a task at one or more locations, such as cutting, shoveling and digging. In one embodiment, the robotic apparatus is a lawn mower.

Abstract translation: 用于横穿选定区域的机器人装置，其自动地感测相对于地球磁场的取向。 机器人装置以两种型式提供，主机可以记录指令和罗盘读数，以提供记录在表示用于遍历感兴趣区域的指令的机器可读介质上的至少一个命令，以及缺少记录能力的从机。 主模式和从属模式都可以重放记录的命令，并将命令中的预期方向与自主操作期间感测到的实际方向进行比较。 如果观察到超过预定值的误差，则采取纠正措施。 机器人装置能够利用工具在一个或多个位置执行任务，例如切割，挖掘和挖掘。 在一个实施例中，机器人装置是割草机。

公开(公告)号：US20060195224A1

公开(公告)日：2006-08-31

申请号：US11304796

申请日：2005-12-16

Applicant: Jeong-gon Song ,  Ki-man Kim ,  Ju-sang Lee ,  Jang-youn Ko ,  Sam-jong Jeung ,  Kwang-soo Lim

Inventor： Jeong-gon Song ,  Ki-man Kim ,  Ju-sang Lee ,  Jang-youn Ko ,  Sam-jong Jeung ,  Kwang-soo Lim

IPC: G06F19/00

CPC classification number: G05D1/0272 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0215

Abstract: A robot vacuum cleaner that comprises a driving unit moving a body on a cleaning surface; a cleaning area detecting unit detecting an area of the cleaning surface; and a central processing unit calculating a spiral cleaning travel pattern corresponding to a shape of each cleaning area based on the information detected by the cleaning area detecting unit to output a cleaning travel signal corresponding the calculated cleaning travel pattern to the driving unit. The cleaning travel pattern can be variable applied depending on a shape of each cleaning area such that the coverage ratio of the cleaning area can increase.

Abstract translation: 一种机器人真空吸尘器，包括：驱动单元，其将身体移动到清洁表面上; 清洁区域检测单元，其检测清洁表面的区域; 以及中央处理单元，基于由所述清洁区域检测单元检测到的信息，计算与每个清洁区域的形状相对应的螺旋形清洁行进图案，以将对应于所计算的清洁行进图案的清洁行进信号输出到所述驱动单元。 清洁行进图案可以根据每个清洁区域的形状而变化，使得清洁区域的覆盖率可以增加。

公开(公告)号：US20060150361A1

公开(公告)日：2006-07-13

申请号：US10543756

申请日：2004-02-13

Applicant: Michael Aldred ,  Alexander Bommer

Inventor： Michael Aldred ,  Alexander Bommer

IPC: A47L9/28 ,  A47L9/26

CPC classification number: G05D1/0227 ,  G05D1/0219 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0215

Abstract: An autonomous machine that needs to establish when it has completed a circuit of a working area includes a main body and a marker such as an annular magnetic puck. The machine includes a control system configured to cause the main body to traverse a working area according to a predetermined sequence. A detector is provided to detect the marker, and either the detector or the marker may be located on the main body. The control system is configured to recognize a predetermined location in the area, or to effect a predetermined part of the sequence, on detecting the marker. Preferably, the marker is slidably located on a power cable for the machine.

Abstract translation: 需要在其完成工作区的电路时建立的自主机器包括主体和诸如环形磁盘的标记。 机器包括控制系统，该控制系统被配置为使主体根据预定的顺序横穿工作区域。 提供检测器以检测标记，并且检测器或标记可以位于主体上。 控制系统被配置为在检测到标记时识别该区域中的预定位置或实现序列的预定部分。 优选地，标记可滑动地位于用于机器的电力电缆上。