公开(公告)号：US09037294B2

公开(公告)日：2015-05-19

申请号：US12801483

申请日：2010-06-10

Applicant: Woo Ram Chung ,  Jae Man Joo ,  Dong Won Kim ,  Jun Hwa Lee ,  Jun Pyo Hong ,  Jae Young Jung ,  Kyung Hwan Yoo ,  Hwi Chan Jang

Inventor： Woo Ram Chung ,  Jae Man Joo ,  Dong Won Kim ,  Jun Hwa Lee ,  Jun Pyo Hong ,  Jae Young Jung ,  Kyung Hwan Yoo ,  Hwi Chan Jang

IPC: G05D1/02 ,  G06F19/00 ,  A47L9/00 ,  B08B7/00

CPC classification number: B25J9/1664 ,  B25J5/00 ,  B25J9/0003 ,  G05D1/021 ,  G05D1/0219 ,  G05D2201/0203 ,  Y10S901/01

Abstract: Disclosed herein are a robot cleaner having an improved travel pattern and a control method thereof. The robot cleaner performs cleaning using zigzag travel as a basic cleaning traveling manner, and then performs cleaning using random travel as a finishing cleaning traveling manner so as to clean areas skipped during the zigzag travel. The robot cleaner performs the zigzag travel while maintaining a designated interval with a travel route proceeding to a wall regardless of a direction proceeding to the wall, and employs an improved zigzag travel method to maintain a zigzag travel pattern, if the robot cleaner senses an obstacle during the zigzag travel.

Abstract translation: 这里公开了具有改进的行进方式的机器人清洁器及其控制方法。 机器人清洁器使用锯齿形行进作为基本的清洁行进方式进行清洁，然后通过随机旅行执行清洁作为整理清洁行进方式，以清洁在之字形行进期间跳过的区域。 机器人清洁器执行锯齿形行进，同时保持指定的间隔，而不管进入墙壁的方向如何，行进路线保持指定的间隔，并且如果机器人清洁器感测到障碍物，则采用改进的之字形行进方法来保持锯齿形行进方式 在之字形旅行期间。

公开(公告)号：US09031693B2

公开(公告)日：2015-05-12

申请号：US13796500

申请日：2013-03-12

Applicant: MSI Computer (Shenzhen) Co., Ltd.

Inventor： Yi-Feng Lin ,  Hung-Chou Chen ,  Shih-Che Hung

IPC: G05D1/02

CPC classification number: G05D1/021 ,  G05D1/0234 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/09

Abstract: A cleaning robot is disclosed. A first sensing unit generates a sensing signal to a transmittal line according to an external wireless signal. When the external wireless signal is sensed by the first sensing unit, a state of the transmittal line does not match with a pre-determined state. When the external wireless signal is not sensed by the first sensing unit, the state of the transmittal line matches with the pre-determined state. A control unit generates a movement signal when the state of the transmittal line matches with the pre-determined state. A plurality of wheels rotate according to the movement signal. A second sensing unit generates a second sensing signal according to the external environment of the cleaning robot. When the state of the transmittal line does not match with the pre-determined state, the control unit adjusts the movement signal according to the second sensing signal.

Abstract translation: 公开了一种清洁机器人。 第一感测单元根据外部无线信号产生到传输线的感测信号。 当第一感测单元检测到外部无线信号时，传输线的状态与预定状态不匹配。 当第一感测单元没有感测到外部无线信号时，发送线的状态与预定状态相匹配。 当发送线的状态与预定状态匹配时，控制单元产生移动信号。 多个轮根据移动信号旋转。 第二感测单元根据清洁机器人的外部环境产生第二感测信号。 当发送线的状态与预定状态不匹配时，控制单元根据第二感测信号调整移动信号。

公开(公告)号：US08973210B2

公开(公告)日：2015-03-10

申请号：US13380347

申请日：2009-06-30

Applicant: Sung-Guen Kim ,  In-Bo Shim ,  Byung-Doo Yim ,  Ji-Hoon Sung ,  Bong-Ju Kim

Inventor： Sung-Guen Kim ,  In-Bo Shim ,  Byung-Doo Yim ,  Ji-Hoon Sung ,  Bong-Ju Kim

IPC: A47L9/28 ,  E01H1/08 ,  A47L9/00 ,  G05D1/02

CPC classification number: A47L9/009 ,  A47L2201/04 ,  G05D1/0238 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: Provided is a robot cleaner. In an embodiment, the robot cleaner for avoiding obstacles and sucking foreign materials using a plurality of sensors and a suction motor is characterized in that a drive suppression unit for detecting obstacles having a corresponding height is integrated with a base for forming a lower portion of a main body in order to not climb obstacles of a constant height during a driving period of the robot cleaner. The present disclosure according to the embodiment improves drive stability of the robot cleaner by sensing a threshold in erroneous state of the sensor for sensing the threshold.

Abstract translation: 提供机器人清洁器。 在一个实施例中，用于避免障碍物并使用多个传感器和抽吸马达吸入异物的机器人清洁器的特征在于，用于检测具有相应高度的障碍物的驱动抑制单元与用于形成 主体，以便在机器人清洁器的行驶期间不爬上恒定高​​度的障碍物。 根据该实施例的本公开通过感测用于感测阈值的传感器的错误状态中的阈值来提高机器人清洁器的驱动稳定性。

公开(公告)号：US08972060B2

公开(公告)日：2015-03-03

申请号：US13768008

申请日：2013-02-15

Applicant: Micro-Star International Company Limited

Inventor： You-Wei Teng ,  Shih-Che Hung ,  Yao-Shih Leng

IPC: G06F17/00 ,  G05D1/02

CPC classification number: G05D1/0234 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

Abstract: An embodiment of the invention provides a control method of a cleaning robot with a non-omnidirectional light detector. The method includes the steps of: detecting a light beam via the non-omnidirectional light detector; stopping the cleaning robot and spinning the non-omnidirectional light detector when the non-omnidirectional light detector detects the light beam; stopping the spinning of the non-omnidirectional light detector and estimating a first spin angle when the non-omnidirectional light detector does not detect the light beam; and adjusting a moving direction of the cleaning robot according to the first spin angle.

Abstract translation: 本发明的实施例提供了一种具有非全向光检测器的清洁机器人的控制方法。 该方法包括以下步骤：通过非全向光检测器检测光束; 当非全向光检测器检测到光束时，停止清洁机器人并旋转非全向光检测器; 当非全向光检测器不检测光束时，停止非全向光检测器的旋转并估计第一自旋角; 以及根据所述第一旋转角度来调节所述清洁机器人的移动方向。

公开(公告)号：US08965623B2

公开(公告)日：2015-02-24

申请号：US13469171

申请日：2012-05-11

Applicant: Sarbajit K. Rakshit

Inventor： Sarbajit K. Rakshit

IPC: G01C22/00 ,  G05D1/00 ,  B25J5/00 ,  B25J19/02 ,  G05B19/18

CPC classification number: G05D1/0276 ,  G05D2201/0203

Abstract: A system, method and computer program product for attending to an environmental condition by an electronic cleaning device. A computer receives one or more data signals from one or more sensors through a network, with each of the one or more sensors associated with a physical location. The computer determines that due to an environmental condition a signal strength of the one or more data signals received from the one or more sensors is out of a threshold value range. The computer determines an optimal route from a current location of the electronic cleaning device to the one or more physical locations of the one or more sensors associated with the one or more data signals experiencing signal strength out of the threshold value range.

Abstract translation: 一种用于通过电子清洁装置处理环境状况的系统，方法和计算机程序产品。 计算机通过网络从一个或多个传感器接收一个或多个数据信号，其中一个或多个传感器中的每一个与物理位置相关联。 计算机确定由于环境条件，从一个或多个传感器接收的一个或多个数据信号的信号强度超出阈值范围。 计算机确定从电子清洁装置的当前位置到与经历超过阈值范围的信号强度的一个或多个数据信号相关联的一个或多个传感器的一个或多个传感器的最佳路线。

公开(公告)号：US08961695B2

公开(公告)日：2015-02-24

申请号：US12930260

申请日：2010-12-30

Applicant: Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael Dooley

Inventor： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael Dooley

IPC: B08B7/04 ,  B08B5/04 ,  E01H1/08 ,  B25J5/00 ,  G05B19/416 ,  A47L11/40 ,  G05D1/02

CPC classification number: B25J5/00 ,  A47L11/4011 ,  A47L11/4036 ,  A47L11/4066 ,  A47L11/4091 ,  A47L2201/00 ,  A47L2201/04 ,  B25J13/08 ,  G05D1/0219 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

Abstract: A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

Abstract translation: 机器人清洁器包括用于清洁表面的清洁组件和主机器人主体。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且清洁组件的宽度大于主机器人主体的宽度。 机器人清洁系统包括主机器人主体和用于清洁表面的多个清洁组件。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且每个清洁组件可从主机器人主体拆卸，并且每个清洁组件具有独特的清洁功能。

公开(公告)号：US20150040332A1

公开(公告)日：2015-02-12

申请号：US14522445

申请日：2014-10-23

Applicant: iRobot Corporation

Inventor： Michael Dooley ,  James Philip Case ,  Nikolai Romanov

IPC: A47L11/40

CPC classification number: A47L11/4011 ,  A47L11/30 ,  A47L11/4036 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4088 ,  A47L2201/04 ,  B25J11/0085 ,  G05D1/0219 ,  G05D2201/0203

Abstract: A mobile robot configured to travel across a residential floor or other surface while cleaning the surface with a cleaning pad and cleaning solvent is disclosed. The robot includes a controller for managing the movement of the robot as well as the treatment of the surface with a cleaning solvent. The movement of the robot can be characterized by a class of trajectories that achieve effective cleaning. The trajectories include sequences of steps that are repeated, the sequences including forward and backward motion and optional left and right motion along arcuate paths.

Abstract translation: 公开了一种移动机器人，其被配置为在用清洁垫和清洁溶剂清洁表面的同时穿过住宅地板或其他表面。 机器人包括用于管理机器人的运动以及用清洁溶剂处理表面的控制器。 机器人的运动可以通过一类实现有效清洁的轨迹来表征。 轨迹包括重复的步骤序列，序列包括前进和后退运动以及沿弓形路径的可选的左右运动。

公开(公告)号：US20150032260A1

公开(公告)日：2015-01-29

申请号：US14444189

申请日：2014-07-28

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Sang Sik Yoon ,  Woo Ram Chung

IPC: A47L11/40 ,  B25J13/00 ,  B25J9/16 ,  B25J11/00

CPC classification number: B25J11/0085 ,  A47L9/2857 ,  A47L11/4011 ,  A47L2201/00 ,  A47L2201/04 ,  B25J9/1697 ,  B25J13/003 ,  G05B2219/39441 ,  G05B2219/45098 ,  G05D1/0016 ,  G05D2201/0203

Abstract: A cleaning robot that performs cleaning while travelling a space to be cleaned, the cleaning robot including: a travelling unit that moves the cleaning robot; a cleaning unit that cleans the space to be cleaned; an image capturing unit that captures an image viewed from the cleaning robot; a voice input unit to which a user's voice instructions are input; and a controller obtaining the user's motion instructions through the image capturing unit and determining a restricted area in which entry of the cleaning robot is prohibited and/or a focused cleaning area to be intensely cleaned by the cleaning robot based on the user's motion instructions or the user's voice instructions when the user's voice instructions are input through the voice input unit. The restricted area and the focused cleaning area may be input to the cleaning robot through the user's voice and motion.

Abstract translation: 一种清洁机器人，其在行进待清洁空间的同时执行清洁，所述清洁机器人包括：移动所述清洁机器人的行进单元; 清洁单元，清洁待清洁的空间; 图像捕获单元，其捕获从所述清洁机器人观察的图像; 输入用户语音指令的语音输入单元; 以及控制器，其通过图像捕获单元获取用户的运动指令，并且基于用户的运动指令确定清洁机器人的禁止区域和/或聚焦清洁区域被清洁机器人强烈地清洁， 当用户的语音指令通过语音输入单元输入时，用户的语音指令。 限制区域和聚焦清洁区域可以通过用户的声音和运动输入到清洁机器人。

公开(公告)号：US08924019B2

公开(公告)日：2014-12-30

申请号：US13381617

申请日：2010-06-10

Applicant: Jinju Tang

Inventor： Jinju Tang

IPC: A47L11/00 ,  A47L9/28 ,  G05D1/02

CPC classification number: A47L9/2852 ,  A47L9/2805 ,  A47L2201/06 ,  G05D1/0246 ,  G05D2201/0203 ,  Y10S901/47

Abstract: A cleaning robot a dirt recognition device thereof and a cleaning method of the robot are disclosed. The recognition device includes an image collecting module and an image processing module. The image collecting module may be used for collecting the image information of the surface to be treated by the cleaning robot and sending the image information to the image processing module. The image processing module may divide the collected image information of the surface to be treated into N blocks, extract the image information of each block and process the image information in order to determine the dirtiest surface to be treated that corresponds to one of the N blocks. Through the solution provided by the present invention, the cleaning robot can make an active recognition to the dirt such as dust, so that it can get into the working area accurately and rapidly.

Abstract translation: 公开了一种清洁机器人的污物识别装置和机器人的清洁方法。 识别装置包括图像采集模块和图像处理模块。 图像采集模块可以用于收集由清洁机器人处理的表面的图像信息，并将图像信息发送到图像处理模块。 图像处理模块可以将被处理表面的收集​​的图像信息划分为N个块，提取每个块的图像信息并处理该图像信息，以便确定与N个块中的一个相对应的最脏的待处理表面 。 通过本发明提供的解决方案，清洁机器人可以积极地识别灰尘等污物，从而能够准确而快速地进入工作区域。

公开(公告)号：US08903160B2

公开(公告)日：2014-12-02

申请号：US12926526

申请日：2010-11-23

Applicant: Woo-Yeon Jeong ,  Jun-Ho Park

Inventor： Woo-Yeon Jeong ,  Jun-Ho Park

IPC: G06K9/00 ,  G06T7/00 ,  G05D1/02

CPC classification number: G06K9/00791 ,  G05D1/0219 ,  G05D1/0246 ,  G05D1/0272 ,  G05D2201/0203 ,  G06K9/00664 ,  G06K9/00805 ,  G06T7/73 ,  G06T7/77 ,  G06T2207/10016 ,  G06T2207/30252

Abstract: An apparatus and method of planning a traveling path of a mobile robot, the apparatus and method including a pattern extracting unit, a pattern direction extracting unit, and a path generating unit. The pattern extracting unit may extract at least one pattern from an image of a ceiling captured in a ceiling direction. The pattern direction extracting unit may extract a pattern direction of the image in the form of a line from the at least one extracted pattern. The path generating unit may generate a traveling path of the mobile robot based on the extracted pattern direction.

Abstract translation: 一种规划移动机器人的行进路径的装置和方法，所述装置和方法包括模式提取单元，模式方向提取单元和路径生成单元。 图案提取单元可以从在天花板方向上捕获的天花板的图像中提取至少一个图案。 图案方向提取单元可以从至少一个提取的图案中以线的形式提取图像的图案方向。 路径产生单元可以基于提取的图案方向生成移动机器人的行进路径。