公开(公告)号：US08543241B2

公开(公告)日：2013-09-24

申请号：US11898207

申请日：2007-09-10

Applicant: Bing rong Hong ,  Rong hua Luo ,  Mao hai Li ,  Seok-won Bang ,  Yeon-ho Kim ,  Hyeon Myeong

Inventor： Bing rong Hong ,  Rong hua Luo ,  Mao hai Li ,  Seok-won Bang ,  Yeon-ho Kim ,  Hyeon Myeong

IPC: G06F19/00

CPC classification number: G05D1/0246 ,  B25J9/0003 ,  B25J13/087 ,  B25J13/089 ,  G05D1/0274 ,  G05D2201/0203

Abstract: A method, medium, and system reducing the computational complexity of a Simultaneous Localization And Mapping (SLAM) algorithm that can be applied to mobile robots. A system estimating the pose of a mobile robot with the aid of a particle filter using a plurality of particles includes a sensor which detects a variation in the pose of a mobile robot, a particle filter unit which determines the poses and weights of current particles by applying the detected pose variation to previous particles, and an evolution unit which updates the poses and weights of the current particles by applying an evolution algorithm to the poses and weights of the current particles.

Abstract translation: 一种减少可应用于移动机器人的同步定位和映射（SLAM）算法的计算复杂度的方法，介质和系统。 借助于使用多个粒子的粒子滤波器来估计移动机器人的姿态的系统包括：检测移动机器人的姿势变化的传感器;粒子滤波器单元，其通过以下方式确定当前粒子的姿态和重量 将检测到的姿态变化应用于先前的粒子，以及演化单元，其通过将进化算法应用于当前粒子的姿势和权重来更新当前粒子的姿态和权重。

公开(公告)号：US08532860B2

公开(公告)日：2013-09-10

申请号：US13035487

申请日：2011-02-25

Applicant: Daniel Daly

Inventor： Daniel Daly

IPC: G01C22/00

CPC classification number: G05D1/0289 ,  A47L2201/04 ,  G05D2201/0203 ,  G05D2201/0206

Abstract: A method of navigating a mobile robotic device may include receiving, by a mobile robotic device, a wireless transmission from a transponder associated with an object, where the object is within a range of the mobile robotic device and in response to receiving the notification, altering a navigation course by the mobile robotic device to allow the object to pass the mobile robotic device. The mobile robotic device may be preprogrammed with at least a portion of the navigation course. The method may include resuming the navigation course by the mobile robotic device.

Abstract translation: 导航移动机器人设备的方法可以包括：由移动机器人设备接收来自与对象相关联的应答器的无线传输，其中对象在可​​移动机器人设备的范围内，并且响应于接收到该通知，改变 通过移动机器人设备的导航过程，以允许对象通过移动机器人设备。 移动机器人装置可以用导航路线的至少一部分进行预编程。 该方法可以包括由移动机器人设备恢复导航路线。

公开(公告)号：US08521330B2

公开(公告)日：2013-08-27

申请号：US12654680

申请日：2009-12-29

Applicant: Jun-ho Park ,  Woo-yeon Jeong

Inventor： Jun-ho Park ,  Woo-yeon Jeong

IPC: G05B15/00

CPC classification number: G05D1/0274 ,  G05D1/0238 ,  G05D2201/0203

Abstract: Disclosed are a map building apparatus and method using a distance measurement. According to an aspect, by creating a first map and a second map respectively using the characteristics of different characteristic areas based on a distance-voltage characteristics of a distance measurement sensor, and combining the first map with the second map, a grid map is created. Accordingly, since a map regarding a peripheral environment is created using plural areas of the distance-voltage characteristics, a more accurate map may be created.

Abstract translation: 公开了使用距离测量的地图制作装置和方法。 根据一个方面，通过基于距离测量传感器的距离电压特性分别使用不同特征区域的特征创建第一地图和第二地图，并且将第一地图与第二地图组合，创建网格图 。 因此，由于使用距离电压特性的多个区域来创建关于周边环境的映射，因此可以创建更准确的映射。

公开(公告)号：US20130218342A1

公开(公告)日：2013-08-22

申请号：US13768026

申请日：2013-02-15

Applicant: Leng Yao-Shih ,  MICRO-STAR INTERNATIONAL COMPANY LIMITED

Inventor： You-Wei TENG ,  Shih-Che HUNG ,  Yao-Shih LENG

IPC: G05D1/02

CPC classification number: G05D1/0231 ,  G05D1/0234 ,  G05D2201/0203 ,  Y10S901/01

Abstract: An embodiment of the invention provides a control method of a cleaning robot. The method includes the steps of: forming a cleaning area according to at least three points which are selected from a light generating device, a charging station or an obstacle; moving the cleaning robot along an outer of the cleaning area from a first position; recording a first cleaning route when the cleaning robot returns back to the first position; moving the cleaning robot to a second position and planning a second cleaning route according to the first cleaning route; and moving the cleaning robot along the second cleaning route.

Abstract translation: 本发明的实施例提供了一种清洁机器人的控制方法。 该方法包括以下步骤：根据从发光装置，充电站或障碍物中选择的至少三个点形成清洁区域; 沿着清洁区域的外部从第一位置移动清洁机器人; 当所述清洁机器人返回到所述第一位置时记录第一清洁路线; 将清洁机器人移动到第二位置，并根据第一清洁路线规划第二清洁路线; 并且沿着第二清洁路线移动清洁机器人。

公开(公告)号：US20130204483A1

公开(公告)日：2013-08-08

申请号：US13757985

申请日：2013-02-04

Applicant: Chulmo SUNG ,  Seongsoo Lee ,  Dongki Noh ,  Donghoon Yi ,  Seungmin Baek

Inventor： Chulmo SUNG ,  Seongsoo Lee ,  Dongki Noh ,  Donghoon Yi ,  Seungmin Baek

IPC: A47L11/40

CPC classification number: A47L11/4061 ,  A47L9/2852 ,  A47L2201/04 ,  G01S17/48 ,  G01S17/936 ,  G05D1/0248 ,  G05D2201/0203 ,  H04N13/207 ,  H04N13/254

Abstract: A robot cleaner is provided. The robot cleaner may include a casing including a moving device, an image input disposed in the casing, the image input including a plurality of light emitting parts that emits light toward an obstacle and an image sensor that acquires a 3D image of the obstacle onto which the light is emitted by the plurality of light emitting parts, and a main controller that extracts 3D data with respect to the obstacle from the 3D image of the obstacle acquired by the image input to control the moving device.

Abstract translation: 提供机器人清洁器。 机器人清洁器可以包括壳体，其包括移动装置，设置在壳体中的图像输入，图像输入包括朝向障碍物发射光的多个发光部分和获取障碍物的3D图像的图像传感器， 由多个发光部发射光，并且主控制器从由图像输入获取的障碍物的3D图像中提取关于障碍物的3D数据，以控制移动装置。

公开(公告)号：US20130199570A1

公开(公告)日：2013-08-08

申请号：US13825150

申请日：2011-04-27

Applicant: Man-Hee Lee ,  Ki-Yong Lee ,  Chang-Nam Song

Inventor： Man-Hee Lee ,  Ki-Yong Lee ,  Chang-Nam Song

IPC: A47L9/00

CPC classification number: A47L9/009 ,  A47L2201/022 ,  A47L2201/04 ,  G05D1/0234 ,  G05D2201/0203

Abstract: Disclosed are a cleaning robot system and its method for controlling which make it possible to reliably and quickly clean with the aid of the cleaning robot. The cleaning robot system comprises at least one external device each formed of an indicator and a virtual wall setting function, with the aid of which cleaning work can be performed by the unit of blocks about a cleaning area reference point, not leaving non-cleaned area behind. Since the access of the cleaning robot can be restricted by means of a virtual wall set by an external device, any damages of furniture due to a collision of the cleaning robot can be prevented, and the cleaning robot can be barred from escaping from the set cleaning area.

Abstract translation: 公开了一种清洁机器人系统及其控制方法，其使得可以借助于清洁机器人可靠且快速地清洁。 清洁机器人系统包括至少一个外部设备，每个外部设备由指示器和虚拟墙壁设置功能构成，借助于这些单元可以通过清洁区域参考点执行清洁工作，而不会留下未清洁区域 背后。 由于可以通过外部设备设置的虚拟壁来限制清洁机器人的通路，所以可以防止由于清洁机器人的碰撞而导致的家具的任何损坏，并且可以禁止清洁机器人从集合中逸出 清洁区域。

公开(公告)号：US08467902B2

公开(公告)日：2013-06-18

申请号：US12155552

申请日：2008-06-05

Applicant: Hyeon Myeong ,  Woo-Yeon Jeong ,  Seok-Won Bang

Inventor： Hyeon Myeong ,  Woo-Yeon Jeong ,  Seok-Won Bang

IPC: G05B15/00 ,  G05B19/00

CPC classification number: G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0207

Abstract: A method and apparatus for estimating the pose of a mobile robot using a particle filter is provided. The apparatus includes an odometer which detects a variation in the pose of a mobile robot, a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot, and a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles.

公开(公告)号：US08463018B2

公开(公告)日：2013-06-11

申请号：US11711635

申请日：2007-02-28

Applicant: Seung-Nyung Chung ,  Hyun-jeong Lee ,  Hyun-jin Kim ,  Hyeon Myeong

Inventor： Seung-Nyung Chung ,  Hyun-jeong Lee ,  Hyun-jin Kim ,  Hyeon Myeong

IPC: G06K9/00 ,  G06K9/62 ,  E01H1/08

CPC classification number: B25J19/023 ,  G05D1/0238 ,  G05D1/0274 ,  G05D2201/0203

Abstract: A method of classifying and collecting feature information of an area according to a robot's moving path, a robot controlled by area features, and a method and apparatus for composing a user interface using the area features are disclosed. The robot includes a plurality of sensor modules to collect feature information of a predetermined area along a moving path of the robot, and an analyzer to analyze the collected feature information of the predetermined area according to a predetermined reference range and to classify the collected feature information into a plurality of groups.

Abstract translation: 公开了一种根据机器人的移动路径对区域的特征信息进行分类和收集的方法，由区域特征来控制的机器人，以及使用该区域特征构成用户界面的方法和装置。 机器人包括多个传感器模块，用于收集沿着机器人的移动路径的预定区域的特征信息;以及分析器，用于根据预定的参考范围分析所收集的预定区域的特征信息，并将所收集的特征信息进行分类 分成多个组。

公开(公告)号：US20130118528A1

公开(公告)日：2013-05-16

申请号：US13667718

申请日：2012-11-02

Applicant: Samsung Electronics Co., Ltd.

Inventor： Won Kuk KIM ,  Shin Kim ,  Dong Min Shin ,  Dong Hun Lee

IPC: B08B7/04

CPC classification number: G05D1/0219 ,  G05D1/0274 ,  G05D2201/0203

Abstract: A robot cleaner and a control method thereof includes determining whether a first cleaning mode has been selected, upon determining that the first cleaning mode has been selected, defining a plurality of cleaning regions based on a position of the robot cleaner, and sequentially cleaning the defined cleaning regions.

Abstract translation: 机器人清洁器及其控制方法包括：在确定已经选择了第一清洁模式之后，确定是否已经选择了第一清洁模式，基于机器人清洁器的位置来定义多个清洁区域，并且顺序地清洁所定义的 清洁区域。

公开(公告)号：US08417383B2

公开(公告)日：2013-04-09

申请号：US11756262

申请日：2007-05-31

Applicant: Daniel N. Ozick ,  Duane L. Gilbert, Jr.

Inventor： Daniel N. Ozick ,  Duane L. Gilbert, Jr.

IPC: G05B19/00

CPC classification number: G05D1/0231 ,  A47L9/009 ,  A47L9/2826 ,  A47L2201/00 ,  A47L2201/04 ,  G05D1/0227 ,  G05D2201/0203

Abstract: A coverage robot includes a drive configured to maneuver the robot as directed by a controller, a stasis indication wheel rotatable about a first axis perpendicular to a direction of forward travel, and a suspension supporting the wheel. The stasis indication wheel defines a first reflective portion and a second reflective portion. The second reflective portion is substantially less reflective than the first reflective portion. The suspension permits movement of the wheel in a direction other than rotation about the first axis. A signal emitter is disposed remotely from the wheel and positioned to direct a signal that sequentially is intercepted by the first and second reflective portions of the wheel. A signal receiver is positioned to receive the reflected signal by the rotating wheel. Communication between the emitter and the receiver is affected by rolling transitions between the first and second reflective portions during permitted movement of the wheel.

Abstract translation: 覆盖机器人包括驱动器，其被配置为根据控制器的指示来操纵机器人，可围绕垂直于向前行进的方向的第一轴线旋转的停滞指示轮以及支撑车轮的悬架。 停滞指示轮限定第一反射部分和第二反射部分。 第二反射部分比第一反射部分反射性好。 悬架允许车轮沿除了围绕第一轴线旋转的方向移动。 信号发射器远离车轮设置并定位成引导顺序地被车轮的第一和第二反射部分拦截的信号。 信号接收器被定位成通过旋转轮接收反射信号。 在允许的车轮移动期间，发射器和接收器之间的通信受到第一和第二反射部分之间的滚动过渡的影响。