公开(公告)号：US20130076893A1

公开(公告)日：2013-03-28

申请号：US13616137

申请日：2012-09-14

Applicant: Yeon Kyu JEONG ,  Shin KIM ,  Jeong Hun KIM ,  Jong Owan KIM ,  Sang Sik YOON ,  Dong Hun LEE ,  Jea Yun SO

Inventor： Yeon Kyu JEONG ,  Shin KIM ,  Jeong Hun KIM ,  Jong Owan KIM ,  Sang Sik YOON ,  Dong Hun LEE ,  Jea Yun SO

IPC: H04N7/18

CPC classification number: G01S17/00 ,  G01S7/4813 ,  G01S7/4814 ,  G01S7/4816 ,  G01S17/88 ,  G01S17/936 ,  G02B17/0808 ,  G05D1/0238 ,  G05D1/0248 ,  G05D2201/0203

Abstract: An obstacle sensor includes a line light irradiating unit including a light-emitting unit, a light-emitting driving unit to drive the light-emitting unit, and a first conical mirror, an apex of which is disposed towards the light-emitting unit in a light irradiation direction of the light-emitting unit and which converts light emitted from the light-emitting unit into line light irradiated in all directions, and a reflected light receiving unit including a second conical mirror to condense light, that is irradiated from the first conical mirror and is then reflected from an obstacle, a lens, that is spaced from the apex of the second conical mirror by a predetermined distance and transmits the reflected light, an imaging unit to image the reflected light that passes through the lens, an image processing unit, and an obstacle sensing control unit.

Abstract translation: 障碍传感器包括：行光照射单元，包括发光单元，驱动发光单元的发光驱动单元;以及第一锥形反射镜，其顶点设置在发光单元中 发光单元的光照射方向，并将从发光单元发射的光转换为沿所有方向照射的线光;以及反射光接收单元，包括第二锥形镜以使光从第一锥形 然后从与第二锥形反射镜的顶点隔开预定距离的障碍物，透镜反射并透射反射光，成像单元对通过透镜的反射光进行成像，图像处理 单元和障碍物感测控制单元。

公开(公告)号：US08380350B2

公开(公告)日：2013-02-19

申请号：US12343430

申请日：2008-12-23

Applicant: Daniel N. Ozick ,  Andrea M. Okerholm ,  Jeffrey W. Mammen ,  Michael J. Halloran ,  Paul E. Sandin ,  Chikyung Won

Inventor： Daniel N. Ozick ,  Andrea M. Okerholm ,  Jeffrey W. Mammen ,  Michael J. Halloran ,  Paul E. Sandin ,  Chikyung Won

IPC: G05B19/18 ,  G05B15/00

CPC classification number: A47L11/4011 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0411 ,  A47L9/0466 ,  A47L9/0477 ,  A47L9/0488 ,  A47L9/12 ,  A47L9/1409 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  A47L2201/04 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/1666 ,  B25J9/1694 ,  B25J11/0085 ,  B25J13/006 ,  B60L1/003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1825 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  B60R19/38 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04B1/02 ,  H04B1/06 ,  H04L1/16 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

Abstract: An autonomous mobile robot system for bounded areas including a navigation beacon and an autonomous coverage robot. The navigation beacon has a gateway beacon emitter arranged to transmit a gateway marking emission with the navigation beacon disposed within a gateway between the first bounded area and an adjacent second bounded area. The autonomous coverage robot includes a beacon emission sensor responsive to the beacon emission, and a drive system configured to maneuver the robot about the first bounded area in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.

公开(公告)号：US20130037050A1

公开(公告)日：2013-02-14

申请号：US13495689

申请日：2012-06-13

Applicant: Chi-Mou Chao

Inventor： Chi-Mou Chao

IPC: A47L1/02

CPC classification number: A47L1/02 ,  A47L2201/04 ,  B62D57/024 ,  G05D1/0212 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: A cleaner includes at least one cleaning component, a pump module, a driving module and a control system. The at least one cleaning component and the plate delimit at least one space. The pump module is connected to the at least one space to pump air out of the at least a space to form a negative air pressure in the at least one space so that the cleaner is sucked on the plate. The driving module is connected to the at least a cleaning component to drive the at least a cleaning component. The control system is coupled to the pump module and the driving module and controls the driving module to cause the at least one driven cleaning component to make a movement on the plate.

Abstract translation: 清洁器包括至少一个清洁部件，泵模块，驱动模块和控制系统。 至少一个清洁部件和板限定至少一个空间。 泵模块连接到至少一个空间以将空气抽出至少一个空间，以在至少一个空间中形成负空气压力，使得清洁器被吸入板上。 所述驱动模块连接到所述至少一个清洁部件以驱动所述至少一个清洁部件。 所述控制系统耦合到所述泵模块和所述驱动模块并且控制所述驱动模块以使所述至少一个从动清洁部件在所述板上进行移动。

公开(公告)号：US20130035793A1

公开(公告)日：2013-02-07

申请号：US13647575

申请日：2012-10-09

Applicant: iRobot Corporation

Inventor： Rogelio Manfred Neumann ,  Robert Paul Roy

IPC: G05D1/00

CPC classification number: G05D1/0242 ,  G05D1/0225 ,  G05D2201/0203

Abstract: A device for controlling the reflection of incident beams to influence navigation of an autonomous device having a navigation sensor comprising a beam emitter and a beam detector for detecting reflected emitted beams. The device comprises at least one surface having a geometry configured to direct a reflection from the emitted beam in a predetermined direction so that a suitable amount of the reflected beam can be detected by the detector.

Abstract translation: 一种用于控制入射光束的反射以影响具有导光传感器的自主设备的导航的装置，该导航传感器包括用于检测反射的发射光束的光束发射器和光束检测器。 该装置包括至少一个具有几何形状的表面，所述几何形状被配置成沿着预定方向引导来自所发射的光束的反射，使得可以由检测器检测适当量的反射光束。

公开(公告)号：US20130024025A1

公开(公告)日：2013-01-24

申请号：US13309601

申请日：2011-12-02

Applicant: Harry Chia-Hung HSU

Inventor： Harry Chia-Hung HSU

IPC: B25J9/16

CPC classification number: G05D1/0274 ,  G05D1/0016 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0203

Abstract: An autonomous robot and a positioning method thereof are disclosed. The autonomous robot includes an environment information detection device, a map construction module, a setting module, a path planning module, and a driving module. The environment information detection device is for detecting environment information about an environment where the autonomous robot is situated. An environment map is constructed based on the environment information detected by the environment information detection device. The setting module is used for setting a working boundary on the environment map. The path planning module is for planning a moving path in a working zone and is electrically connected to the setting module. The driving module for driving the autonomous robot to move along the moving path is electrically connected to the path planning module.

Abstract translation: 公开了一种自主机器人及其定位方法。 自动机器人包括环境信息检测装置，地图构造模块，设定模块，路径规划模块和驱动模块。 环境信息检测装置用于检测关于自主机器人所在的环境的环境信息。 基于由环境信息检测装置检测到的环境信息构建环境地图。 设置模块用于在环境图上设置工作边界。 路径规划模块用于规划工作区域中的移动路径，并与设置模块电连接。 用于驱动自主机器人沿着移动路径移动的驱动模块电连接到路径规划模块。

公开(公告)号：US20130000675A1

公开(公告)日：2013-01-03

申请号：US13404674

申请日：2012-02-24

Applicant: Jun Pyo HONG ,  Dong Min SHIN ,  Jun Hwa LEE ,  Dong Hun LEE ,  Won Kuk KIM ,  Woo Ram CHUNG ,  Kyu Sun HAN ,  Suk Hoon SONG

Inventor： Jun Pyo HONG ,  Dong Min SHIN ,  Jun Hwa LEE ,  Dong Hun LEE ,  Won Kuk KIM ,  Woo Ram CHUNG ,  Kyu Sun HAN ,  Suk Hoon SONG

IPC: B08B7/00 ,  A47L11/24

CPC classification number: B25J9/1664 ,  A47L9/009 ,  A47L2201/00 ,  A47L2201/04 ,  A47L2201/06 ,  B25J5/00 ,  B25J9/0003 ,  B25J11/0085 ,  G05D1/0223 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A robot cleaner which does not stop to change a traveling direction thereof, and a control method thereof includes setting a territory about which cleaning will be performed based on position data acquired during traveling about a cleaning area, predetermining a cleaning path to clean the territory about which cleaning will be performed, and if the cleaning path includes a zigzag traveling path, changing the traveling direction of the robot cleaner by executing curved traveling of the robot cleaner during traveling along the zigzag traveling path, thus decreasing the time required to clean an area during a change of the traveling direction of the robot cleaner.

公开(公告)号：US20120323365A1

公开(公告)日：2012-12-20

申请号：US13162795

申请日：2011-06-17

Applicant: Trevor Taylor ,  Michael Wyrzykowski ,  Glen C. Larsen ,  Mike M. Paul

Inventor： Trevor Taylor ,  Michael Wyrzykowski ,  Glen C. Larsen ,  Mike M. Paul

IPC: B25J13/08 ,  B25J19/04

CPC classification number: B25J19/005 ,  G05D1/0225 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0209

Abstract: Described herein are technologies pertaining to autonomously docking a mobile robot at a docking station for purposes of recharging batteries of the mobile robot. The mobile robot uses vision-based navigation and a known map of the environment to navigate toward the docking station. Once sufficiently proximate to the docking station, the mobile robot captures infrared images of the docking station, and granularly aligns itself with the docking station based upon the captured infrared images of the docking station. As the robot continues to drive towards the docking station, the robot monitors infrared sensors for infrared beams emitted from the docking station. If the infrared sensors receive the infrared beams, the robot continues to drive forward until the robot successfully docks with the docking station.

Abstract translation: 这里描述的是关于将移动机器人自主地对接在坞站上的技术，用于为移动机器人的电池再充电。 移动机器人使用基于视觉的导航和已知的环境地图来朝向坞站导航。 一旦足够靠近对接站，移动机器人就可以捕获对接站的红外图像，并且基于对接站的捕获的红外图像将其本身与对接站对准。 当机器人继续向对接站驱动时，机器人监视红外传感器，用于从对接站发射的红外线。 如果红外传感器接收红外光束，机器人将继续向前驱动，直到机器人成功地与对接站对接。

公开(公告)号：US08326019B2

公开(公告)日：2012-12-04

申请号：US13050459

申请日：2011-03-17

Applicant: Su-jinn Lee ,  Hyeon Myeong ,  Yong-beom Lee ,  Seok-won Bang

Inventor： Su-jinn Lee ,  Hyeon Myeong ,  Yong-beom Lee ,  Seok-won Bang

IPC: G06K9/00 ,  G05B19/04 ,  G05B19/18 ,  G01C22/00 ,  G05D1/00

CPC classification number: G06K9/00771 ,  G05D1/0274 ,  G05D2201/0203

Abstract: An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pair of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.

Abstract translation: 提供了一种通过使用特征点来划分区域的装置，方法和介质，以及使用其的移动机器人清洁器。 一种方法包括通过使用通过检测移动机器人与障碍物的距离而获得的多个网格点来形成网格图; 从网格图中提取特征点; 从特征点提取位于区域分割元素的范围内的特征点的候选对; 从候选对特征点提取满足区域分割要素的最终特征点对; 通过连接最后一对特征点形成关键线; 并且根据连接关键线和网格图的闭合曲线形成的区域之间的尺寸关系形成最终区域。

公开(公告)号：US20120297559A1

公开(公告)日：2012-11-29

申请号：US13207679

申请日：2011-08-11

Applicant: HOU-HSIEN LEE ,  CHANG-JUNG LEE ,  CHIH-PING LO

Inventor： HOU-HSIEN LEE ,  CHANG-JUNG LEE ,  CHIH-PING LO

IPC: B08B7/00 ,  G05B15/00

CPC classification number: A47L11/4061 ,  A47L2201/04 ,  G05D1/021 ,  G05D2201/0203

Abstract: An object searching method includes: capturing an image in front of a cleaning robot by a camera. Comparing the image with a number of reference images to determine whether the image is the same as one of the reference images. Storing a position of the cleaning robot and the image when the image is the same as one of the reference images, adjusting the path of the cleaning robot to stop the cleaning robot from cleaning the object; and emitting an alarm.

Abstract translation: 对象搜索方法包括：通过照相机拍摄清洁机器人前方的图像。 将图像与多个参考图像进行比较，以确定图像是否与参考图像中的一个相同。 当图像与参考图像中的一个相同时，存储清洁机器人和图像的位置，调整清洁机器人的路径以停止清洁机器人清洁物体; 并发出警报。

公开(公告)号：US20120271502A1

公开(公告)日：2012-10-25

申请号：US13444038

申请日：2012-04-11

Applicant: Seongsoo LEE ,  Dongki Noh ,  Chulmo Sung ,  Seungmin Baek ,  Jeongsuk Yoon

Inventor： Seongsoo LEE ,  Dongki Noh ,  Chulmo Sung ,  Seungmin Baek ,  Jeongsuk Yoon

IPC: B25J13/08 ,  B25J19/04 ,  G05D1/00

CPC classification number: G05D1/0274 ,  A47L2201/00 ,  A47L2201/04 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0272 ,  G05D2201/0203

Abstract: Disclosed are a robot cleaner and a method for controlling the same. Firstly, an obstacle may be detected by using a light pattern sensor, and a user's inconvenience due to irradiation of a light pattern may be solved. Secondly, an obstacle may be precisely detected in a three dimensional manner by using the light pattern sensor. This may allow precise creation of a cleaning map. Thirdly, a user's eyes may be prevented from being continuously exposed to a light source. This may enhance the user's convenience.

Abstract translation: 公开了一种机器人清洁器及其控制方法。 首先，可以通过使用光图案传感器来检测障碍物，并且可以解决由于光图案的照射引起的用户的不便。 其次，可以通过使用光图案传感器以三维方式精确地检测障碍物。 这可能允许精确地创建清洁地图。 第三，可以防止用户的眼睛不断地暴露于光源。 这可以增强用户的便利性。