公开(公告)号：US07729803B2

公开(公告)日：2010-06-01

申请号：US11486284

申请日：2006-07-14

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

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

IPC: G06F19/00

CPC classification number: G05D1/0225 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: A system for returning a robot to a charger includes: a homing signal transmitter, including at least first, second, and third signal transmitters, each adapted to be provided at a front side of the charger and to respectively transmit signals which are different from each other in at least one of a code and a transmission distance, and a fourth signal transmitter, adapted to be provided on at least one lateral side of the charger and to transmit a signal which is different from the signals of the first, second, and third transmitters in code; a homing signal receiver provided at the robot and to receive at least one signal transmitted from the homing signal transmitter; and a controller adapted to identify the at least one signal and to control the robot to return to the charger based at least in part on the at least one signal.

Abstract translation: 用于将机器人返回到充电器的系统包括：归属信号发射器，其包括至少第一，第二和第三信号发射器，每个信号发射器适于提供在充电器的前侧，并且分别传输与每个信号不同的信号 代码和传输距离中的至少一个以及第四信号发射机中的至少一个，适于提供在充电器的至少一个侧面上并且发送与第一，第二和第二信号的信号不同的信号， 代码中的第三个发送器; 设置在所述机器人处并且接收从所述归巢信号发送器发送的至少一个信号的归属信号接收器; 以及控制器，其适于识别所述至少一个信号并且至少部分地基于所述至少一个信号来控制所述机器人返回到所述充电器。

公开(公告)号：US20100049365A1

公开(公告)日：2010-02-25

申请号：US12609124

申请日：2009-10-30

Applicant: Joseph L. Jones ,  Philip R. Mass

Inventor： Joseph L. Jones ,  Philip R. Mass

IPC: G05D1/00

CPC classification number: B25J11/0085 ,  A47L11/00 ,  B25J9/1694 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.

Abstract translation: 提供了一种用于移动机器人（10）的控制系统，以通过以包括障碍物跟随模式（51）和随机反弹模式（49）的多种模式操作来有效地覆盖给定区域。 在其他实施例中，也可以使用诸如螺旋（45）或其他模式的点覆盖来提高效率。 另外，基于行为的体系结构被用于实现控制系统，并且使用各种逃逸行为来确保全面覆盖。

公开(公告)号：US20090218478A1

公开(公告)日：2009-09-03

申请号：US12349873

申请日：2009-01-07

Applicant: Sang Yun Kim

Inventor： Sang Yun Kim

IPC: H01J40/14

CPC classification number: G01S7/495 ,  G01S17/48 ,  G05D1/0242 ,  G05D2201/0203

Abstract: The present invention relates to a position detection device for a mobile robot, including a light-emitting element for emitting light, a light reception element on which light transferred from a bottom, of the light emitted from the light-emitting element and then reflected from an obstacle, is focused, and a signal processing unit for calculating a distance between a position where the light incident on the light reception element is focused and the obstacle. A position detection method using a mobile robot may include operating a robot cleaner, receiving light transferred from a bottom, of light emitted from the robot cleaner and then reflected from an obstacle, and detecting a distance between the robot cleaner and the obstacle from which the light is reflected, determining whether the distance between the robot cleaner and the obstacle increases, and determining whether the robot cleaner has approached the obstacle.

Abstract translation: 本发明涉及一种移动机器人的位置检测装置，其包括发光元件，从发光元件发射的光从底部传输光的光接收元件，然后从 焦点的障碍物和用于计算入射在光接收元件上的光聚焦的位置与障碍物之间的距离的信号处理单元。 使用移动机器人的位置检测方法可以包括操作机器人清洁器，从机器人清洁器发射的光接收从底部传输的光，然后从障碍物反射，并且检测机器人清洁器与障碍物之间的距离， 反射光，确定机器人清洁器与障碍物之间的距离是否增加，以及确定机器人清洁器是否已经靠近障碍物。

公开(公告)号：US20090182464A1

公开(公告)日：2009-07-16

申请号：US12285427

申请日：2008-10-03

Applicant: Hyeon Myeong ,  Seok-Won Bang

Inventor： Hyeon Myeong ,  Seok-Won Bang

IPC: G05D1/02

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

Abstract: The apparatus includes a coarse map creating unit creating a coarse map which includes path information of the mobile robot; and a virtual door extracting unit extracting virtual doors which divide the coarse map into a plurality of sub regions, where the mobile robot sequentially cleans the sub regions one by one. The method includes creating a coarse map which includes path information of the mobile robot; extracting virtual doors which divide the coarse map into a plurality of sub regions; and sequentially cleaning the sub regions one by one.

Abstract translation: 该装置包括粗略地图创建单元，其创建包括移动机器人的路径信息的粗略地图; 以及虚拟门提取单元，提取将粗略地图划分为多个子区域的虚拟门，移动机器人依次顺序地清洗子区域。 该方法包括创建包括移动机器人的路径信息的粗略地图; 提取将粗略地图划分成多个子区域的虚拟门; 并依次清洗子区域。

公开(公告)号：US20090126143A1

公开(公告)日：2009-05-21

申请号：US11995071

申请日：2006-07-06

Applicant: Anders Haegermarck

Inventor： Anders Haegermarck

IPC: A47L5/00

CPC classification number: A47L9/00 ,  A47L9/009 ,  A47L2201/00 ,  A47L2201/04 ,  B60K7/0007 ,  B60K17/30 ,  B60K2007/0038 ,  B60K2007/0092 ,  G05D1/0227 ,  G05D2201/0203

Abstract: A robotic cleaning device having a main body with a controllable drive means to move the device over a surface, a cleaning means to clean the surface, an obstacle detecting means, and a control means connected to the drive means and the obstacle detecting means. The main body has a left wall connecting a front end portion with a left rear end portion and a right wall connecting the front end portion with a right rear end portion. The control means receives information from the obstacle detecting means about a detected obstacle and controls the drive means to rotate the device around a main left-turn axis at the left rear end portion or a main right-turn axis at the right rear end portion, such that the device turns one around one of the axes. The side walls are configured such that the device clears the obstacle by the turning motion.

Abstract translation: 一种机器人清洁装置，具有主体，该主体具有用于将装置移动到表面上的可控驱动装置，用于清洁表面的清洁装置，障碍物检测装置以及连接到驱动装置和障碍物检测装置的控制装置。 主体具有连接前端部与左后端部的左壁和将前端部与右后端部连结的右壁。 控制装置从障碍物检测装置接收关于检测到的障碍物的信息，并控制驱动装置围绕左后端部的主左转弯轴线或右后端部处的主右匝轴线旋转装置， 使得设备绕其中一个轴线旋转。 侧壁被配置成使得该装置通过转动运动来清除障碍物。

公开(公告)号：US07509213B2

公开(公告)日：2009-03-24

申请号：US11177316

申请日：2005-07-11

Applicant: Kiwan Choi ,  Hyoungki Lee

Inventor： Kiwan Choi ,  Hyoungki Lee

IPC: G01C21/00

CPC classification number: G05D1/0272 ,  G05D1/0225 ,  G05D1/0242 ,  G05D2201/0203

Abstract: There is provided an apparatus and method for correcting location information of a mobile body and a computer-readable recording medium storing at least a computer program for controlling the apparatus. The apparatus for correcting the location information of the mobile body, the location information regarding at least one of a location and an azimuth angle of the mobile body, includes a beam generator generating at least one beam; and a location information correcting unit receiving measured location information, sensing the generated beam, and correcting the received measured location information using the sensed beam, wherein the location information correcting unit is installed in the mobile body. Therefore, it is possible to easily correct location information of a mobile body using beams and more accurately correct the location information without accumulating errors, differently from a conventional dead reckoning system. Also, it is possible to correct the location information without an artificial landmark, even at night, or when no lighting exists, since the location information is corrected using an infrared ray, and to more accurately correct the location information of a mobile body by increasing the number of the beams. Further, it is possible to flexibly provide a trade-off between the number of the beams and accuracy in correcting of the location information, and to allow the mobile body to sense beams and accurately correct its location information, when the mobile body is picked up and moved to a different location. Therefore, it is possible to accurately correct at least one of a location and an azimuth angle measured by the dead reckoning system, for example, in a home robot having a home base.

Abstract translation: 提供了一种用于校正移动体的位置信息的装置和方法以及至少存储用于控制该装置的计算机程序的计算机可读记录介质。 用于校正移动体的位置信息的装置，关于移动体的位置和方位角中的至少一个的位置信息包括产生至少一个束的束发生器; 以及位置信息校正单元，其接收测量的位置信息，感测所生成的光束，并使用感测光束校正接收的测量位置信息，其中位置信息校正单元安装在移动体中。 因此，与传统的推算系统不同，可以容易地使用波束校正移动体的位置信息，并且更准确地校正位置信息而不累积误差。 此外，即使在夜间，或者当没有照明存在时，也可以在没有人造地标的情况下校正位置信息，因为使用红外线校正位置信息，并且通过增加来更准确地校正移动体的位置信息 梁的数量。 此外，可以灵活地提供光束数量和校正位置信息的精度之间的折衷，并且当移动体被拾起时允许移动体感测光束并准确地校正其位置信息 并移动到不同的位置。 因此，可以准确地校正由推算系统测量的位置和方位角中的至少一个，例如在具有本垒的家用机器人中。

公开(公告)号：US20090057238A1

公开(公告)日：2009-03-05

申请号：US11896611

申请日：2007-09-04

Applicant: Efraim Garti

Inventor： Efraim Garti

IPC: B01D21/30 ,  B01D35/02 ,  C02F1/00 ,  G01C21/20

CPC classification number: E04H4/1654 ,  G05D1/027 ,  G05D2201/0203

Abstract: A pool cleaning robot adapted to move in a direction along the bottom surface of a pool. The robot comprises a compass, a rate gyroscope, and a controller adapted to determine the orientation of the robot, relative to a reference orientation thereof, based on readings of the compass and the gyroscope.

Abstract translation: 游泳池清洁机器人适于沿着游泳池底面的方向移动。 机器人包括罗盘，速率陀螺仪和适于基于罗盘和陀螺仪的读数来确定机器人相对于其参考方向的取向的控制器。

公开(公告)号：US20090055022A1

公开(公告)日：2009-02-26

申请号：US12126757

申请日：2008-05-23

Applicant: Christopher Casey ,  Mathew Cross ,  Daniel Ozick ,  Joseph L. Jones

Inventor： Christopher Casey ,  Mathew Cross ,  Daniel Ozick ,  Joseph L. Jones

IPC: B25J13/08 ,  B25J19/02

CPC classification number: B25J9/1697 ,  A47L2201/04 ,  G01S15/931 ,  G01S17/93 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02P90/265 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.

Abstract translation: 一种机器人障碍物检测系统，包括相对于表面导航的机器人壳体和用于检测表面的表面的传感器子系统。 传感器子系统包括发射具有发射场的信号的发射器和具有与区域上的发射场相交的视场的光子检测器。 子系统检测邻近移动机器人的对象的存在并且确定与对象相对应的信号的值。 它将该值与预定值进行比较，响应比较移动移动机器人，并且在事件发生时更新预定值。

公开(公告)号：US20080282494A1

公开(公告)日：2008-11-20

申请号：US11633886

申请日：2006-12-04

Applicant: Chikyung Won ,  Selma Svendsen ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivthan A.C. Dubrovsky

Inventor： Chikyung Won ,  Selma Svendsen ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivthan A.C. Dubrovsky

IPC: A47L5/00 ,  A47L9/00

CPC classification number: A47L11/40 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0466 ,  A47L9/12 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  B25J9/0003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04L1/16 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y10S901/01 ,  Y10S901/50

Abstract: A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.

Abstract translation: 一种覆盖机器人，包括底盘，设置在底盘上的多个驱动轮组件和由底盘承载的清洁组件。 每个驱动轮组件包括驱动轮组件壳体，可旋转地联接到壳体的轮子和由驱动轮组件壳体承载并可操作以驱动车轮的轮驱动马达。 清洁组件包括清洁组件壳体，可旋转地联接到清洁组件壳体的清洁头，以及通过清洁组件壳体并可操作以驱动清洁头的清洁驱动马达。 车轮组件和清洁组件各自独立地并且可独立地从底盘的各个容器中作为完整单元移除。

公开(公告)号：US20080273791A1

公开(公告)日：2008-11-06

申请号：US11822407

申请日：2007-07-05

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 ,  G06K9/34

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 pairs 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; 从特征点的候选对中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。