公开(公告)号：US07352153B2

公开(公告)日：2008-04-01

申请号：US10877865

申请日：2004-06-25

Applicant: Jason Yan

Inventor： Jason Yan

IPC: H02J7/00 ,  B25J9/18

CPC classification number: G05D1/0225 ,  A47L2201/022 ,  G05D1/0234 ,  G05D1/0242 ,  G05D2201/0215 ,  H02J7/0042

Abstract: A mobile robotic system includes a charging device and a mobile robot. The charging device is provided with a light emitter and a set of first charging contacts for supplying a charging signal. The mobile robot has a first side provided with a first light sensor, a second side provided with a second light sensor and a set of second charging contacts corresponding to the first charging contacts, a rechargeable battery unit, and a control unit. When charging of the battery unit is intended, the control unit enables movement of the mobile robot until the first light sensor detects light emitted by the light emitter, subsequently enables rotation of the mobile robot until the second light sensor detects the light from the light emitter, and then enables movement of the mobile robot toward the charging device until the first and second charging contacts come into contact.

Abstract translation: 移动机器人系统包括充电装置和移动机器人。 充电装置设置有发光体和用于提供充电信号的一组第一充电触点。 移动机器人具有设置有第一光传感器的第一侧，设置有第二光传感器的第二侧和对应于第一充电触点的一组第二充电触点，可再充电电池单元和控制单元。 当期望对电池单元进行充电时，控制单元能够移动移动机器人，直到第一光传感器检测到由光发射器发射的光，随后允许移动机器人的旋转，直到第二光传感器检测到来自发光体的光 ，然后使移动机器人朝向充电装置移动，直到第一和第二充电触点接触。

公开(公告)号：US20070157420A1

公开(公告)日：2007-07-12

申请号：US11497291

申请日：2006-08-02

Applicant: Jun Hwa Lee ,  Jae Man Joo ,  Jae Young Kwak ,  Gwan Woo Shin ,  Hoon Wee

Inventor： Jun Hwa Lee ,  Jae Man Joo ,  Jae Young Kwak ,  Gwan Woo Shin ,  Hoon Wee

IPC: A47L9/00

CPC classification number: A47L5/28 ,  A47L5/225 ,  A47L2201/00 ,  A47L2201/022 ,  A47L2201/024

Abstract: A robot cleaning system is capable of performing automatic cleaning and manual cleaning with a minimal number of devices. The robot cleaning system includes a first cleaning unit to perform automatic cleaning while moving by itself in an area to be cleaned, and a second cleaning unit to perform manual cleaning while being coupled to the first cleaning unit as it is moved by a user in an area to be cleaned. Each of the first and second cleaning units contains a blower and dust collector to vacuum. The first cleaning unit has a dust outlet to deliver dust to the second cleaning unit when the first cleaning unit is coupled to the second cleaning unit via the dust outlet of the first cleaning unit, a connector, and the connection port of the second cleaning unit.

Abstract translation: 机器人清洁系统能够使用最少数量的设备执行自动清洁和手动清洁。 机器人清洁系统包括第一清洁单元，用于在被清洁的区域中自身移动时进行自动清洁;以及第二清洁单元，用于当用户以第一清洁单元移动时执行手动清洁，同时联接到第一清洁单元 要清洁的区域 第一和第二清洁单元中的每一个包括鼓风机和除尘器以进行真空。 当第一清洁单元经由第一清洁单元的灰尘出口连接到第二清洁单元时，第一清洁单元具有灰尘排出到第二清洁单元，第二清洁单元的连接口 。

公开(公告)号：US07202630B2

公开(公告)日：2007-04-10

申请号：US10740109

申请日：2003-12-17

Applicant: Byung-Ju Dan

Inventor： Byung-Ju Dan

IPC: H01M10/44 ,  H01M10/46

CPC classification number: A47L9/2873 ,  A47L9/2805 ,  A47L2201/00 ,  A47L2201/022 ,  G05D1/0229 ,  G05D2201/0203 ,  G05D2201/0215 ,  H01M10/46 ,  H02J7/00

Abstract: An automatic charging device and method of an automatically traveling cleaner are disclosed. Since a charging terminal unit is installed inside a traveling cleaner and selectively drawn out, the traveling cleaner is prevented from being damaged from collision with an object while being moved forwardly. In addition, because a power source terminal, a contact sensor unit and a charging terminal unit are formed in a shape of a circular arc, the entering angle of the traveling cleaner widens, so that the charging induction time can be much reduced and the charging can be performed easily and quickly.

Abstract translation: 公开了一种自动行进清洁器的自动充电装置和方法。 由于充电终端单元安装在行进清洁器内部并选择性地拉出，因此防止行进清洁器在向前移动时与物体发生碰撞而损坏。 此外，由于电源端子，接触传感器单元和充电端子单元形成为圆弧形状，所以行进清洁器的进入角度变宽，使得充电感应时间可以大大降低，并且充电 可以方便快捷地执行。

公开(公告)号：US20040178767A1

公开(公告)日：2004-09-16

申请号：US10600769

申请日：2003-06-23

Applicant: LG Electronics Inc.

Inventor： Hyeong-Shin Jeon ,  Chun-Kyu Woo

IPC: H02J007/00

CPC classification number: G05D1/0242 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2873 ,  A47L9/2878 ,  A47L9/2894 ,  A47L2201/022 ,  G05D1/0225 ,  G05D1/0255 ,  G05D2201/0203

Abstract: An automatic charging system of a robot cleaner includes: a rotating plate installed at a robot cleaner; an infrared ray receiving unit mounted at the rotating plate and receiving an infrared signal generated from a power supply unit while being rotated; a microcomputer for moving the robot cleaner to the power supply unit on the basis of the received infrared signal; and an ultrasonic generator for generating a stop signal when the robot cleaner nears to the power supply unit. A robot cleaner can be accurately and quickly moved to a power supply unit for a rapid charging operation, and a cost for implementing the robot cleaner can be reduced.

Abstract translation: 机器人清洁器的自动充电系统包括：安装在机器人清洁器上的旋转板; 红外线接收单元，其安装在所述旋转板处，并且在旋转的同时接收从电源单元产生的红外信号; 微机，用于根据接收到的红外信号将机器人清洁器移动到电源单元; 以及超声波发生器，用于当机器人清洁器靠近电源单元时产生停止信号。 可以将机器人清洁器准确而快速地移动到用于快速充电操作的电源单元，并且可以降低实现机器人清洁器的成本。

公开(公告)号：US20040088081A1

公开(公告)日：2004-05-06

申请号：US10406679

申请日：2003-04-03

Inventor： Jeong-Gon Song ,  Sang-Yong Lee

IPC: G05B019/00 ,  G06F019/00

CPC classification number: G05D1/0225 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2894 ,  A47L2201/022 ,  A47L2201/04 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: A robot cleaner system capable of accurately docking with an external charging apparatus and a method for docking with an external charging apparatus comprising a power supply terminal connected to a supply of utility power, an external charging apparatus including a terminal stand for supporting the power supply terminal and fixing the external charging apparatus at a predetermined location, a driving unit for moving a cleaner body, an upper camera disposed on the cleaner body, for photographing a ceiling, a charging battery disposed in the cleaner body, for being charged by power supplied from the power supply terminal, a bumper disposed along an outer circumference of the cleaner body and outputting a collision signal when a collision with an obstacle is detected, and a robot cleaner disposed at the bumper to be connected with the power supply terminal and including a charging terminal connected to the charging battery, wherein, prior to starting on operation, the robot cleaner photographs an upward-looking image using the upper camera, calculates location information of the external charging apparatus, and stores the location information of the external charging apparatus, and, when returning to the external charging apparatus, the robot cleaner calculates a return path, based on the current location information calculated from an image photographed by the upper camera and the stored location information of the external charging apparatus, and returns to the external charging apparatus along the return path.

Abstract translation: 一种能够与外部充电装置准确对接的机器人清洁器系统和与包括连接到公用电力供应源的电源端子的外部充电装置对接的方法，包括用于支撑电源端子的端子台的外部充电装置 并将外部充电装置固定在预定位置，用于移动吸尘器主体的驱动单元，设置在吸尘器主体上的上摄像头，用于拍摄天花板;设置在吸尘器主体中的充电电池，用于通过从 所述电源端子，当检测到与障碍物发生碰撞时沿着所述吸尘器主体的外周设置的保险杠和输出碰撞信号;以及机器人清洁器，设置在所述保险杠处以与所述电源端子连接，并且包括充电 终端连接到充电电池，其中，在开始操作之前，机器人清洁器发光 使用上摄像机拍摄向上的图像，计算外部充电装置的位置信息，并存储外部充电装置的位置信息，并且当返回到外部充电装置时，机器人清洁器基于 关于从由上摄像机拍摄的图像计算的当前位置信息和外部充电装置的存储位置信息，并且沿着返回路径返回到外部充电装置。

公开(公告)号：US06532404B2

公开(公告)日：2003-03-11

申请号：US10085076

申请日：2002-03-01

Applicant: André Colens

Inventor： André Colens

IPC: G05B1500

CPC classification number: A47L11/4005 ,  A47L11/4011 ,  A47L11/4061 ,  A47L2201/022 ,  A47L2201/024 ,  A47L2201/04 ,  B25J9/1694 ,  G05B2219/24136 ,  G05B2219/31004 ,  G05B2219/37266 ,  G05B2219/40522 ,  G05B2219/40621 ,  G05D1/0225 ,  G05D1/0242 ,  G05D2201/0215 ,  Y10S706/905

Abstract: System of guidance and positioning relative to a fixed station (1) for an autonomous mobile robot (7) utilizing at least a directional infra-red beam (2′) emitted by the fixed station, the mobile robot being provided with a directional system of detection (10a, 10b) of infra-red emission connected to a microcomputer incorporated in the said robot, the robot moving on a work surface in an essentially random manner, the microcomputer (44) including an algorithm able to control the return to fixed station (1) by displacement of the robot (7) towards the direction of emission of said infra-red beam (2′), characterized in that the infra-red beam (2′) is a narrow directional beam and in that the system of detection (10a, 10b) is located on a frame at the center of rotation of the robot (7), oriented in the direction of movement of the robot, precise positioning in the fixed station (1) being carried out by rotation of the machine around a vertical axis according to an algorithm based on the detection of the narrow beam (2′).

公开(公告)号：US5926909A

公开(公告)日：1999-07-27

申请号：US703941

申请日：1996-08-28

Applicant: Daniel McGee

Inventor： Daniel McGee

IPC: A47L5/24 ,  A47L5/28 ,  A47L9/28 ,  G05D1/00 ,  G05D1/02 ,  H02J7/00 ,  A47L5/00 ,  A47L5/22

CPC classification number: A47L5/28 ,  A47L5/24 ,  A47L9/2852 ,  A47L9/2873 ,  A47L9/2884 ,  A47L9/2894 ,  G05D1/0033 ,  G05D1/0225 ,  G05D1/028 ,  H02J7/0042 ,  A47L2201/022 ,  A47L2201/04 ,  G05D2201/0215

Abstract: A hand-held remote control device sending signals for speed and direction to a remote control vacuum cleaner vehicle system enhancing an axle motor or motors for action of vehicle and separate motor or motors for vacuuming to suck up debris. The assembly also includes a hard plastic re-charge housing unit system co-operable with the hand-held remote controller unit system and the remote control vacuum cleaner vehicle unit system for charging the battery of the remote controller system and remote control vacuum cleaner vehicle system. The remote control vacuum cleaner vehicle system outer casing is a hard plastic housing where remote control vacuum cleaner vehicle system rechargeable battery operated axle motor is mounted for action of vehicle and when other mounted rechargeable battery operated motor or motors is activated suction from opening sucks up debris into housing and into removable debris canister. Remote control vacuum cleaner vehicle system further includes receiving antenna for receiving radio signals sent from a hand-held remote controller system which is used to remotely control the remote vacuum cleaner vehicle.

Abstract translation: 一种手持式遥控装置，用于将速度和方向的信号发送到遥控真空吸尘器车辆系统，该车辆系统增强用于车辆动作的车轴电机或电动机，以及用于抽吸吸尘器的单独的电动机或电动机。 该组件还包括与手持遥控器单元系统和遥控真空吸尘器车辆单元系统可配合的硬塑料再充电壳体单元系统，用于对遥控器系统的电池和遥控吸尘器车辆系统 。 遥控真空吸尘器车辆系统外壳是一个硬塑料外壳，其中安装了遥控吸尘器车辆系统可充电电池操作的桥式电动机用于车辆的作用，并且当其他安装的可再充电电池操作的电动机或电动机被启动时吸入吸入碎屑 进入外壳和可拆卸的碎屑罐。 遥控吸尘器车辆系统还包括用于接收从用于遥控远程吸尘器车辆的手持遥控器系统发送的无线电信号的接收天线。

公开(公告)号：US5682640A

公开(公告)日：1997-11-04

申请号：US415206

申请日：1995-03-31

Applicant: Suk-Jin Han

Inventor： Suk-Jin Han

IPC: A47L5/28 ,  A47L9/26 ,  A47L9/28

CPC classification number: A47L9/2894 ,  A47L5/28 ,  A47L9/26 ,  A47L9/2842 ,  A47L9/2852 ,  A47L9/2873 ,  A47L9/2884 ,  A47L2201/00 ,  A47L2201/022

Abstract: An automatic self-propelled vacuum cleaner includes an electrical power supply cord having a plug. The plug carries latches which can be coupled to either the vacuum cleaner or a wall-mounted socket. The vacuum cleaner carries a light beam receiver which receives a light beam signal emitted from the socket for guiding the vacuum cleaner toward the socket.

Abstract translation: 一种自动自走式真空吸尘器包括具有插头的电源线。 插头承载可连接到真空吸尘器或壁挂式插座的闩锁。 真空吸尘器携带光束接收器，其接收从插座发射的光束信号，以将吸尘器引向插座。

公开(公告)号：US5440216A

公开(公告)日：1995-08-08

申请号：US73398

申请日：1993-06-08

Applicant: Tae-Sig Kim

Inventor： Tae-Sig Kim

IPC: A47L5/28 ,  A47L9/00 ,  A47L9/28 ,  A47L11/40 ,  B60L11/18 ,  G01S15/88 ,  G05D1/02

CPC classification number: G01C15/002 ,  A47L11/4011 ,  A47L11/4061 ,  A47L5/28 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2884 ,  A47L9/2894 ,  G01S15/931 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0255 ,  G05D1/0261 ,  A47L2201/022 ,  A47L2201/04 ,  G05D2201/0215 ,  Y10S15/01

Abstract: A self moving robot cleaner capable of moving to an automatic charging unit to charge its battery when a charging voltage of the battery is decreased to below a predetermined level during a cleaning operation and then again carrying out the cleaning operation. The robot cleaner has a cleaner body, a suction unit provided in the cleaner body for sucking dirt on a floor, a navigation sensor positioned at an upper portion of the cleaner body for sensing a distance to and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal, a driving unit positioned at a lower portion of the cleaner body for moving the cleaner body in a moving direction, and a control unit for determining a cleaning area and a moving direction in response to the distance sensing signal and the direction sensing signal from the navigation sensor and outputting a control signal to move the cleaner body and a control signal to drive the suction unit.

Abstract translation: 一种自动移动机器人清洁器，其能够在清洁操作期间当电池的充电电压降低到预定水平以下然后再次执行清洁操作时，移动到自动充电单元以对其电池充电。 所述机器人清洁器具有清洁器体，所述吸尘单元设置在所述吸尘器主体中，用于吸入地板上的污物;位于所述吸尘器主体上部的导航传感器，用于感测障碍物的距离和方向，并输出 距离感测信号和方向感测信号;驱动单元，位于吸尘器主体的下部，用于沿移动方向移动吸尘器主体;以及控制单元，用于响应于距离感测来确定清洁区域和移动方向 信号和来自导航传感器的方向感测信号，并输出控制信号以移动吸尘器主体和控制信号以驱动抽吸单元。

公开(公告)号：US12102283B2

公开(公告)日：2024-10-01

申请号：US17625222

申请日：2020-07-07

Applicant: LG ELECTRONICS INC.

Inventor： Wonchul Jo ,  Ilsoo Cho

IPC: A47L9/28 ,  G10L15/22

CPC classification number: A47L9/2873 ,  A47L9/2857 ,  A47L9/2894 ,  G10L15/22 ,  A47L2201/022 ,  A47L2201/04 ,  G10L2015/223

Abstract: The present disclosure discloses a docking device including a charging terminal, a power supply unit for supplying power to the charging terminal, a communication module for exchanging data with a mobile robot, a voice recognition module for collecting a voice and extracting a voice command from the collected voice, and a charging-station controller for controlling the communication module to transmit the voice command extracted from the voice recognition module to the mobile robot.