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1. 发明授权

US08560119B2 Robot cleaner and method of controlling travel of the same 有权
标题翻译：机器人清洁器及其控制方法
公开(公告)号：US08560119B2
公开(公告)日：2013-10-15
申请号：US12815631
申请日：2010-06-15
申请人： Jun Hwa Lee , Jae Man Joo , Dong Won Kim , Jun Pyo Hong , Woo Ram Chung , Jae Young Jung , Kyung Hwan Yoo , Hwi Chan Jang , Jang Youn Ko , Jeong Gon Song , Sam Jong Jeung
发明人： Jun Hwa Lee , Jae Man Joo , Dong Won Kim , Jun Pyo Hong , Woo Ram Chung , Jae Young Jung , Kyung Hwan Yoo , Hwi Chan Jang , Jang Youn Ko , Jeong Gon Song , Sam Jong Jeung
IPC分类号： G05B15/00
CPC分类号： A47L11/33 , A47L11/4002 , A47L11/4011 , A47L11/4061 , A47L11/4072 , A47L2201/04 , A47L2201/06 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： A robot cleaner that travels straight through alignment of drive wheels to move the robot cleaner and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner is detected from angle information of a caster wheel rotating depending upon a state of a floor, such as a carpet in a state in which texture of the carpet occurs in one direction, and, when the movement angle of the robot cleaner deviates due to slippages of the drive wheels, rates of rotation of the drive wheels are adjusted to correct the slippages of the drive wheels such that the robot cleaner easily travels straight.
摘要翻译：机器人清洁器，其通过驱动轮的对准直线行进以移动机器人清洁器以及控制其移动的方法。关于机器人清洁器的移动角度的信息是根据在地毯发生状态的地板的状态（例如地毯在一个方向上发生的状态）旋转的脚轮的角度信息，以及当机器人清洁器的移动角度由于驱动轮的滑动而偏离，驱动轮的旋转速度被调节以校正驱动轮的滑动，使得机器人清洁器容易地直线行进。

2. 发明授权

US07751940B2 Robot cleaner and control method thereof 有权
标题翻译：机器人清洁器及其控制方法
公开(公告)号：US07751940B2
公开(公告)日：2010-07-06
申请号：US11785626
申请日：2007-04-19
申请人： Ju-sang Lee , Sam-jong Jeung , Jeong-gon Song , Myeong-ho Kim , Jang-youn Ko , Kyoung-woung Kim , Hak-bong Lee
发明人： Ju-sang Lee , Sam-jong Jeung , Jeong-gon Song , Myeong-ho Kim , Jang-youn Ko , Kyoung-woung Kim , Hak-bong Lee
IPC分类号： A47L11/24 , B60T7/22
CPC分类号： G05D1/0227 , G05D2201/0203
摘要： A control method for a robot cleaner that includes: driving a driving part to move the robot cleaner by a predetermined distance in an opposite direction to a proceeding direction thereof when a bumper sensor detects a collision with an obstacle, measuring the number of times in which the robot cleaner repeats moving in real-time, comparing the measured number with a predetermined reference number, and stopping the robot cleaner when the measured number is more than the reference number. With this method, the robot cleaner can diagnose a breakdown of the bumper sensor to stop the cleaner, and inform a user of the breakdown.
摘要翻译：一种机器人清洁器的控制方法，包括：当保险杠传感器检测到与障碍物的碰撞时，驱动驱动部件使机器人清洁器沿与其前进方向相反的方向移动预定距离，测量其中的次数机器人清洁器实时重复移动，将测量的数量与预定的参考号进行比较，并且当测量的数量大于参考号码时停止机器人清洁器。利用这种方法，机器人清洁器可以诊断保险杠传感器的故障以停止清洁器，并通知用户故障。

3. 发明申请

US20090071732A1 Wheel driving assembly of a moving apparatus 失效
标题翻译：移动装置的车轮驱动组件
公开(公告)号：US20090071732A1
公开(公告)日：2009-03-19
申请号：US12152781
申请日：2008-05-16
申请人： Myeong-ho Kim , Sam-jong Jeoung , Jeong-gon Song , Il-du Jung , Ju-sang Lee , Heung-yi Kim , Sam-hyun Choi , Jang-youn Ko , Kyoung-woung Kim , Dae-hyung Kim , Hak-bong Lee , Yoon-kyung Cho
发明人： Myeong-ho Kim , Sam-jong Jeoung , Jeong-gon Song , Il-du Jung , Ju-sang Lee , Heung-yi Kim , Sam-hyun Choi , Jang-youn Ko , Kyoung-woung Kim , Dae-hyung Kim , Hak-bong Lee , Yoon-kyung Cho
IPC分类号： B62D61/10
CPC分类号： B60G7/001 , B60G3/01 , B60G3/145 , B60G11/16 , B60G2200/422 , B60G2204/1244 , B60G2204/30 , B60G2206/11 , B60K7/0007 , B60K17/043 , B60K2007/0038 , B60K2007/0061 , B60L2220/46
摘要： A wheel driving apparatus for a moving apparatus is provided. The wheel driving apparatus includes a wheel, a driving motor to generate a driving power to rotate the wheel, a gear box to transmit the rotational force of the driving motor to the wheel, and a guide shaft movable vertically with respect to the base member, wherein the wheel, the driving motor, the gear box, and the guide shaft are connected integrally with each other to move vertically with respect to the base member in unison.
摘要翻译：提供了一种用于移动装置的轮驱动装置。车轮驱动装置包括车轮，用于产生用于使车轮旋转的驱动力的驱动电动机，将驱动电动机的旋转力传递到车轮的齿轮箱，以及相对于基座部件垂直移动的引导轴，其中，所述车轮，所述驱动马达，所述齿轮箱和所述引导轴彼此一体地连接，以一致地相对于所述基座部件垂直地移动。

4. 发明授权

US07251853B2 Robot cleaner having floor-disinfecting function 有权
标题翻译：具有地板消毒功能的机器人清洁器
公开(公告)号：US07251853B2
公开(公告)日：2007-08-07
申请号：US10822652
申请日：2004-04-13
申请人： Jee-su Park , Ju-sang Lee , Jang-youn Ko , Young-ik Cho , Jeong-gon Song
发明人： Jee-su Park , Ju-sang Lee , Jang-youn Ko , Young-ik Cho , Jeong-gon Song
IPC分类号： A47L5/00
CPC分类号： A47L7/0061 , A47L9/009 , A47L2201/04 , A61L2/10 , G05D1/0246 , G05D1/0255 , G05D2201/0215
摘要： A robot cleaner for simultaneously and selectively performing automatic floor cleaning and automatic floor disinfection. The robot cleaner includes a body traveling automatically on a surface to be cleaned, a driving unit for driving a plurality of wheels provided under the body, and obstacle detecting sensors positioned to a front of the body for detecting an obstacle located ahead of a traveling direction. The robot cleaner also includes memory for storing position information of the obstacle detected by the obstacle detecting sensor, a dust vacuuming and collecting section installed to the body for vacuuming dust on a floor, and a disinfecting section installed under a bottom portion of the body for disinfecting the floor. The robot cleaner also includes a control section for controlling the driving unit to traverse the robot cleaner along a given traveling path, and also control the dust vacuuming and collecting section and the disinfecting section.
摘要翻译：一种机器人清洁器，用于同时选择性地执行自动地板清洁和自动地面消毒。机器人清洁器包括在要清洁的表面上自动行进的身体，用于驱动设置在身体下方的多个车轮的驱动单元，以及位于身体前方的障碍物检测传感器，用于检测行进方向前方的障碍物。机器人清洁器还包括用于存储由障碍物检测传感器检测到的障碍物的位置信息的存储器，安装在身体上的用于抽真空地板上的灰尘的除尘和收集部分，以及安装在身体的底部下方的消毒部分消毒地板。机器人清洁器还包括用于控制驱动单元沿着给定的行进路径横越机器人清洁器的控制部分，并且还控制除尘和收集部分和消毒部分。

5. 发明授权

US07239105B2 Method compensating gyro sensor for robot cleaner 有权
标题翻译：机器人清洁器方法补偿陀螺传感器
公开(公告)号：US07239105B2
公开(公告)日：2007-07-03
申请号：US11073130
申请日：2005-03-04
申请人： Kwang-Soo Lim , Sam-Jong Jeung , Jeong-Gon Song , Ki-Man Kim , Ju-Sang Lee , Jang-Youn Ko
发明人： Kwang-Soo Lim , Sam-Jong Jeung , Jeong-Gon Song , Ki-Man Kim , Ju-Sang Lee , Jang-Youn Ko
IPC分类号： B25J5/00
CPC分类号： G05D1/0272 , G05D1/0246 , G05D1/027 , G05D2201/0215
摘要： A method of compensating a gyro sensor of a robot cleaner is provided. The method includes changing to a compensation mode if a robot cleaner travels greater than a compensation reference, and compensating an output value of the gyro sensor by use of an upper camera.
摘要翻译：提供一种补偿机器人清洁器陀螺仪传感器的方法。该方法包括如果机器人清洁器行进大于补偿参考值，则改变为补偿模式，并且通过使用上摄像机来补偿陀螺仪传感器的输出值。

6. 发明申请

US20060196003A1 Mobile robot having body sensor 审中-公开
标题翻译：具有身体传感器的移动机器人
公开(公告)号：US20060196003A1
公开(公告)日：2006-09-07
申请号：US11249545
申请日：2005-10-14
申请人： Jeong-gon Song , Yun-sup Hwang , Sam-jong Jeung , Ildu Jung , Ju-sang Lee , Jang-youn Ko , Kwang-soo Lim , Ki-man Kim
发明人： Jeong-gon Song , Yun-sup Hwang , Sam-jong Jeung , Ildu Jung , Ju-sang Lee , Jang-youn Ko , Kwang-soo Lim , Ki-man Kim
IPC分类号： A47L5/00
CPC分类号： G05D1/0259 , G05D2201/0203 , G05D2201/0215
摘要： In exemplary embodiments, a robot cleaner with improved safety features comprises a driving part for movably supporting a cleaner body and supplying a driving force for operating the cleaner body; a suction part mounted on the cleaner body to draw in dust from a surface being cleaned; a body sensor mounted on the cleaner body to perceive any approach or contact of at least a part of human body or pet; and a control part for turning on and off the driving part according to a signal detected by the body sensor.
摘要翻译：在示例性实施例中，具有改进的安全特征的机器人清洁器包括用于可移动地支撑吸尘器主体并提供用于操作吸尘器主体的驱动力的驱动部件; 抽吸部件安装在清洁器主体上以从被清洁的表面吸入灰尘; 身体传感器，其安装在所述清洁器主体上以感知至少一部分人体或宠物的任何接近或接触; 以及用于根据由身体传感器检测到的信号来打开和关闭驱动部件的控制部件。

7. 发明授权

US07004269B2 Driving apparatus for a robot cleaner 失效
标题翻译：机器人清洁器的驱动装置
公开(公告)号：US07004269B2
公开(公告)日：2006-02-28
申请号：US10457173
申请日：2003-06-09
申请人： Jeong-Gon Song , Ju-Sang Lee , Jang-Youn Ko , Kyong-Hui Jeon , Ki-Man Kim
发明人： Jeong-Gon Song , Ju-Sang Lee , Jang-Youn Ko , Kyong-Hui Jeon , Ki-Man Kim
IPC分类号： B62D11/02
CPC分类号： B60K7/0007 , A47L9/009 , A47L2201/04 , B60K2007/0038 , B60K2007/0092
摘要： Disclosed is a driving apparatus for a robot cleaner enabling drive wheels to be in contact with a floor all the time. The driving apparatus for a robot cleaner includes a robot cleaner main body, driving motors mounted in the robot cleaner main body, and for transferring power to drive wheels, driving motor housings hinged with the robot cleaner main body, and for accommodating the driving motors therein, and pressure members disposed between the robot cleaner main body and the driving motor housings, and for pressing the driving motor housings. Accordingly, the driving motor housings are mounted to rotate about the center of the rotation hinges so that the drive wheels come in contact with the floor all the time, preventing the drive wheels from being lifted over the floor and making lost rotations due to curved portions of the floor or obstacles.
摘要翻译：公开了一种用于机器人清洁器的驱动装置，其使得驱动轮始终与地板接触。用于机器人清洁器的驱动装置包括机器人清洁器主体，安装在机器人吸尘器主体中的驱动马达，用于将动力传递到驱动轮，驱动与机器人吸尘器主体铰接的电动机壳体，以及用于将驱动马达容纳在其中以及设置在机器人吸尘器主体和驱动电动机壳体之间并用于按压驱动电动机壳体的压力构件。因此，驱动电动机壳体被安装成围绕旋转铰链的中心旋转，使得驱动轮始终与地板接触，防止驱动轮被提升到地板上并由于弯曲部分而产生转动的地板或障碍物。

8. 发明申请

US20050267631A1 Mobile robot and system and method of compensating for path diversions 审中-公开
标题翻译：移动机器人及其补偿方法
公开(公告)号：US20050267631A1
公开(公告)日：2005-12-01
申请号：US10991073
申请日：2004-11-17
申请人： Ju-sang Lee , Jang-youn Ko , Jeong-gon Song , Kwang-soo Lim , Ki-man Kim , Sam-jong Jeung
发明人： Ju-sang Lee , Jang-youn Ko , Jeong-gon Song , Kwang-soo Lim , Ki-man Kim , Sam-jong Jeung
IPC分类号： A47L9/00 , A47L20060101 , A47L9/28 , A47L11/40 , B25J5/00 , B25J9/16 , B25J13/08 , B25J19/00 , B25J19/04 , G05B1/01 , G05D1/02 , G06F19/00
CPC分类号： G05D1/027 , G05D1/0242 , G05D1/0246 , G05D1/0253 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0203
摘要： A mobile robot measures a rotation angle using information from an image photographed by a vision camera. A mobile robot system comprises a main body of the robot, a driving part for driving a plurality of wheels; a vision camera mounted on a main body thereof to photograph an upper image which is perpendicular to a traveling direction; and a controller for calculating a rotation angle using polar-mapping image data obtained by polar-mapping a ceiling image, photographed by the vision camera, with respect to a ceiling of a working area. The controller drives the driving part using a calculated rotation angle. The rotation angle is measured by the vision cameras and the rotation angle can be used to compensate the working path, without having to provide expensive devices such as an accelerometer or a gyroscope, thereby saving manufacturing cost.
摘要翻译：移动机器人使用来自由摄像机拍摄的图像的信息来测量旋转角度。移动机器人系统包括机器人的主体，用于驱动多个车轮的驱动部分; 安装在其主体上的视觉摄像机，拍摄垂直于行进方向的上部图像; 以及控制器，用于使用通过对由摄像机拍摄的天花板图像进行极地绘图而获得的极坐标图像数据相对于工作区域的天花板来计算旋转角度。控制器使用计算出的旋转角度驱动驱动部件。通过视觉摄像机测量旋转角度，并且可以使用旋转角度来补偿工作路径，而不必提供昂贵的装置，例如加速度计或陀螺仪，从而节省制造成本。

9. 发明授权

US06957712B2 Robot cleaner, system employing the same and method for re-connecting to external recharging device 失效
标题翻译：机器人清洁器，采用相同的系统和重新连接到外部充电装置的方法
公开(公告)号：US06957712B2
公开(公告)日：2005-10-25
申请号：US10117925
申请日：2002-04-05
申请人： Jeong-gon Song , Jang-youn Ko , Kwang-su Kim
发明人： Jeong-gon Song , Jang-youn Ko , Kwang-su Kim
IPC分类号： A47L9/28 , A47L5/00 , A47L9/00 , B25J13/08 , G05D1/02 , G05D3/20 , H02J7/02 , B62D1/24
CPC分类号： G05D1/0225 , A47L9/009 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L9/2873 , A47L9/2884 , A47L9/2894 , A47L2201/022 , A47L2201/04 , G05D1/0234 , G05D1/0246 , G05D1/0272 , G05D1/0282 , G05D2201/0203
摘要： A robot cleaner capable of returning to an external recharging device. The robot cleaner includes a driving portion for driving a plurality of wheels, at least one camera installed on a body of the robot cleaner, the camera for photographing external surroundings, and a controller for photographing an image through a camera for recognition of a connection position where the external recharging device is connected with the robot cleaner and stores the photographed image, and controls the driving portion so that the robot cleaner can move from the external recharging device to a destination when an operation start signal is received in the robot cleaner connected to the external recharging device, and for tracing a path to the connection position of the external recharging device and the robot cleaner during a robot cleaner's return to the external recharging device while comparing a current image currently taken by the camera with a stored image of the connection position of the robot cleaner and the external recharging device. Returning of the robot cleaner is carried out when the robot cleaner, separated from the external recharging device, completes its job or needs a recharging, by using the previously stored image and an image currently taken by the camera. Accordingly, an error in the location process, mainly caused due to external interference signals, is decreased, and errors in tracing a path and connecting to the external recharging device can also be decreased.
摘要翻译：能够返回到外部再充电装置的机器人清洁器。机器人清洁器包括用于驱动多个车轮的驱动部分，安装在机器人清洁器的主体上的至少一个照相机，用于拍摄外部环境的照相机，以及用于通过照相机拍摄图像以用于识别连接位置的控制器其中外部再充电装置与机器人清洁器连接并存储拍摄的图像，并且当在连接到机器人清洁器的机器人清洁器中接收到操作开始信号时，控制驱动部分，使得机器人清洁器能够从外部再充电装置移动到目的地外部再充电装置，并且用于在机器人清洁器返回到外部再充电装置期间跟踪到外部再充电装置和机器人清洁器的连接位置的路径，同时将当前拍摄的当前图像与连接的存储图像进行比较机器人清洁器和外部充电装置的位置。当从外部充电装置分离的机器人清洁器通过使用先前存储的图像和由相机当前拍摄的图像来完成其工作或需要充电时，执行机器人清洁器的返回。因此，主要由于外部干扰信号引起的定位处理的误差降低，并且也可以减少跟踪路径和连接到外部再充电装置的误差。

10. 发明申请

US20050015914A1 Robot cleaner having air cleaning function and system thereof 审中-公开
标题翻译：具有空气清洁功能的机器人清洁器及其系统
公开(公告)号：US20050015914A1
公开(公告)日：2005-01-27
申请号：US10804078
申请日：2004-03-19
申请人： Jea-sun You , Jee-su Park , Ju-sang Lee , Jang-youn Ko , Jeong-gon Song
发明人： Jea-sun You , Jee-su Park , Ju-sang Lee , Jang-youn Ko , Jeong-gon Song
IPC分类号： A47L9/00 , A47L20060101 , A47L5/00 , A47L5/12 , A47L7/00 , A47L7/02 , A47L7/04 , A47L9/10 , A47L9/12 , A47L9/19 , A47L9/28 , A47L11/00 , B01D46/04 , B01D46/44 , B25J5/00 , F24F3/16
CPC分类号： F24F3/1603 , A47L7/04 , A47L2201/04 , F24F2221/42
摘要： A robot cleaner for cleaning ambient air in a cleaning area while cleaning a cleaning surface, and a system thereof. The robot cleaner and the system thereof comprise a body, a driving part driving a plurality of wheels disposed at a lower portion of the body, a dust suction part formed in the body to draw-in dust from a cleaning surface, and an air cleaning part formed in the body to draw-in dust-ladened air from a cleaning area. The robot cleaner cleans the air and discharges cleaned air, and, utilizing a controller disposed in the body, controls the driving part and the air cleaning part. Accordingly, since the robot cleaner provides cleaned and fresh air to a predetermined cleaning area while cleaning a surface, it contributes to a fresher residential environment.
摘要翻译：一种用于在清洁清洁表面时清洁清洁区域中的周围空气的机器人清洁器及其系统。机器人清洁器及其系统包括主体，驱动设置在主体的下部的多个轮的驱动部，形成在主体中以从清洁表面吸入灰尘的吸尘部，以及空气清洁在身体形成的部分从清洁区域吸入含尘的空气。机器人清洁器清洁空气并排出清洁的空气，并且利用设置在身体中的控制器来控制驱动部件和空气净化部件。因此，由于机器人清洁器在清洁表面的同时将清洁和新鲜的空气提供给预定的清洁区域，所以有助于更新鲜的住宅环境。

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