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1. 发明授权

US08954191B2 Mobile robot and controlling method of the same 有权
标题翻译：移动机器人及其控制方法相同
公开(公告)号：US08954191B2
公开(公告)日：2015-02-10
申请号：US12718380
申请日：2010-03-05
申请人： Dong Hoon Yi , Young Gie Kim , Jeong Suk Yoon , Seong Soo Lee , Jei Hun Lee , Seung Min Baek , Yoo Jin Choi , Sang Ik Na , Su Uk Choe , Yie Bin Kim
发明人： Dong Hoon Yi , Young Gie Kim , Jeong Suk Yoon , Seong Soo Lee , Jei Hun Lee , Seung Min Baek , Yoo Jin Choi , Sang Ik Na , Su Uk Choe , Yie Bin Kim
IPC分类号： G05B19/04 , G05B19/18 , G05D1/02
CPC分类号： G05D1/0274 , G05D1/0246 , G05D1/0255 , G05D2201/0203
摘要： Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.
摘要翻译：公开了一种移动机器人及其控制方法。整个移动区域被划分为多个区域，并且通过使用分割区域的多个图像的特征点逐渐地进行部分地图。然后，将地图补偿为闭合的曲线，从而制作整个地图。此外，当移动机器人位于清洁区域的相邻区域的边界处，形成闭合曲线的边界时，移动机器人基于地图中包括的特征点之间的匹配结果来补偿其位置，以及从清洁过程中捕获的图像中提取特征点。

2. 发明授权

US07780796B2 Apparatus and method for controlling operation of robot cleaner 有权
标题翻译：用于控制机器人清洁器操作的装置和方法
公开(公告)号：US07780796B2
公开(公告)日：2010-08-24
申请号：US11315187
申请日：2005-12-23
申请人： In-Bo Shim , Young-Gie Kim , Hee-Suk Roh
发明人： In-Bo Shim , Young-Gie Kim , Hee-Suk Roh
IPC分类号： B08B5/04
CPC分类号： A47L9/2884 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L2201/00 , Y02B40/82
摘要： An apparatus for controlling an operation of a robot cleaner including: a battery installed in the robot cleaner; and a means for selectively cutting off power supply of the battery to at least one or more units operated for performing a cleaning operation when the cleaning operation of the robot cleaner is stopped. When the cleaning operation of the robot cleaner is stopped, the robot cleaner is changed to the power saving mode or to the standby mode, and accordingly, power consumption of the battery of the robot cleaner can be reduced.
摘要翻译：一种用于控制机器人清洁器的操作的装置，包括：安装在所述机器人清洁器中的电池; 以及用于当所述机器人清洁器的清洁操作停止时，将所述电池的电源选择性地切断到至少一个或多个操作以进行清洁操作的单元的装置。当机器人清洁器的清洁操作停止时，机器人清洁器被改变到省电模式或待机模式，因此可以减少机器人清洁器的电池的功耗。

3. 发明授权

US07365512B2 System for directing moving object 有权
标题翻译：用于引导移动物体的系统
公开(公告)号：US07365512B2
公开(公告)日：2008-04-29
申请号：US11489510
申请日：2006-07-20
申请人： Young-gie Kim
发明人： Young-gie Kim
IPC分类号： G05B1/06
CPC分类号： G05D1/0276 , G01S1/70 , G01S3/784 , G01S5/30 , G05D1/0225 , G05D1/0234 , G05D1/0242
摘要： A moving-object directing system for directing a moving object to a target location includes: a moving-object directing unit and a moving object. The moving-object directing unit includes: a directing signal transmitter for generating a first moving-object directing signal, sequentially transmitting the first moving-object directing signal 360° in all directions, generating a second moving-object directing signal corresponding to directing information for directing the moving object to the target location upon receiving a signal indicating successful reception of the first moving-object directing signal, and transmitting the second moving-object directing signal, and a first RF (Radio Frequency) communication unit for receiving a signal indicating successful reception of the moving-object directing signal. The moving object includes: a second RF communication unit for wirelessly transmitting a signal indicating successful reception of the moving object directing signal to the moving object directing unit, and a controller for controlling operations of a wheel.
摘要翻译：用于将移动物体引导到目标位置的移动物体引导系统包括：移动物体引导单元和移动物体。移动物体引导单元包括：定向信号发射器，用于产生第一移动物体引导信号，顺序地将所述第一移动物体引导信号在所有方向360°发射，产生对应于指向信息的第二移动物体定向信号在接收到指示成功接收到第一移动物体引导信号的信号并且发送第二移动物体引导信号的第一RF（射频）通信单元接收到指示成功的信号时，将移动物体指向目标位置接收移动物体指示信号。移动物体包括：第二RF通信单元，用于将表示成功接收到移动物体引导信号的信号无线地发送到移动物体引导单元，以及用于控制车轮的操作的控制器。

4. 发明授权

US07274167B2 Position-recognizing system for self-moving robot 有权
标题翻译：自动机器人定位识别系统
公开(公告)号：US07274167B2
公开(公告)日：2007-09-25
申请号：US11330257
申请日：2006-01-12
申请人： Young-Gie Kim
发明人： Young-Gie Kim
IPC分类号： G05D1/02
CPC分类号： G05D1/0255 , G05D1/0225 , G05D1/0261 , G05D2201/0203
摘要： Disclosed is a position-recognizing system of a self-moving robot. A position-recognizing system of a self-moving robot includes: a floor in which a magnet is inserted; and a self-moving robot provided with a magnetic sensor that can sense the magnet while the robot is moving on the floor.According to this, a magnet mounted in a floor is sensed through the magnetic sensor, and thusly a current location of the self-moving robot can be accurately recognized, so that the self-moving robot can be precisely controlled.
摘要翻译：公开了一种自动移动机器人的位置识别系统。自动机器人的位置识别系统包括：其中插入有磁体的地板; 以及具有磁传感器的自动机器人，该磁传感器能够在机器人在地板上移动时感测磁体。据此，通过磁传感器感测安装在地板上的磁体，因此可以准确地识别自动移动机器人的当前位置，从而能够精确地控制自动移动的机器人。

5. 发明申请

US20070096675A1 MOBILE ROBOT CHARGE STATION RETURN SYSTEM 有权
标题翻译：移动机器人收费站返回系统
公开(公告)号：US20070096675A1
公开(公告)日：2007-05-03
申请号：US11553224
申请日：2006-10-26
申请人： Sang-yun KIM , Young-gie KIM
发明人： Sang-yun KIM , Young-gie KIM
IPC分类号： G05D1/00 , B64C13/18
CPC分类号： G05D1/0242 , G05D1/0225 , G05D2201/0203
摘要： Disclosed is a mobile robot charge station return system, which may return a mobile robot to a charge station exactly and rapidly according to a charge station position guidance signal emitted from the charge station. The mobile robot charge station return system includes a charge station for transmitting charge station position guidance signals to different areas in such a way that different emitting distances of the charge station position guidance signals change according to a predetermined time period; and a mobile robot for receiving the charge station position guidance signals, calculating direction and distance information, and returning to the charge station according to the calculated direction and distance information.
摘要翻译：公开了一种移动机器人充电站返回系统，其可以根据从充电站发出的充电站位置引导信号，将移动机器人精确快速地返回到充电站。移动机器人充电站返回系统包括：充电站，用于将充电站位置引导信号发送到不同的区域，使得充电站位置引导信号的不同发射距离根据预定的时间段而改变; 以及移动机器人，用于接收充电站位置引导信号，计算方向和距离信息，并根据计算的方向和距离信息返回到充电站。

6. 发明授权

US09060658B2 Mobile robot with single camera and method for recognizing 3D surroundings of the same 有权
标题翻译：具有单摄像头的移动机器人和识别3D环境的方法
公开(公告)号：US09060658B2
公开(公告)日：2015-06-23
申请号：US13262192
申请日：2010-03-12
申请人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
发明人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
IPC分类号： G06K9/00 , A47L9/00 , G01S15/93 , G05D1/02
CPC分类号： A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
摘要： Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
摘要翻译：公开了具有能够对周围进行清洁处理的单个摄像机的移动机器人，并且能够更准确地制作包括多个特征点的周围环境的3D地图，以及用于识别其周围的3D环境的方法。根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取环境的3D信息。

7. 发明申请

US20120019627A1 MOBILE ROBOT WITH SINGLE CAMERA AND METHOD FOR RECOGNIZING 3D SURROUNDINGS OF THE SAME 有权
标题翻译：具有单个摄像机的移动机器人和用于识别其中的3D环绕的方法
公开(公告)号：US20120019627A1
公开(公告)日：2012-01-26
申请号：US13262192
申请日：2010-03-12
申请人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
发明人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
IPC分类号： H04N13/02
CPC分类号： A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
摘要： Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
摘要翻译：公开了具有能够对周围环境进行清洁处理的单个摄像机的移动机器人，并且能够更准确地制作包括多个特征点的周围环境的3D地图，以及用于识别其中的3D环境的方法。根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取环境的3D信息。

8. 发明申请

US20060261772A1 Position-recognizing system for self-moving robot 有权
标题翻译：自动机器人定位识别系统
公开(公告)号：US20060261772A1
公开(公告)日：2006-11-23
申请号：US11330257
申请日：2006-01-12
申请人： Young-Gie Kim
发明人： Young-Gie Kim
IPC分类号： G05D1/00 , B64C13/18
CPC分类号： G05D1/0255 , G05D1/0225 , G05D1/0261 , G05D2201/0203
摘要： Disclosed is a position-recognizing system of a self-moving robot. A position-recognizing system of a self-moving robot includes: a floor in which a magnet is inserted; and a self-moving robot provided with a magnetic sensor that can sense the magnet while the robot is moving on the floor. According to this, a magnet mounted in a floor is sensed through the magnetic sensor, and thusly a current location of the self-moving robot can be accurately recognized, so that the self-moving robot can be precisely controlled.
摘要翻译：公开了一种自动移动机器人的位置识别系统。自动机器人的位置识别系统包括：其中插入有磁体的地板; 以及具有磁传感器的自动机器人，该磁传感器能够在机器人在地板上移动时感测磁体。据此，通过磁传感器感测安装在地板上的磁体，因此可以准确地识别自动移动机器人的当前位置，从而能够精确地控制自动移动的机器人。

9. 发明申请

US20100228394A1 MOBILE ROBOT AND CONTROLLING METHOD OF THE SAME 有权
标题翻译：移动机器人及其控制方法
公开(公告)号：US20100228394A1
公开(公告)日：2010-09-09
申请号：US12718380
申请日：2010-03-05
申请人： Dong Hoon YI , Young Gie KIM , Jeong Suk YOON , Seong Soo LEE , Jei Hun LEE , Seung Min BAEK , Yoo Jin CHOI , Sang IK NA , Su Uk CHOE , Yie Bin KIM
发明人： Dong Hoon YI , Young Gie KIM , Jeong Suk YOON , Seong Soo LEE , Jei Hun LEE , Seung Min BAEK , Yoo Jin CHOI , Sang IK NA , Su Uk CHOE , Yie Bin KIM
IPC分类号： G05D1/02 , G05B19/00 , G06F19/00
CPC分类号： G05D1/0274 , G05D1/0246 , G05D1/0255 , G05D2201/0203
摘要： Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.
摘要翻译：公开了一种移动机器人及其控制方法。整个移动区域被划分为多个区域，并且通过使用分割区域的多个图像的特征点逐渐地进行部分地图。然后，将地图补偿为闭合的曲线，从而制作整个地图。此外，当移动机器人位于清洁区域的相邻区域的边界处，形成闭合曲线的边界时，移动机器人基于地图中包括的特征点之间的匹配结果来补偿其位置，以及从清洁过程中捕获的图像中提取特征点。

10. 发明授权

US07615957B2 Mobile robot charge station return system 有权
标题翻译：移动机器人充电站返回系统
公开(公告)号：US07615957B2
公开(公告)日：2009-11-10
申请号：US11553224
申请日：2006-10-26
申请人： Sang-yun Kim , Young-gie Kim
发明人： Sang-yun Kim , Young-gie Kim
IPC分类号： B25J5/00
CPC分类号： G05D1/0242 , G05D1/0225 , G05D2201/0203
摘要： Disclosed is a mobile robot charge station return system, which may return a mobile robot to a charge station exactly and rapidly according to a charge station position guidance signal emitted from the charge station. The mobile robot charge station return system includes a charge station for transmitting charge station position guidance signals to different areas in such a way that different emitting distances of the charge station position guidance signals change according to a predetermined time period; and a mobile robot for receiving the charge station position guidance signals, calculating direction and distance information, and returning to the charge station according to the calculated direction and distance information.
摘要翻译：公开了一种移动机器人充电站返回系统，其可以根据从充电站发出的充电站位置引导信号，将移动机器人精确快速地返回到充电站。移动机器人充电站返回系统包括：充电站，用于将充电站位置引导信号发送到不同的区域，使得充电站位置引导信号的不同发射距离根据预定的时间段而改变; 以及移动机器人，用于接收充电站位置引导信号，计算方向和距离信息，并根据计算的方向和距离信息返回到充电站。

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