专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明公开

KR1020130123974A 이동로봇의 이동제한시스템 및 그 제어방법 无效
标题翻译：移动限制系统和移动机器人的方法
公开(公告)号：KR1020130123974A
公开(公告)日：2013-11-13
申请号：KR1020120047534
申请日：2012-05-04
申请人： 주식회사 한울로보틱스
发明人： 이남수 , 이병수 , 박현진 , 김윤중 , 김병수
IPC分类号： B25J13/08 , G05D1/02
摘要： The present invention relates to a system and a method for controlling the movement of a movable robot and, more specifically, to a system and a method for controlling the movement of a movable robot in order to make the movable move within a limited region without a separate beacon by using a floor sensor. Therefore, the present invention provides the system for controlling the movement of the movable robot, which includes at least one reflection region and at least one absorption region; entry preventing patterns on which the reflection region and the absorption region are alternately arranged; and the movable robot avoiding the entry preventing patterns when the entry preventing patterns are sensed in driving. Furthermore, the present invention includes a first step that a light emitting unit emits infrared rays to a floor; a second step that a light receiving unit measures the amount of the infrared rays reflected by the floor; a third step that an A/D conversion unit digitalizes the measured amount of the infrared rays; a fourth step that a pattern recognizing unit senses the entry preventing patterns by using the digitalized amount of the infrared rays; and a fifth step that a control unit controls the movable robot to make the movable robot avoid the entry preventing patterns.
摘要翻译：本发明涉及一种用于控制可移动机器人的移动的系统和方法，更具体地，涉及一种用于控制可移动机器人的运动的系统和方法，以使可移动的移动在有限的区域内没有使用地面传感器分离信标。因此，本发明提供了一种用于控制可移动机器人的运动的系统，其包括至少一个反射区域和至少一个吸收区域; 反射区域和吸收区域交替排列的入口防止图案; 以及当驾驶中检测到入口防止图案时避免进入防止图案的可移动机器人。此外，本发明包括发光单元向地板发射红外线的第一步骤; 光接收单元测量由地板反射的红外线的量的第二步骤; A / D转换单元将测量的红外线数字化的第三步骤; 第四步，图案识别单元通过使用数字化的红外线来检测入口防止图案; 以及第五步骤，控制单元控制可移动机器人以使可移动机器人避免进入防止图案。

2. 发明授权

KR101229106B1 다중 수신부를 이용한 거리 감지 적외선 센서 有权
标题翻译：使用多路复用接收部门的距离感知红外线传感器
公开(公告)号：KR101229106B1
公开(公告)日：2013-02-15
申请号：KR1020110023001
申请日：2011-03-15
申请人： 주식회사 한울로보틱스
发明人： 이남수 , 이병수 , 박현진 , 김윤중 , 김병수
IPC分类号： A47L9/28 , G01C3/02 , G01B11/14 , A47L11/20
摘要： 본 발명은 다수의 포토트랜지스터(Phtotransistor)로 이루어지는 수광부와 하나의 적외선 다이오드(IR Diode)를 사용하여 센서를 구성하여 수광부에 입사하는 광량의 양을 이용하여 두 수광부 센서 사이의 차이를 기준으로 하여 센서가 놓인 위치에 맞게 기준이 정해지도록 함으로써 주변환경의 영향을 받지 않는 유형의 거리 감지 센서를 제공하는 것을 그 기술적 요지로 한다.

3. 发明授权

KR101495866B1 로봇 청소기의 추락, 문턱 및 바닥재질 감지장치 및 이를 이용한 감지방법 有权
标题翻译：用于清洁机器人的检测跌落，阈值和地板类型的设置及使用其的检测方法
公开(公告)号：KR101495866B1
公开(公告)日：2015-02-26
申请号：KR1020110119018
申请日：2011-11-15
申请人： 주식회사 한울로보틱스
发明人： 이남수 , 이병수 , 박현진 , 김윤중 , 김병수
IPC分类号： A47L9/28 , B25J13/08 , G05D1/02
摘要： 본 발명은 로봇 청소기의 추락, 문턱 및 바닥재질 감지장치 및 이를 이용한 감지방법에 관한 것으로, 더욱 상세하게는 하나의 적외선 발광부와 두 개의 적외선 수광부를 이용하여 이동로봇이 바닥까지의 거리를 감지하여 추락 및 문턱을 인식하고, 바닥의 재질을 판별할 수 있는 로봇 청소기의 추락, 문턱 및 바닥재질 감지장치 및 이를 이용한 감지방법에 관한 것이다.
이를 위해, 본 발명은 적외선을 바닥에 입사각 θ로 방출하는 발광부;와 상기 바닥에서 반사 및 입사되는 적외선 광량을 측정하는 제1수광부 및 제2수광부;와 상기 제1수광부 및 상기 제2수광부에서 측정된 적외선 광량을 A/D 변환하는 수광제어부;와 상기 제1수광부에서 측정된 적외선 광량의 A/D 변환값과 상기 제2수광부(220)에서 측정된 적외선 광량의 A/D 변환값과의 차이를 계산하는 비교부;및 상기 비교부가 계산한 A/D 변환값의 차이를 이용하여 바닥과의 거리를 판단하는 연산부:를 포함하는 로봇 청소기의 추락, 문턱 및 바닥재질 감지장치를 제공한다.

4. 发明公开

KR1020130031447A 회전형 스테이션을 이용한 로봇 청소기 및 그 제어방법 无效
标题翻译：使用旋转站的移动机器人及其控制方法
公开(公告)号：KR1020130031447A
公开(公告)日：2013-03-29
申请号：KR1020110095023
申请日：2011-09-21
申请人： 주식회사 한울로보틱스
发明人： 이남수 , 이병수 , 박현진 , 김윤중 , 김병수
IPC分类号： A47L9/28 , A47L11/20
CPC分类号： A47L9/2894 , A47L9/2805 , A47L9/2857 , A47L2201/00
摘要： PURPOSE: A robot cleaner using a rotary type station and a control method thereof are provided to clean corner like under furniture and to control an indoor environment control device by transmitting a measured indoor environment data of a current position to the rotary type station. CONSTITUTION: A robot cleaner using a rotary type station comprises an indoor environment control unit and a movable robot(100). The movable robot comprises a first receiver unit(110), a sensor unit(120), a first control unit(130), a storage unit(140), and a transmission unit(150). The first receiver unit receives a predetermined value of a user from outside. The sensor unit measures current position information and a current indoor environment data. The first control unit compares the predetermined value of the user and the current indoor environment data. The storage unit stores an infrared light signal needed to control the predetermined value of the user, the current position information of the movable robot, and the current indoor environment data. The rotary type station comprises a fixing unit, a second receiver unit, and a second control unit. [Reference numerals] (100) Movable robot; (110) First receiver unit; (120) Sensor unit; (130) First control unit; (140) Storage unit; (150) Transmission unit; (160) Display unit
摘要翻译：目的：提供一种使用旋转式站的机器人清洁器及其控制方法，以像家具下方一样清洁角落，并通过将测量的当前位置的室内环境数据传送到旋转式站来控制室内环境控制装置。构成：使用旋转式站的机器人清洁器包括室内环境控制单元和可移动机器人（100）。可移动机器人包括第一接收器单元（110），传感器单元（120），第一控制单元（130），存储单元（140）和传输单元（150）。第一接收器单元从外部接收用户的预定值。传感器单元测量当前位置信息和当前室内环境数据。第一控制单元将用户的预定值与当前室内环境数据进行比较。存储单元存储控制用户的预定值所需的红外线信号，可移动机器人的当前位置信息和当前室内环境数据。旋转型站包括固定单元，第二接收单元和第二控制单元。（附图标记）（100）移动机器人; （110）第一接收单元; （120）传感器单元; （130）第一控制单元; （140）存储单元; （150）传输单元; （160）显示单元

5. 发明公开

KR1020120105282A 다중 수신부를 이용한 거리 감지 적외선 센서 有权
标题翻译：使用多媒体接收部门的距离感知红外辐射传感器
公开(公告)号：KR1020120105282A
公开(公告)日：2012-09-25
申请号：KR1020110023001
申请日：2011-03-15
申请人： 주식회사 한울로보틱스
发明人： 이남수 , 이병수 , 박현진 , 김윤중 , 김병수
IPC分类号： A47L9/28 , G01C3/02 , G01B11/14 , A47L11/20
CPC分类号： A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L2201/04
摘要： PURPOSE: An infrared sensor for measuring a distance using a multiple receiving unit is provided to constantly recognize a falling height regardless of the materials of a floor. CONSTITUTION: An infrared sensor for measuring a distance using a multiple receiving unit comprises an infrared light emitting unit, a first infrared light receiving unit, a second infrared light receiving unit, a filter for blocking disturbance, an output level adjuster, a comparison unit, and a controller. The filter for blocking the disturbance covers the first and second infrared light receiving units. The output level adjuster adjusts the output level of infrared rays inputted in the first infrared light receiving unit. The comparison unit compares the output amount inputted in the first light receiving unit and the second light receiving unit. The controller control a robot cleaner by the comparison result. [Reference numerals] (AA) Start; (BB) Turning on an infared light emitting unit; (CC) Recognizing a fall; (S10) Emitting infared rays; (S20) The data in the first and second infared rays receiving unit is processed; (S30) The output level of the first infared rays receiving unit is adjusted; (S40) Comparing the output amount of the first infared rays receiving unit with the output amount of the second infared rays receiving unit; (S50) The output of the first infared rays receiving unit > the output of the second infared rays receiving unit; (S61) Normal operation; (S62) Change of direction
摘要翻译：目的：提供一种使用多重接收单元测量距离的红外传感器，以不断地识别落地高度，而不管地板材料如何。构成：使用多个接收单元测量距离的红外线传感器包括红外发光单元，第一红外光接收单元，第二红外光接收单元，用于阻塞干扰的滤波器，输出电平调节器，比较单元，和控制器。用于阻挡扰动的过滤器覆盖第一和第二红外光接收单元。输出电平调节器调节在第一红外光接收单元中输入的红外线的输出电平。比较单元比较输入到第一光接收单元和第二光接收单元中的输出量。控制器通过比较结果控制机器人清洁器。（附图标记）（AA）开始; （BB）打开一个infared发光单元; （CC）认识到跌倒; （S10）发射射线; （S20）处理第一和第二射线接收单元中的数据; （S30）调整第一投射光接收部的输出电平; （S40）将第一投射光接收部的输出量与第二投射光接收部的输出量进行比较; （S50）第一投射射线接收单元的输出>第二投射射线接收单元的输出; （S61）正常运行; （S62）方向改变

6. 发明授权

KR101317725B1 청소로봇의 진입방지 시스템 및 그 제어방법 有权
标题翻译：防止清洁机器人的系统及其控制方法
公开(公告)号：KR101317725B1
公开(公告)日：2013-10-17
申请号：KR1020120051355
申请日：2012-05-15
申请人： 주식회사 한울로보틱스
发明人： 이남수 , 이병수 , 박현진 , 김윤중 , 김병수
IPC分类号： A47L9/28 , G05D1/02 , B25J13/08 , B25J9/16
CPC分类号： A47L9/2894 , A47L9/2805 , A47L9/2852 , A47L2201/04
摘要： PURPOSE: A system for preventing a cleaning robot from entering a predetermined area and a control method thereof are provided to prevent a cleaning robot from getting out of a predetermined area while driving at a high speed. CONSTITUTION: A system for preventing a cleaning robot from entering a predetermined area comprises a beacon (100) and a cleaning robot (200). The beacon is arranged on the boundary between a first fixed area (10) and a second fixed area (20). The beacon emits a first infra-red signal (122) and a second infra-red signal (124) when predetermined sound is detected. The beacon creates a magnetic field when detect predetermined sound is detected. The cleaning robot reduces the driving speed when the first infra-red signal is detected. The cleaning robot drives to avoid the second infra-red signal when the second infra-red signal is detected. The cleaning robot drives to avoid the magnetic field when the magnetic field is detected.
摘要翻译：目的：提供一种用于防止清洁机器人进入预定区域的系统及其控制方法，以防止清洁机器人在高速驾驶时脱离预定区域。构成：用于防止清洁机器人进入预定区域的系统包括信标（100）和清洁机器人（200）。信标布置在第一固定区域（10）和第二固定区域（20）之间的边界上。当检测到预定声音时，信标发射第一红外信号（122）和第二红外线信号（124）。当检测到预定声音时，信标产生磁场。当检测到第一个红外线信号时，清洁机器人会降低驱动速度。当检测到第二个红外信号时，清洁机器人驱动以避免第二个红外线信号。当检测到磁场时，清洁机器人驱动以避免磁场。

7. 发明公开

KR1020130053286A 로봇 청소기의 추락, 문턱 및 바닥재질 감지장치 및 이를 이용한 감지방법 有权
标题翻译：用于清洁机器人的检测装置，阈值和地板类型的检查方法和检测方法
公开(公告)号：KR1020130053286A
公开(公告)日：2013-05-23
申请号：KR1020110119018
申请日：2011-11-15
申请人： 주식회사 한울로보틱스
发明人： 이남수 , 이병수 , 박현진 , 김윤중 , 김병수
IPC分类号： A47L9/28 , B25J13/08 , G05D1/02
CPC分类号： A47L9/2826 , A47L9/2852 , A47L2201/04
摘要： PURPOSE: A sensor for sensing falling, a threshold, and a floor material of a robot cleaner and a sensing method using the same are provided to sense hilly sections such as a stepping board or a threshold at a predetermined height using the difference in quantity of incident light in two infrared receiving units. CONSTITUTION: A sensor for sensing falling, a threshold, and a floor material of a robot cleaner comprises a light irradiation unit(100), a first light-receiving unit(210), a second light-receiving unit(220), a light-receiving control unit(400), a comparison unit(500), and a calculation unit(600). The light irradiation unit irradiates infrared rays to the bottom at a predetermined incident angle. The first and second light-receiving units measure the quantity of incident infrared rays which are reflected from the bottom. The light-receiving control unit converts the quantity of incident infrared rays into A/D. The comparison unit circulates the difference between the A/D conversion value which is detected from the first light-receiving unit and the A/D conversion value which is detected from the second light-receiving unit. The calculation unit determines a distance from the bottom using the difference of the A/D conversion value. [Reference numerals] (100) Light irradiation unit; (210) First light-receiving unit; (220) Second light-receiving unit; (300) Light-irradiation control unit; (400) Light-receiving control unit; (500) Comparison unit; (600) Calculation unit; (700) Control unit
摘要翻译：目的：提供一种用于感测机器人清洁器的下落，阈值和底板材料的传感器以及使用该传感器的传感方法，以便使用步骤板或门限在预定高度的丘陵部分来感测，入射光在两个红外接收单元中。构成：用于感测机器人清洁器的下落，阈值和底板材料的传感器包括光照射单元（100），第一光接收单元（210），第二光接收单元（220），光接收控制单元（400），比较单元（500）和计算单元（600）。光照射部以预定的入射角将红外线照射到底部。第一和第二光接收单元测量从底部反射的入射红外线的量。光接收控制单元将入射的红外线的数量转换成A / D。比较单元使从第一光接收单元检测的A / D转换值与从第二光接收单元检测的A / D转换值之间的差循环。计算单元使用A / D转换值的差来确定与底部的距离。（附图标记）（100）光照射单元; （210）第一光接收单元; （220）第二光接收单元; （300）光照射控制单元; （400）光接收控制单元; （500）比较单位; （600）计算单位; （700）控制单元

8. 发明公开

KR1020120122700A 다중 가스센서를 이용한 공기 청정 로봇 청소기 无效
标题翻译：使用多重气体传感器的空气纯机器人清洁器
公开(公告)号：KR1020120122700A
公开(公告)日：2012-11-07
申请号：KR1020110041024
申请日：2011-04-29
申请人： 주식회사 한울로보틱스
发明人： 이남수 , 이병수 , 박현진 , 김윤중 , 김병수
IPC分类号： A47L7/00 , B01D46/00 , A47L9/28
CPC分类号： A47L7/00 , A47L9/2805 , A47L9/2857 , A47L9/2894 , A47L2201/06
摘要： PURPOSE: An air purifying robot using a multistep gas sensor is provided to be used in various atmospheres. CONSTITUTION: An air purifying robot using a multistep gas sensor comprises a first gas sensor(100), a second gas sensor(110), a comparing unit(200), an user input portion(300), a database(400), a first control unit(500), a second control unit(510), and two or more air freshener spraying unit(600). The user input portion is set following the need of a user. The data base saves setting values and smell recognizing information. The first control unit maintains atmosphere following the setting of a user. The second gas sensor controls a spraying level. [Reference numerals] (100) First gas sensor; (110) Second gas sensor; (200) Comparing unit; (300) User input portion; (400) Database; (500) First control unit; (510) Second control unit; (600) Spraying unit; (700) Wireless transmission unit; (800) Display unit
摘要翻译：目的：使用多级气体传感器的空气净化机器人可用于各种气氛。构成：使用多级气体传感器的空气净化机器人包括第一气体传感器（100），第二气体传感器（110），比较单元（200），用户输入部分（300），数据库（400），第一控制单元（500），第二控制单元（510）和两个或更多个空气清新剂喷射单元（600）。用户输入部分是根据用户的需要设置的。数据库保存设置值并闻到识别信息。第一控制单元在用户的设置之后保持氛围。第二气体传感器控制喷射水平。（附图标记）（100）第一气体传感器; （110）第二气体传感器; （200）比较单位; （300）用户输入部分; （400）数据库; （500）第一控制单元; （510）第二控制单元; （600）喷涂单元; （700）无线传输单元; （800）显示单元

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式