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    • 1. 发明授权
    • Omni-directional robot cleaner
    • 全方位机器人清洁剂
    • US07568536B2
    • 2009-08-04
    • US11524478
    • 2006-09-21
    • Hung-Hsiu YuShou-Ren ChenYu-Lun HoWei-Han WangFang Chang
    • Hung-Hsiu YuShou-Ren ChenYu-Lun HoWei-Han WangFang Chang
    • B62D6/00
    • B60T7/22
    • An omni-directional robot cleaner, composed of a platform and a plurality of driving units for driving and controlling the movement of the platform, in which the platform further comprises: a sensing unit, for obstacle detection; a cleaning unit, for collecting and removing dust and dirt; a processing unit, capable of receiving signals transmitted from the sensing unit while planning and mapping a travel path accordingly; and a power unit, for providing power to the omni-directional robot cleaner while managing the same. Moreover, each driving unit of the plural driving units is comprised of an omni-directional wheel and an actuator for driving the corresponding omni-directional wheel to rotate omni-directionally, by which the platform is enabled to move continuously while changing its moving direction simultaneously so as to free the robotic cleaner from the shortcomings of those conventional autonomous cleaner, such as poor maneuverability, poor mobility and insufficient degree-of-freedom regarding to the driving of the cleaner. Therefore, not only the operation mobility of the robotic cleaner is enhanced, but also the moving agility of the same is greatly improved.
    • 一种全方位机器人清洁器,由平台和用于驱动和控制平台的运动的多个驱动单元组成,其中平台还包括:用于障碍物检测的感测单元; 清洁单元,用于收集和除去灰尘和污垢; 处理单元,其能够相应地规划和映射行进路径,从而接收从感测单元发送的信号; 以及用于向全方位机器人清洁器提供电力的电力单元,同时管理它。 此外,多个驱动单元的每个驱动单元包括全方向轮和用于驱动相应的全向轮的致动器,以便全方位旋转,通过该致动器,平台能够同时改变其移动方向而连续移动 从而使机器人清洁器免于那些常规自动清洁器的缺点,例如机动性差,移动性差,并且对于清洁器的驱动而言的自由度不足。 因此,不仅机器人清洁器的操作流动性增强,而且移动敏捷性大大提高。
    • 2. 发明申请
    • Omni-directional robot cleaner
    • 全方位机器人清洁剂
    • US20070272463A1
    • 2007-11-29
    • US11524478
    • 2006-09-21
    • Hung-Hsiu YuShou-Ren ChenYu-Lun HoWei-Han WangFang Chang
    • Hung-Hsiu YuShou-Ren ChenYu-Lun HoWei-Han WangFang Chang
    • B60T7/16
    • B60T7/22
    • An omni-directional robot cleaner, composed of a platform and a plurality of driving units for driving and controlling the movement of the platform, in which the platform further comprises: a sensing unit, for obstacle detection; a-cleaning unit, for collecting and removing dust and dirt; a processing unit, capable of receiving signals transmitted from the sensing unit while planning and mapping a travel path accordingly; and a power unit, for providing power to the omni-directional robot cleaner while managing the same. Moreover, each driving unit of the plural driving units is comprised of an omni-directional wheel and an actuator for driving the corresponding omni-directional wheel to rotate omni-directionally, by which the platform is enabled to move continuously while changing its moving direction simultaneously so as to free the robotic cleaner from the shortcomings of those conventional autonomous cleaner, such as poor maneuverability, poor mobility and insufficient degree-of-freedom regarding to the driving of the cleaner. Therefore, not only the operation mobility of the robotic cleaner is enhanced, but also the moving agility of the same is greatly improved.
    • 一种全方位机器人清洁器,由平台和用于驱动和控制平台的运动的多个驱动单元组成,其中平台还包括:用于障碍物检测的感测单元; 清洁单元,用于收集和清除灰尘和污垢; 处理单元,其能够相应地规划和映射行进路径,从而接收从感测单元发送的信号; 以及用于向全方位机器人清洁器提供电力的电力单元,同时管理它。 此外,多个驱动单元的每个驱动单元包括全方向轮和用于驱动相应的全向轮的致动器,以便全方位旋转,通过该致动器,平台能够同时改变其移动方向而连续移动 从而使机器人清洁器免于那些常规自动清洁器的缺点,例如机动性差,移动性差,并且对于清洁器的驱动而言的自由度不足。 因此,不仅机器人清洁器的操作流动性增强,而且移动敏捷性大大提高。
    • 9. 发明授权
    • Obstacle and cliff avoiding system and method thereof
    • 障碍物和悬崖避免系统及其方法
    • US07643906B2
    • 2010-01-05
    • US11517305
    • 2006-09-08
    • Hung-Hsiu YuKuo-Shih TsengYu-Lun HoMao-Feng TuChun-Hung Liu
    • Hung-Hsiu YuKuo-Shih TsengYu-Lun HoMao-Feng TuChun-Hung Liu
    • B60R25/04B60R25/06
    • G01C1/00
    • An obstacle and cliff avoiding system is disclosed, which is substantially a movable chassis having at least a displacement sensor arranged thereon. In a preferred embodiment, each displacement sensor is tilted by a specific angle with respect to a surface detected thereby while being driven to move in circle by a rotating apparatus for enabling the same to scan a defined fan-like area or the circular area around the chassis in a circulating manner. As each displacement sensor is tilted by the specific angle and is initiated to issue a working signal, the paths of signal emission and reception of each sensor are defined by the specific angle, whereas the reflected working signal received by the sensor is sent to a control unit to be compared with the working signal so that the control unit is able to evaluate whether there is an obstacle or a drop in front of the moving direction of the movable chassis and thus control the chassis to maneuver around the obstacle or the drop.
    • 公开了一种障碍物和悬崖系统,其基本上是具有布置在其上的至少一个位移传感器的可移动底盘。 在优选实施例中,每个位移传感器相对于由此检测到的表面倾斜特定的角度,同时被旋转装置驱动成圆周移动,以使其能够扫描限定的扇形区域或周围的圆形区域 底盘循环。 当每个位移传感器倾斜特定角度并开始发出工作信号时,每个传感器的信号发射和接收的路径由特定角度定义,而由传感器接收的反射工作信号被发送到控制器 单元与工作信号进行比较,使得控制单元能够评估可移动底盘的移动方向前方是否存在障碍物或落下,从而控制底盘围绕障碍物或液滴进行操纵。
    • 10. 发明申请
    • Obstacle and cliff avoiding system and method thereof
    • 障碍物和悬崖避免系统及其方法
    • US20070265740A1
    • 2007-11-15
    • US11517305
    • 2006-09-08
    • Hung-Hsiu YuKuo-Shih TsengYu-Lun HoMao-Feng TuChun-Hung Liu
    • Hung-Hsiu YuKuo-Shih TsengYu-Lun HoMao-Feng TuChun-Hung Liu
    • G01C22/00
    • G01C1/00
    • An obstacle and cliff avoiding system is disclosed, which is substantially a movable chassis having at least a displacement sensor arranged thereon. In a preferred embodiment, each displacement sensor is tilted by a specific angle with respect to a surface detected thereby while being driven to move in circle by a rotating apparatus for enabling the same to scan a defined fan-like area or the circular area around the chassis in a circulating manner. As each displacement sensor is tilted by the specific angle and is initiated to issue a working signal, the paths of signal emission and reception of each sensor are defined by the specific angle, whereas the reflected working signal received by the sensor is sent to a control unit to be compared with the working signal so that the control unit is able to evaluate whether there is an obstacle or a drop in front of the moving direction of the movable chassis and thus control the chassis to maneuver around the obstacle or the drop.
    • 公开了一种障碍物和悬崖系统,其基本上是具有布置在其上的至少一个位移传感器的可移动底盘。 在优选实施例中,每个位移传感器相对于由此检测到的表面倾斜特定的角度,同时被旋转装置驱动成圆周移动,以使其能够扫描限定的扇形区域或周围的圆形区域 底盘循环。 当每个位移传感器倾斜特定角度并开始发出工作信号时,每个传感器的信号发射和接收的路径由特定角度定义,而由传感器接收的反射工作信号被发送到控制器 单元与工作信号进行比较,使得控制单元能够评估可移动底盘的移动方向前方是否存在障碍物或落下,从而控制底盘围绕障碍物或液滴进行操纵。