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1. 发明授权

US06841963B2 Robot cleaner, system thereof and method for controlling same 失效
标题翻译：机器人清洁器，其系统及其控制方法
公开(公告)号：US06841963B2
公开(公告)日：2005-01-11
申请号：US10079153
申请日：2002-02-20
申请人： Jeong-gon Song , Kwang-su Kim , Jang-youn Ko
发明人： Jeong-gon Song , Kwang-su Kim , Jang-youn Ko
IPC分类号： A47L9/00 , A47L9/28 , B25J5/00 , B25J13/08 , G05D1/02 , G05B19/00
CPC分类号： G05D1/0225 , A47L9/009 , A47L9/2805 , A47L9/2852 , A47L9/2873 , A47L9/2884 , A47L9/2894 , A47L2201/04 , B60L11/1805 , B60L11/1816 , B60L11/1861 , B60L15/20 , B60L2200/36 , B60L2200/40 , B60L2240/421 , B60L2240/70 , B60L2250/16 , B60L2260/32 , G05D1/0219 , G05D1/0246 , G05D1/0265 , G05D1/0282 , G05D2201/0203 , G05D2201/0215 , Y02T10/645 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y02T10/7072 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/14 , Y02T90/16
摘要： A robot cleaner, a system thereof, and a method for controlling the same. The robot cleaner system includes a robot cleaner that performs a cleaning operation while communicating wirelessly with an external device. The robot cleaner has a plurality of proximity switches arranged in a row on a lower portion of the cleaner body. A guiding plate is disposed in the floor of the work area, the guiding plate having metal lines formed in a predetermined pattern, the metal lines being detectible by the proximity switches. Since the recognition of the location and the determination of traveling trajectory of the cleaner within a work area becomes easier, performance of the robot cleaner is enhanced, while a burden of having to process algorithms is lessened.
摘要翻译：机器人清洁器，其系统及其控制方法。机器人清洁器系统包括机器人清洁器，其在与外部设备无线通信的同时进行清洁操作。机器人清洁器具有多个在吸尘器主体的下部排列成一列的接近开关。引导板设置在工作区域的底板中，引导板具有以预定图案形成的金属线，金属线可由接近开关检测。由于在工作区域中确定清洁器的位置和行进轨迹的确定变得更容易，因此增强了机器人清洁器的性能，同时减轻了处理算法的负担。

2. 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。

3. 发明授权

US07975790B2 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：US07975790B2
公开(公告)日：2011-07-12
申请号：US12152781
申请日：2008-05-16
申请人： Myeong-ho Kim , Sam-jong Jeung , 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 Jeung , 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： B60K1/00 , B62D25/16
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. 发明申请

US20080136668A1 Apparatus for inducing automatic docking of robot 审中-公开
标题翻译：用于引导机器人自动对接的装置
公开(公告)号：US20080136668A1
公开(公告)日：2008-06-12
申请号：US11818126
申请日：2007-06-13
申请人： Jeong-gon Song , Sam-jong Jeung , Myeong-ho Kim , Ju-sang Lee , Jang-youn Ko , Kyoung-woung Kim , Hak-bong Lee
发明人： Jeong-gon Song , Sam-jong Jeung , Myeong-ho Kim , Ju-sang Lee , Jang-youn Ko , Kyoung-woung Kim , Hak-bong Lee
IPC分类号： G08C19/00 , B65G65/00 , G06F19/00
CPC分类号： G05D1/0242 , G05D1/0225
摘要： An apparatus for inducing an automatic docking of a robot is disclosed. The apparatus induces connecting terminals of the robot having a receiving unit to connect with docking terminals disposed on one surface of a docking object, and includes a plurality of transmitting units disposed on the same surface as that of the docking object on which the docking terminals are disposed. The plurality of transmitting units is arranged in different angles to one another to transmit signals in different directions to one another, respectively.
摘要翻译：公开了一种用于引导机器人自动对接的装置。该装置引导具有接收单元的机器人的连接端子与设置在对接对象的一个表面上的对接终端连接，并且包括多个发送单元，其设置在与对接终端相对应的对接对象的同一表面上处置。多个发送单元彼此以不同的角度布置，以分别在彼此不同的方向上发送信号。

5. 发明申请

US20070050086A1 System and method for returning robot cleaner to charger 有权
标题翻译：将机器人清洁器返回到充电器的系统和方法
公开(公告)号：US20070050086A1
公开(公告)日：2007-03-01
申请号：US11486284
申请日：2006-07-14
申请人： Kwang-soo Lim , Sam-jong Jeung , Jeong-gon Song , Ju-sang Lee , Jang-youn Ko
发明人： Kwang-soo Lim , Sam-jong Jeung , Jeong-gon Song , Ju-sang Lee , Jang-youn Ko
IPC分类号： G06F19/00
CPC分类号： G05D1/0225 , G05D1/0242 , G05D2201/0203 , G05D2201/0215
摘要： A system for returning a robot to a charger includes: a homing signal transmitter, including at least first, second, and third signal transmitters, each adapted to be provided at a front side of the charger and to respectively transmit signals which are different from each other in at least one of a code and a transmission distance, and a fourth signal transmitter, adapted to be provided on at least one lateral side of the charger and to transmit a signal which is different from the signals of the first, second, and third transmitters in code; a homing signal receiver provided at the robot and to receive at least one signal transmitted from the homing signal transmitter; and a controller adapted to identify the at least one signal and to control the robot to return to the charger based at least in part on the at least one signal.
摘要翻译：用于将机器人返回到充电器的系统包括：归属信号发射器，其包括至少第一，第二和第三信号发射器，每个信号发射器适于提供在充电器的前侧，并且分别传输与每个信号不同的信号代码和传输距离中的至少一个以及第四信号发射机中的至少一个，适于提供在充电器的至少一个侧面上并且发送与第一，第二和第二信号的信号不同的信号，代码中的第三个发送器; 设置在所述机器人处并且接收从所述归巢信号发送器发送的至少一个信号的归属信号接收器; 以及控制器，其适于识别所述至少一个信号并且至少部分地基于所述至少一个信号来控制所述机器人返回到所述充电器。

6. 发明申请

US20060190135A1 Robot cleaner and method of control thereof 审中-公开
标题翻译：机器人清洁器及其控制方法
公开(公告)号：US20060190135A1
公开(公告)日：2006-08-24
申请号：US11288090
申请日：2005-11-29
申请人： Ju-sang Lee , Jang-youn Ko , Jeong-gon Song , Sam-jong Jeung , Ki-man Kim , Kwang-soo Lim
发明人： Ju-sang Lee , Jang-youn Ko , Jeong-gon Song , Sam-jong Jeung , Ki-man Kim , Kwang-soo Lim
IPC分类号： G06F19/00
CPC分类号： G05D1/0272 , G05D1/0219 , G05D1/0238 , G05D2201/0215
摘要： A robot vacuum cleaner has a driving unit moving a cleaner body on a cleaning surface; a distance detecting unit detecting a distance of travel by the driving unit; an obstacle detecting unit detecting an obstacle near the cleaner body; and a central processing unit moving the cleaner body to a location a certain distance away from the obstacle according to a cleaning travel pattern when the obstacle detecting unit detects an obstacle, and variably applying the distance as the obstacle is detected and outputting a travel signal to the driving unit, thereby evenly covering the cleaning area.
摘要翻译：机器人真空吸尘器具有将吸尘器主体移动到清洁表面上的驱动单元; 距离检测单元，检测由所述驱动单元行进的距离; 检测所述吸尘器主体附近的障碍物的障碍物检测部; 以及中央处理单元，当所述障碍物检测单元检测到障碍物时，根据清洁行进模式将所述吸尘器主体移动到距离所述障碍物一定距离的位置，并且可变地施加所述距离作为障碍物，并将行驶信号输出到驱动单元，从而均匀地覆盖清洁区域。

7. 发明授权

US07031805B2 Robot cleaner system having external recharging apparatus and method for docking robot cleaner with external recharging apparatus 失效
标题翻译：具有外部充电装置的机器人清洁器系统和用于将机器人清洁器与外部充电装置对接的方法
公开(公告)号：US07031805B2
公开(公告)日：2006-04-18
申请号：US10682484
申请日：2003-10-10
申请人： Ju-sang Lee , Ki-man Kim , Jang-youn Ko , Jeong-gon Song , Kyong-hui Jeon
发明人： Ju-sang Lee , Ki-man Kim , Jang-youn Ko , Jeong-gon Song , Kyong-hui Jeon
IPC分类号： G06F19/00
CPC分类号： G05D1/0225 , A47L2201/022 , B60L11/1833 , B60L15/2036 , G05D1/0227 , G05D1/0242 , G05D1/0244 , G05D1/0246 , G05D1/0263 , G05D1/0272 , G05D1/028 , G05D2201/0215 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7275 , Y02T90/12 , Y02T90/121 , Y02T90/125 , Y02T90/14 , Y02T90/169 , Y04S30/14
摘要： A robot cleaner system for detecting an external recharging apparatus which is positioned in a non-detectable area by an upper camera thereof, and a docking method for docking the robot cleaner system with the external recharging apparatus. The robot cleaner system includes an external recharging apparatus with a power terminal connected to a utility power supply, a recharging apparatus recognition mark formed on the external recharging apparatus, and a robot cleaner, having a recognition mark sensor that detects the recharging apparatus recognition mark, and a rechargeable battery. The robot cleaner automatically docks to the power terminal to recharge the rechargeable battery. The recharging apparatus recognition mark is made of retroreflective material or a metal tape, and the recognition mark sensor may be a photosensor or a proximity sensor.
摘要翻译：一种用于检测外部再充电装置的机器人清洁器系统，其通过其上摄像头位于不可检测区域中，以及对接方法，用于将机器人清洁器系统与外部再充电装置对接。机器人清洁器系统包括具有连接到公用电源的电源端子的外部再充电装置，形成在外部充电装置上的再充电装置识别标记和机器人清洁器，具有检测充电装置识别标记的识别标记传感器，和可充电电池。机器人清洁器自动停靠在电源端子上，为充电电池充电。充电装置识别标记由回射材料或金属带制成，识别标记传感器可以是光电传感器或接近传感器。

8. 发明申请

US20050251947A1 Robot cleaner 审中-公开
标题翻译：机器人清洁剂
公开(公告)号：US20050251947A1
公开(公告)日：2005-11-17
申请号：US10979669
申请日：2004-11-02
申请人： Ju-sang Lee , Jang-youn Ko , Jeong-gon Song , Il-du Jung , Ki-man Kim , Sam-jong Jeung
发明人： Ju-sang Lee , Jang-youn Ko , Jeong-gon Song , Il-du Jung , Ki-man Kim , Sam-jong Jeung
IPC分类号： A47L9/00 , A47L20060101 , A47L5/00 , A47L5/12 , A47L9/02 , A47L9/28 , A47L11/00 , A47L11/24 , A47L11/40 , G05D1/02
CPC分类号： A47L9/02 , A47L9/009 , A47L2201/00
摘要： A robot vacuum cleaner comprises a main body having a driving wheel, a suction port provided underneath the main body for drawing in contaminants on a surface to be cleaned, and a guide member disposed underneath the main body for guiding contaminants on the surface to be cleaned toward the suction port.
摘要翻译：机器人真空吸尘器包括具有驱动轮的主体，设置在主体下方的吸入口，用于吸收待清洁表面上的污染物;以及引导构件，其设置在主体下方，用于引导待清洁表面上的污染物朝向吸入口。

9. 发明授权

US07729803B2 System and method for returning robot cleaner to charger 有权
标题翻译：将机器人清洁器返回到充电器的系统和方法
公开(公告)号：US07729803B2
公开(公告)日：2010-06-01
申请号：US11486284
申请日：2006-07-14
申请人： Kwang-soo Lim , Sam-jong Jeung , Jeong-gon Song , Ju-sang Lee , Jang-youn Ko
发明人： Kwang-soo Lim , Sam-jong Jeung , Jeong-gon Song , Ju-sang Lee , Jang-youn Ko
IPC分类号： G06F19/00
CPC分类号： G05D1/0225 , G05D1/0242 , G05D2201/0203 , G05D2201/0215
摘要： A system for returning a robot to a charger includes: a homing signal transmitter, including at least first, second, and third signal transmitters, each adapted to be provided at a front side of the charger and to respectively transmit signals which are different from each other in at least one of a code and a transmission distance, and a fourth signal transmitter, adapted to be provided on at least one lateral side of the charger and to transmit a signal which is different from the signals of the first, second, and third transmitters in code; a homing signal receiver provided at the robot and to receive at least one signal transmitted from the homing signal transmitter; and a controller adapted to identify the at least one signal and to control the robot to return to the charger based at least in part on the at least one signal.
摘要翻译：用于将机器人返回到充电器的系统包括：归属信号发射器，其包括至少第一，第二和第三信号发射器，每个信号发射器适于提供在充电器的前侧，并且分别传输与每个信号不同的信号代码和传输距离中的至少一个以及第四信号发射机中的至少一个，适于提供在充电器的至少一个侧面上并且发送与第一，第二和第二信号的信号不同的信号，代码中的第三个发送器; 设置在所述机器人处并且接收从所述归巢信号发送器发送的至少一个信号的归属信号接收器; 以及控制器，其适于识别所述至少一个信号并且至少部分地基于所述至少一个信号来控制所述机器人返回到所述充电器。

10. 发明申请

US20080300720A1 Cleaning robot 失效
标题翻译：清洁机器人
公开(公告)号：US20080300720A1
公开(公告)日：2008-12-04
申请号：US11999852
申请日：2007-12-07
申请人： Kyoung-woung Kim , Sam-jong Jeung , Jeong-gon Song , Myeong-ho Kim , Tae-young Ryu , Ju-sang Lee , Heung-yi Kim , Sam-hyun Choi , Jang-youn Ko , Dae-hyung Kim , Hak-bong Lee , Yoon-kyunh Cho
发明人： Kyoung-woung Kim , Sam-jong Jeung , Jeong-gon Song , Myeong-ho Kim , Tae-young Ryu , Ju-sang Lee , Heung-yi Kim , Sam-hyun Choi , Jang-youn Ko , Dae-hyung Kim , Hak-bong Lee , Yoon-kyunh Cho
IPC分类号： G06F19/00 , B60R19/48
CPC分类号： A47L9/009 , A47L9/2805 , A47L9/2852 , A47L9/2884 , A47L2201/04
摘要： An improved cleaning robot that uses a simple structure to sense an obstacle is disclosed. The cleaning robot includes a robot main body comprising a driving unit to drive the cleaning robot, and a cleaning unit to remove dust, a bumper unit which is movably mounted in the robot main body to protect the robot main body from collision with an obstacle, a sensor unit which supports the bumper unit movably in a plurality of directions to sense the collision of the bumper unit and the obstacle, and a control unit which controls the driving unit on the basis of a signal sensed by the sensor to avoid the obstacle.
摘要翻译：公开了一种使用简单结构来检测障碍物的改进的清洁机器人。清洁机器人包括机器人主体，其包括驱动清洁机器人的驱动单元和清除灰尘的清洁单元，可移动地安装在机器人主体中以保护机器人主体免受与障碍物碰撞的保险杠单元，传感器单元，其以多个方向可移动地支撑所述保险杠单元以感测所述保险杠单元与所述障碍物的碰撞;以及控制单元，其基于由所述传感器感测的信号来控制所述驱动单元以避免所述障碍物。

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