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1. 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。

2. 发明申请

US20060195224A1 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：US20060195224A1
公开(公告)日：2006-08-31
申请号：US11304796
申请日：2005-12-16
申请人： Jeong-gon Song , Ki-man Kim , Ju-sang Lee , Jang-youn Ko , Sam-jong Jeung , Kwang-soo Lim
发明人： Jeong-gon Song , Ki-man Kim , Ju-sang Lee , Jang-youn Ko , Sam-jong Jeung , Kwang-soo Lim
IPC分类号： G06F19/00
CPC分类号： G05D1/0272 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D2201/0215
摘要： A robot vacuum cleaner that comprises a driving unit moving a body on a cleaning surface; a cleaning area detecting unit detecting an area of the cleaning surface; and a central processing unit calculating a spiral cleaning travel pattern corresponding to a shape of each cleaning area based on the information detected by the cleaning area detecting unit to output a cleaning travel signal corresponding the calculated cleaning travel pattern to the driving unit. The cleaning travel pattern can be variable applied depending on a shape of each cleaning area such that the coverage ratio of the cleaning area can increase.
摘要翻译：一种机器人真空吸尘器，包括：驱动单元，其将身体移动到清洁表面上; 清洁区域检测单元，其检测清洁表面的区域; 以及中央处理单元，基于由所述清洁区域检测单元检测到的信息，计算与每个清洁区域的形状相对应的螺旋形清洁行进图案，以将对应于所计算的清洁行进图案的清洁行进信号输出到所述驱动单元。清洁行进图案可以根据每个清洁区域的形状而变化，使得清洁区域的覆盖率可以增加。

3. 发明申请

US20060200282A1 Robot cleaner and a method for controlling the same 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：US20060200282A1
公开(公告)日：2006-09-07
申请号：US11336979
申请日：2006-01-23
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： G06F19/00
CPC分类号： G05D1/0221 , G05D1/0225 , G05D1/0234 , G05D1/0274 , G05D2201/0203 , G05D2201/0215
摘要： A robot cleaner that includes a driving unit for driving a plurality of wheels, a transmitter/receiver for communicating with an external charger, and a controller for controlling the driving unit. The controller controls the transmitter/receiver to communicate with the external charger while traveling an area to be cleaned and stores at least one location of communication in a memory. The controller further controls the driving unit to cause the robot cleaner to travel to the external charger using at least one location of communication.
摘要翻译：一种机器人清洁器，包括用于驱动多个车轮的驱动单元，用于与外部充电器通信的发送器/接收器，以及用于控制所述驱动单元的控制器。控制器控制发送器/接收器在旅行要清洁的区域时与外部充电器通信，并将至少一个通信位置存储在存储器中。控制器进一步控制驱动单元以使机器人清洁器使用至少一个通信位置行进到外部充电器。

4. 发明申请

US20060186561A1 Mobile robot having a humidifier therein 审中-公开
标题翻译：具有加湿器的移动机器人
公开(公告)号：US20060186561A1
公开(公告)日：2006-08-24
申请号：US11226337
申请日：2005-09-15
申请人： Jeong-gon Song , Jang-youn Ko , Kwang-soo Lim , Sam-jong Jeung , Ki-man Kim , Ju-sang Lee
发明人： Jeong-gon Song , Jang-youn Ko , Kwang-soo Lim , Sam-jong Jeung , Ki-man Kim , Ju-sang Lee
IPC分类号： B01F3/04
CPC分类号： A47L7/04 , F24F6/00 , F24F11/30 , F24F2110/20 , F24F2221/125 , F24F2221/42
摘要： A mobile robot capable of humidifying an entire room. The mobile robot comprises a driving part for movably supporting a body and providing a driving force to move the body, a humidifier disposed on the body; and a controller for controlling the driving part.
摘要翻译：能够加湿整个房间的移动机器人。移动机器人包括用于可移动地支撑主体并提供驱动力以使身体移动的驱动部件，设置在身体上的加湿器; 以及用于控制驱动部的控制器。

5. 发明申请

US20060185690A1 Automatic cleaning apparatus 审中-公开
标题翻译：自动清洗装置
公开(公告)号：US20060185690A1
公开(公告)日：2006-08-24
申请号：US11269674
申请日：2005-11-09
申请人： Jeong-gon Song , Jang-youn Ko , Ju-sang Lee , Kwang-soo Lim , Ki-man Kim , Sam-jong Jeung
发明人： Jeong-gon Song , Jang-youn Ko , Ju-sang Lee , Kwang-soo Lim , Ki-man Kim , Sam-jong Jeung
IPC分类号： B08B5/04 , A47L5/00
CPC分类号： A47L11/34 , A47L11/4083 , A47L11/4086 , A47L2201/00
摘要： An automatic cleaning apparatus has a cleaner body having at least one driving wheel, and in certain disclosed embodiments, a vapor spray means installed in the cleaner body for generating water vapor during operation, and spraying the generated water vapor toward a lower part of the cleaner body.
摘要翻译：一种自动清洁装置具有至少一个驱动轮的清洁器主体，在某些公开的实施例中，安装在清洁器主体中用于在运行期间产生水蒸气的蒸汽喷涂装置，并将生成的水蒸汽喷向清洁器的下部身体。

6. 发明申请

US20060095158A1 Robot control system and robot control method thereof 审中-公开
标题翻译：机器人控制系统及其机器人控制方法
公开(公告)号：US20060095158A1
公开(公告)日：2006-05-04
申请号：US11133001
申请日：2005-05-19
申请人： Ju-sang Lee , Jang-youn Ko , Ki-man Kim , Jeong-gon Song , Kwang-soo Lim , Sam-jong Jeung
发明人： Ju-sang Lee , Jang-youn Ko , Ki-man Kim , Jeong-gon Song , Kwang-soo Lim , Sam-jong Jeung
IPC分类号： G06F19/00
CPC分类号： G05D1/0022 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0272 , G05D2201/0203 , G05D2201/0215 , H04M1/72533
摘要： A robot control system and a robot control method provide improved user convenience in operating the system. The robot control system includes a wireless IP sharing device, connected with the Internet, for transmitting and receiving an image signal and/or a control signal, a robot running by itself in accordance with a command received through the wireless IP sharing device, and performing a designated job, the robot being installed with a wireless communication module, a portable wireless terminal having a motion sensor, for wirelessly transmitting an operation command to the wireless communication module, or receiving image signal and/or control signal, and a robot server, connected with the Internet, for outputting a control screen of the robot, and the image signal and/or the control signal which is received from the robot, to the portable wireless terminal. The robot is controlled by use of the motion sensor installed at the portable wireless terminal.
摘要翻译：机器人控制系统和机器人控制方法提高了用户操作系统的便利性。机器人控制系统包括与因特网连接的用于发送和接收图像信号和/或控制信号的无线IP共享装置，根据通过无线IP共享装置接收的命令自己运行的机器人，以及执行机器人安装有无线通信模块，具有运动传感器的便携式无线终端，用于无线地向无线通信模块发送操作命令，或接收图像信号和/或控制信号，以及机器人服务器，与因特网连接，用于将机器人的控制画面以及从机器人接收到的图像信号和/或控制信号输出到便携式无线终端。通过使用安装在便携式无线终端上的运动传感器来控制机器人。

7. 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。

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。

10. 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。

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