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1. 发明授权

US08705842B2 Robot cleaner and controlling method of the same 有权
标题翻译：机器人清洁与控制方法相同
公开(公告)号：US08705842B2
公开(公告)日：2014-04-22
申请号：US13281608
申请日：2011-10-26
申请人： Tae-Kyeong Lee , Seongsu Lee , Seungmin Baek , Sangik Na , Se-Young Oh , Sanghoon Baek , Kwangro Joo , Jeongsuk Yoon , Yiebin Kim
发明人： Tae-Kyeong Lee , Seongsu Lee , Seungmin Baek , Sangik Na , Se-Young Oh , Sanghoon Baek , Kwangro Joo , Jeongsuk Yoon , Yiebin Kim
IPC分类号： G06K9/00
CPC分类号： G05D1/0274 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D2201/0203
摘要： A robot cleaner and a method for controlling the same are provided. A region to be cleaned may be divided into a plurality of sectors based on detection data collected by a detecting device, and a partial map for each sector may be generated. A full map of the cleaning region may then be generated based on a position of a partial map with respect to each sector, and a topological relationship between the partial maps. Based on the full map, the robot cleaner may recognize its position, allowing the entire region to be completely cleaned, and allowing the robot cleaner to rapidly move to sectors that have not yet been cleaned.
摘要翻译：提供了一种机器人清洁器及其控制方法。可以基于检测装置收集的检测数据将要清洁的区域划分为多个扇区，并且可以生成每个扇区的部分图。然后可以基于相对于每个扇区的部分地图的位置以及部分地图之间的拓扑关系来生成清洁区域的完整地图。基于完整的地图，机器人清洁器可以识别其位置，允许整个区域被完全清洁，并且允许机器人清洁器快速移动到尚未被清洁的区域。

2. 发明申请

US20120106829A1 ROBOT CLEANER AND CONTROLLING METHOD OF THE SAME 有权
标题翻译：机器清洁器及其控制方法
公开(公告)号：US20120106829A1
公开(公告)日：2012-05-03
申请号：US13281608
申请日：2011-10-26
申请人： Tae-Kyeong LEE , Seongsu Lee , Seungmin Baek , Sangik Na , Se-Young Oh , Sanghoon Baek , Kwangro Joo , Jeongsuk Yoon , Yiebin Kim
发明人： Tae-Kyeong LEE , Seongsu Lee , Seungmin Baek , Sangik Na , Se-Young Oh , Sanghoon Baek , Kwangro Joo , Jeongsuk Yoon , Yiebin Kim
IPC分类号： G06K9/00
CPC分类号： G05D1/0274 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D2201/0203
摘要： A robot cleaner and a method for controlling the same are provided. A region to be cleaned may be divided into a plurality of sectors based on detection data collected by a detecting device, and a partial map for each sector may be generated. A full map of the cleaning region may then be generated based on a position of a partial map with respect to each sector, and a topological relationship between the partial maps. Based on the full map, the robot cleaner may recognize its position, allowing the entire region to be completely cleaned, and allowing the robot cleaner to rapidly move to sectors that have not yet been cleaned.
摘要翻译：提供了一种机器人清洁器及其控制方法。可以基于检测装置收集的检测数据将要清洁的区域划分为多个扇区，并且可以生成每个扇区的部分图。然后可以基于相对于每个扇区的部分地图的位置以及部分地图之间的拓扑关系来生成清洁区域的完整地图。基于完整的地图，机器人清洁器可以识别其位置，允许整个区域被完全清洁，并且允许机器人清洁器快速移动到尚未清洁的区域。

3. 发明申请

US20110125324A1 ROBOT CLEANER AND CONTROLLING METHOD OF THE SAME 审中-公开
标题翻译：机器清洁器及其控制方法
公开(公告)号：US20110125324A1
公开(公告)日：2011-05-26
申请号：US12949923
申请日：2010-11-19
申请人： Sanghoon BAEK , Jeongsuk Yoon , Seungmin Baek , Sangik Na , Kwangro Joo , Tae-Kyeong Lee , Se-Young Oh , Donghoon Yi , Taegon Park
发明人： Sanghoon BAEK , Jeongsuk Yoon , Seungmin Baek , Sangik Na , Kwangro Joo , Tae-Kyeong Lee , Se-Young Oh , Donghoon Yi , Taegon Park
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： G05D1/0274 , A47L2201/04 , G05B2219/40435 , G05D1/0219 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203 , G05D2201/0215
摘要： A robot cleaner and a method of controlling a robot cleaner are provided. The robot cleaner is capable of automatically compensating for and adjusting a moving angle and a position using an appropriate sensor and control algorithm while performing a cleaning operation in a relatively large space. This may reduce a position error, allow a cleaning region to be effectively identified as a region to be cleaned or a region having already been cleaned, thus improving cleaning performance and efficiency.
摘要翻译：提供机器人清洁器和控制机器人清洁器的方法。机器人清洁器能够在相对大的空间中执行清洁操作时，使用适当的传感器和控制算法自动补偿和调整移动角度和位置。这可以减少位置误差，允许将清洁区域有效地识别为要清洁的区域或已经被清洁的区域，从而提高清洁性能和效率。

4. 发明申请

US20110264305A1 ROBOT CLEANER AND REMOTE MONITORING SYSTEM USING THE SAME 有权
标题翻译：机器清洁器和远程监控系统
公开(公告)号：US20110264305A1
公开(公告)日：2011-10-27
申请号：US13093403
申请日：2011-04-25
申请人： Suuk Choe , Younggie Kim , Jeongsuk Yoon , Seongsoo Lee , Junho Jang , Sangik Na , Yiebin Kim , Donghoon Yi , Seungmin Baek
发明人： Suuk Choe , Younggie Kim , Jeongsuk Yoon , Seongsoo Lee , Junho Jang , Sangik Na , Yiebin Kim , Donghoon Yi , Seungmin Baek
IPC分类号： G05D1/00
CPC分类号： G05D1/0274 , G05D1/0246 , G05D2201/0203
摘要： A robot cleaner has a camera to generate an image of a cleaning area, a controller to prepare a cleaning map based on the image and to drive a robot cleaner, and a communicator to transmit the image and cleaning map to an external device and to receive a control command from the external device. The image and map may be transmitted over a local or wide area network, and the external device may be a computer, television, smart phone, portable phone, or other type of wireless access device.
摘要翻译：机器人清洁器具有摄像机以产生清洁区域的图像，控制器，用于根据图像准备清洁地图并驱动机器人清洁器;以及通信器，将图像和清洁地图传送到外部设备并接收来自外部设备的控制命令。图像和地图可以通过本地或广域网传输，并且外部设备可以是计算机，电视，智能电话，便携式电话或其他类型的无线接入设备。

5. 发明申请

US20120232697A1 ROBOT CLEANER AND CONTROLLING METHOD THEREOF 有权
标题翻译：机器清洁器及其控制方法
公开(公告)号：US20120232697A1
公开(公告)日：2012-09-13
申请号：US13509342
申请日：2010-11-11
申请人： Jeihun Lee , Suuk Choe , Hyuksoo Son , Donghoon Yi , Younggie Kim , Jeongsuk Yoon , Seongsoo Lee , Taegon Park , Yiebin Kim , Yoojin Choi , Sangik Na , Seungmin Baek
发明人： Jeihun Lee , Suuk Choe , Hyuksoo Son , Donghoon Yi , Younggie Kim , Jeongsuk Yoon , Seongsoo Lee , Taegon Park , Yiebin Kim , Yoojin Choi , Sangik Na , Seungmin Baek
IPC分类号： A47L9/28 , B25J13/08 , B25J19/04
CPC分类号： G05D1/0246 , A47L2201/04 , A47L2201/06 , G05D2201/0203 , G05D2201/0215
摘要： Disclosed are a robot cleaner capable of performing a cleaning operation by selecting a cleaning algorithm suitable for the peripheral circumstances based on an analysis result of captured image information, and a controlling method thereof. The robot cleaner comprises an image sensor unit configured to capture image information when an operation instructing command is received, and a controller configured to analyze the image information captured by the image sensor unit, and configured to control a cleaning operation based on a first cleaning algorithm selected from a plurality of pre-stored cleaning algorithms based on a result of the analysis.
摘要翻译：公开了一种机器人清洁器，其能够通过基于捕获的图像信息的分析结果选择适合于周边环境的清洁算法来执行清洁操作及其控制方法。机器人清洁器包括图像传感器单元，其被配置为当接收到操作指令命令时捕获图像信息;以及控制器，被配置为分析由图像传感器单元捕获的图像信息，并且被配置为基于第一清洁算法来控制清洁操作从基于分析结果的多个预先存储的清洁算法中选择。

6. 发明授权

US09429949B2 Robot cleaner and controlling method thereof 有权
标题翻译：机器人清洁器及其控制方法
公开(公告)号：US09429949B2
公开(公告)日：2016-08-30
申请号：US13509342
申请日：2010-11-11
申请人： Jeihun Lee , Suuk Choe , Hyuksoo Son , Donghoon Yi , Younggie Kim , Jeongsuk Yoon , Seongsoo Lee , Taegon Park , Yiebin Kim , Yoojin Choi , Sangik Na , Seungmin Baek
发明人： Jeihun Lee , Suuk Choe , Hyuksoo Son , Donghoon Yi , Younggie Kim , Jeongsuk Yoon , Seongsoo Lee , Taegon Park , Yiebin Kim , Yoojin Choi , Sangik Na , Seungmin Baek
IPC分类号： G05B15/00 , G05B19/00 , G05D1/02
CPC分类号： G05D1/0246 , A47L2201/04 , A47L2201/06 , G05D2201/0203 , G05D2201/0215
摘要： Disclosed are a robot cleaner capable of performing a cleaning operation by selecting a cleaning algorithm suitable for the peripheral circumstances based on an analysis result of captured image information, and a controlling method thereof. The robot cleaner comprises an image sensor unit configured to capture image information when an operation instructing command is received, and a controller configured to analyze the image information captured by the image sensor unit, and configured to control a cleaning operation based on a first cleaning algorithm selected from a plurality of pre-stored cleaning algorithms based on a result of the analysis.
摘要翻译：公开了一种机器人清洁器，其能够通过基于捕获的图像信息的分析结果选择适合于周边环境的清洁算法来执行清洁操作及其控制方法。机器人清洁器包括图像传感器单元，其被配置为当接收到操作指令命令时捕获图像信息;以及控制器，被配置为分析由图像传感器单元捕获的图像信息，并且被配置为基于第一清洁算法来控制清洁操作从基于分析结果的多个预先存储的清洁算法中选择。

7. 发明授权

US08843245B2 Robot cleaner and remote monitoring system using the same 有权
标题翻译：机器人清洁器和远程监控系统使用相同
公开(公告)号：US08843245B2
公开(公告)日：2014-09-23
申请号：US13093403
申请日：2011-04-25
申请人： Suuk Choe , Younggie Kim , Jeongsuk Yoon , Seongsoo Lee , Junho Jang , Sangik Na , Yiebin Kim , Donghoon Yi , Seungmin Baek
发明人： Suuk Choe , Younggie Kim , Jeongsuk Yoon , Seongsoo Lee , Junho Jang , Sangik Na , Yiebin Kim , Donghoon Yi , Seungmin Baek
IPC分类号： G05D1/00 , G05D1/02
CPC分类号： G05D1/0274 , G05D1/0246 , G05D2201/0203
摘要： A robot cleaner has a camera to generate an image of a cleaning area, a controller to prepare a cleaning map based on the image and to drive a robot cleaner, and a communicator to transmit the image and cleaning map to an external device and to receive a control command from the external device. The image and map may be transmitted over a local or wide area network, and the external device may be a computer, television, smart phone, portable phone, or other type of wireless access device.
摘要翻译：机器人清洁器具有摄像机以产生清洁区域的图像，控制器，以根据图像准备清洁地图并驱动机器人清洁器;以及通信器，将图像和清洁地图传送到外部设备并接收来自外部设备的控制命令。图像和地图可以通过本地或广域网传输，并且外部设备可以是计算机，电视，智能电话，便携式电话或其他类型的无线接入设备。

8. 发明授权

US08781164B2 Control of mobile robot by detecting line intersections 有权
标题翻译：通过检测线路交叉点来控制移动机器人
公开(公告)号：US08781164B2
公开(公告)日：2014-07-15
申请号：US13219290
申请日：2011-08-26
申请人： Seongsu Lee , Sangik Na , Yiebin Kim , Seungmin Baek
发明人： Seongsu Lee , Sangik Na , Yiebin Kim , Seungmin Baek
IPC分类号： G06K9/00
CPC分类号： G05D1/0246 , G05D1/0274 , G05D2201/0203
摘要： Disclosed are a mobile robot and a controlling method of the same. The mobile robot is capable of reducing a position recognition error and performing a precise position recognition even in the occurrence of a change of external illumination, through geometric constraints, when recognizing its position with using a low quality camera (e.g., camera having a low resolution). Furthermore, feature points may be extracted from images detected with using a low quality camera, and the feature points may be robustly matched with each other even in the occurrence of a change of external illumination, through geometric constraints due to the feature lines. This may enhance the performance of the conventional method for recognizing a position based on a camera susceptible to a illumination change, and improve the efficiency of a system.
摘要翻译：公开了一种移动机器人及其控制方法。移动机器人能够通过使用低质量的相机（例如，具有低分辨率的相机）识别其位置时，通过几何约束来减少位置识别误差并执行精确的位置识别）。此外，可以从使用低质量照相机检测的图像中提取特征点，并且即使在通过由特征线引起的几何约束的外部照明的变化的发生中，特征点也可以彼此鲁棒地匹配。这可以增强用于识别基于对照明变化敏感的照相机的位置的传统方法的性能，并且提高系统的效率。

9. 发明申请

US20120051595A1 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：US20120051595A1
公开(公告)日：2012-03-01
申请号：US13219290
申请日：2011-08-26
申请人： Seongsu Lee , Sangik Na , Yiebin Kim , Seungmin Baek
发明人： Seongsu Lee , Sangik Na , Yiebin Kim , Seungmin Baek
IPC分类号： G06K9/80 , G06K9/00
CPC分类号： G05D1/0246 , G05D1/0274 , G05D2201/0203
摘要： Disclosed are a mobile robot and a controlling method of the same. The mobile robot is capable of reducing a position recognition error and performing a precise position recognition even in the occurrence of a change of external illumination, through geometric constraints, when recognizing its position with using a low quality camera (e.g., camera having a low resolution). Furthermore, feature points may be extracted from images detected with using a low quality camera, and the feature points may be robustly matched with each other even in the occurrence of a change of external illumination, through geometric constraints due to the feature lines. This may enhance the performance of the conventional method for recognizing a position based on a camera susceptible to a illumination change, and improve the efficiency of a system.
摘要翻译：公开了一种移动机器人及其控制方法。移动机器人能够通过使用低质量的相机（例如，具有低分辨率的相机）识别其位置时，通过几何约束来减少位置识别误差并执行精确的位置识别）。此外，可以从使用低质量照相机检测的图像中提取特征点，并且即使在通过由特征线引起的几何约束的外部照明的变化的发生中，特征点也可以彼此鲁棒地匹配。这可以增强用于识别基于对照明变化敏感的照相机的位置的传统方法的性能，并且提高系统的效率。

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