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1. 发明申请

US20110239382A1 ROBOT CLEANER 有权
标题翻译：机器人清洁剂
公开(公告)号：US20110239382A1
公开(公告)日：2011-10-06
申请号：US13076909
申请日：2011-03-31
申请人： Jeihun LEE , Jeongsuk Yoon , Jongwon Park , Yun Keun Kwak , Jichul Kim , Donghoon Yi , Seungmin Baek
发明人： Jeihun LEE , Jeongsuk Yoon , Jongwon Park , Yun Keun Kwak , Jichul Kim , Donghoon Yi , Seungmin Baek
IPC分类号： B08B7/00
CPC分类号： A47L9/009 , A47L2201/00 , B60B19/12
摘要： A robot cleaner includes wheels mounted at a lower side of a main body of the robot cleaner to allow for traveling of the main body, and wire winding prevention members mounted at the lower side of the main body, each wire winding prevention member having one end extending to be contactable with a rim of the corresponding wheel. The wire winding prevention member is preferably a torsion spring.
摘要翻译：机器人清洁器包括安装在机器人清洁器的主体的下侧的轮子，以允许主体的行进，以及安装在主体的下侧的防止卷绕的构件，每个绕线防止构件具有一端延伸成与相应车轮的轮辋接触。绕线防止构件优选为扭转弹簧。

2. 发明授权

US08733796B2 Robot cleaner 有权
标题翻译：机器人清洁剂
公开(公告)号：US08733796B2
公开(公告)日：2014-05-27
申请号：US13076909
申请日：2011-03-31
申请人： Jeihun Lee , Jeongsuk Yoon , Jongwon Park , Yunkeun Kwak , Jichul Kim , Donghoon Yi , Seungmin Baek
发明人： Jeihun Lee , Jeongsuk Yoon , Jongwon Park , Yunkeun Kwak , Jichul Kim , Donghoon Yi , Seungmin Baek
IPC分类号： B60S1/68
CPC分类号： A47L9/009 , A47L2201/00 , B60B19/12
摘要： A robot cleaner includes wheels mounted at a lower side of a main body of the robot cleaner to allow for traveling of the main body, and wire winding prevention members mounted at the lower side of the main body, each wire winding prevention member having one end extending to be contactable with a rim of the corresponding wheel. The wire winding prevention member is preferably a torsion spring.
摘要翻译：机器人清洁器包括安装在机器人清洁器的主体的下侧的轮子，以允许主体的行进，以及安装在主体的下侧的防止卷绕的构件，每个绕线防止构件具有一端延伸成与相应车轮的轮辋接触。绕线防止构件优选为扭转弹簧。

3. 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。

4. 发明授权

US08503760B2 System and method for real-time object recognition and pose estimation using in-situ monitoring 有权
标题翻译：使用现场监测的实时物体识别和姿态估计的系统和方法
公开(公告)号：US08503760B2
公开(公告)日：2013-08-06
申请号：US12032427
申请日：2008-02-15
申请人： Sukhan Lee , Seung-Min Baek , Jeihun Lee , Jangwon Lee
发明人： Sukhan Lee , Seung-Min Baek , Jeihun Lee , Jangwon Lee
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G06K9/6292 , G06T7/35 , G06T7/73 , G06T7/77 , G06T2207/10028
摘要： Provided are a system and method for real-time object recognition and pose estimation using in-situ monitoring. The method includes the steps of: a) receiving 2D and 3D image information, extracting evidences from the received 2D and 3D image information, recognizing an object by comparing the evidences with model, and expressing locations and poses by probabilistic particles; b) probabilistically fusing various locations and poses and finally determining a location and a pose by filtering inaccurate information; c) generating ROI by receiving 2D and 3D image information and the location and pose from the step b) and collecting and calculating environmental information; d) selecting an evidence or a set of evidences probabilistically by receiving the information from the step c) and proposing a cognitive action of a robot for collecting additional evidence; and e) repeating the steps a) and b) and the steps c) and d) in parallel until a result of object recognition and pose estimation is probabilistically satisfied.
摘要翻译：提供了使用现场监测的实时对象识别和姿态估计的系统和方法。该方法包括以下步骤：a）接收2D和3D图像信息，从接收到的2D和3D图像信息中提取证据，通过将证据与模型进行比较来识别对象，并通过概率粒子表示位置和姿态; b）概率地融合各种位置和姿势，并最终通过过滤不准确的信息来确定位置和姿势; c）通过从步骤b）接收2D和3D图像信息以及位置和姿势来生成ROI并收集和计算环境信息; d）通过接收步骤c）中的信息并提出机器人的收集附加证据的认知行动来概率地选择证据或一组证据; 和e）并行地重复步骤a）和b）和步骤c）和d），直到概率地满足对象识别和姿态估计的结果。

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. 发明申请

US20090190798A1 SYSTEM AND METHOD FOR REAL-TIME OBJECT RECOGNITION AND POSE ESTIMATION USING IN-SITU MONITORING 有权
标题翻译：用于现场监测的实时对象识别和位置估计的系统和方法
公开(公告)号：US20090190798A1
公开(公告)日：2009-07-30
申请号：US12032427
申请日：2008-02-15
申请人： Sukhan LEE , Seung-Min BAEK , Jeihun LEE , Jangwon LEE
发明人： Sukhan LEE , Seung-Min BAEK , Jeihun LEE , Jangwon LEE
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G06K9/6292 , G06T7/35 , G06T7/73 , G06T7/77 , G06T2207/10028
摘要： Provided are a system and method for real-time object recognition and pose estimation using in-situ monitoring. The method includes the steps of: a) receiving 2D and 3D image information, extracting evidences from the received 2D and 3D image information, recognizing an object by comparing the evidences with model, and expressing locations and poses by probabilistic particles; b) probabilistically fusing various locations and poses and finally determining a location and a pose by filtering inaccurate information; c) generating ROI by receiving 2D and 3D image information and the location and pose from the step b) and collecting and calculating environmental information; d) selecting an evidence or a set of evidences probabilistically by receiving the information from the step c) and proposing a cognitive action of a robot for collecting additional evidence; and e) repeating the steps a) and b) and the steps c) and d) in parallel until a result of object recognition and pose estimation is probabilistically satisfied.
摘要翻译：提供了使用现场监测的实时对象识别和姿态估计的系统和方法。该方法包括以下步骤：a）接收2D和3D图像信息，从接收到的2D和3D图像信息中提取证据，通过将证据与模型进行比较来识别对象，并通过概率粒子表示位置和姿态; b）概率地融合各种位置和姿势，并最终通过过滤不准确的信息来确定位置和姿势; c）通过从步骤b）接收2D和3D图像信息以及位置和姿势来生成ROI并收集和计算环境信息; d）通过接收步骤c）中的信息并提出机器人的收集附加证据的认知行动来概率地选择证据或一组证据; 和e）并行地重复步骤a）和b）和步骤c）和d），直到概率地满足对象识别和姿态估计的结果。

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