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1. 发明授权

US09134733B2 Robot cleaner, docking station, robot cleaner system including robot cleaner and docking station, and method of controlling robot cleaner 有权
公开(公告)号：US09134733B2
公开(公告)日：2015-09-15
申请号：US13067528
申请日：2011-06-07
申请人： Kyung Hwan Yoo , Jae Man Joo , Dong Won Kim , Jun Hwa Lee , Jun Pyo Hong , Woo Ram Chung , Jae Young Jung , Hwi Chan Jang , Jang Youn Ko , Jeong Gon Song , Sam Jong Jeung
发明人： Kyung Hwan Yoo , Jae Man Joo , Dong Won Kim , Jun Hwa Lee , Jun Pyo Hong , Woo Ram Chung , Jae Young Jung , Hwi Chan Jang , Jang Youn Ko , Jeong Gon Song , Sam Jong Jeung
IPC分类号： G05B15/00 , G05B19/00 , G05D1/02
CPC分类号： G05D1/0225 , A47L2201/00 , A47L2201/022 , G05D1/0234 , G05D1/0276 , G05D2201/0203
摘要： A robot cleaner system is described including a docking station to form a docking area within a predetermined angle range of a front side thereof, to form docking guide areas which do not overlap each other on the left and right sides of the docking area, and to transmit a docking guide signal such that the docking guide areas are distinguished as a first docking guide area and a second docking guide area according to an arrival distance of the docking guide signal. The robot cleaner system also includes a robot cleaner to move to the docking area along a boundary between the first docking guide area and the second docking guide area when the docking guide signal is sensed and to move along the docking area so as to perform docking when reaching the docking area.

2. 发明授权

US08732897B2 Autonomous cleaning device 有权
标题翻译：自动清洗装置
公开(公告)号：US08732897B2
公开(公告)日：2014-05-27
申请号：US13596556
申请日：2012-08-28
申请人： Hyun Soo Jung , Seung Il Han , Dong Won Kim , Bo Sang Kim , Jun Hwa Lee
发明人： Hyun Soo Jung , Seung Il Han , Dong Won Kim , Bo Sang Kim , Jun Hwa Lee
IPC分类号： A47L5/00
CPC分类号： A47L9/0411 , A47L9/0466 , A47L9/0626 , A47L9/0633 , A47L11/4044 , A47L11/4052 , A47L2201/00
摘要： A blade assembly of an autonomous cleaning device. The blade assembly includes a blade having a first part fixed to the main body and a second part extended from the first part toward a floor and a support member having at least a portion disposed adjacent to the second part of the blade to restrict movement of the second part of the blade to within a predetermined range.
摘要翻译：自动清洁装置的叶片组件。叶片组件包括具有固定到主体的第一部分和从第一部分向地板延伸的第二部分的叶片和具有至少一部分设置成邻近叶片的第二部分的部分的支撑部件，叶片的第二部分在预定范围内。

3. 发明申请

US20130081218A1 ROBOT CLEANER 有权
标题翻译：机器人清洁剂
公开(公告)号：US20130081218A1
公开(公告)日：2013-04-04
申请号：US13610193
申请日：2012-09-11
申请人： Dong Won Kim , Jun Hwa Lee
发明人： Dong Won Kim , Jun Hwa Lee
IPC分类号： A46B13/02 , B62D61/08
CPC分类号： A47L5/00 , A47L9/009 , A47L2201/04 , A47L2301/00 , E01H1/08
摘要： A robot cleaner to perform cleaning without interruption of travel when passing over an obstacle. The robot cleaner includes a main body, and drive devices at left and right sides of the main body. Each drive device includes a main wheel to drive the main body, a drive motor to rotate the main wheel, a gear assembly to transmit power from the drive motor to the main wheel, a drive shaft to assist the main wheel in rotating by rotation power, and an auxiliary wheel connected to a distal end of the drive shaft so as to be located closer to the center of the main body than the main wheel. If the main wheel is lifted from a floor when passing over an obstacle during traveling, the auxiliary wheel protrudes downward to reach the floor, assisting the main body in traveling to escape from the obstacle.
摘要翻译：机器人清洁器，当通过障碍物时进行清洁而不中断行驶。机器人清洁器包括主体，主体左侧和右侧的驱动装置。每个驱动装置包括用于驱动主体的主轮，用于旋转主轮的驱动马达，用于将动力从驱动马达传递到主轮的齿轮组件;驱动轴，用于通过旋转动力辅助主轮旋转以及辅助轮，其连接到所述驱动轴的远端以使其位于比所述主轮更靠近所述主体的中心的位置。如果主轮在行驶过程中越过障碍物时从地板上抬起，辅助轮向下突出到达地板，辅助主体行进从障碍物逃逸。

4. 发明申请

US20130006446A1 STEP CLIMBING DEVICE FOR MOVING ROBOTS, STEP CLIMBING SYSTEM FOR MOVING ROBOTS AND STEP CLIMBING METHOD OF MOVING ROBOT 审中-公开
标题翻译：用于移动机器人的步进滑行装置，用于移动机器人的步进滑行系统和移动机器人的步进滑移方法
公开(公告)号：US20130006446A1
公开(公告)日：2013-01-03
申请号：US13532118
申请日：2012-06-25
申请人： Dong Won Kim , Hwi Chan Jang , Jun Hwa Lee , Hyun Soo Jung
发明人： Dong Won Kim , Hwi Chan Jang , Jun Hwa Lee , Hyun Soo Jung
IPC分类号： G05D1/10 , H02J7/00 , E04F11/00
CPC分类号： A47L9/009 , A47L2201/022 , A47L2201/04
摘要： A step climbing device for moving robots including a climbing guide provided with an inclined surface formed on the upper surface thereof so as to allow a moving robot to climb a step through the inclined surface of the climbing guide.
摘要翻译：一种用于移动机器人的步进攀登装置，包括在其上表面上形成有倾斜表面的攀爬导轨，以允许移动的机器人爬上攀登导轨的倾斜表面的台阶。

5. 发明申请

US20120047676A1 Cleaner and control method thereof 失效
标题翻译：清洁及其控制方法
公开(公告)号：US20120047676A1
公开(公告)日：2012-03-01
申请号：US13067681
申请日：2011-06-20
申请人： Hyun Soo Jung , Dong Won Kim , Seung Il Han , Hwi Chan Jang , Jun Hwa Lee
发明人： Hyun Soo Jung , Dong Won Kim , Seung Il Han , Hwi Chan Jang , Jun Hwa Lee
IPC分类号： A47L5/00 , H05K13/00 , A47L11/00
CPC分类号： A47L9/30 , A47L9/246 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L9/2889 , A47L2201/00
摘要： A robot cleaner having a static-charge removal device to prevent deterioration in performance or damage to an interior circuit of the cleaner due to static charge. The robot cleaner includes a conductive trap member to trap frictional static charge, a discharge member electrically connected to the trap member to discharge the static charge, trapped by the trap member, into another kind of energy, for example, light, sound, or kinetic energy, and a ground member located on the robot cleaner while being connected to the discharge member. The robot cleaner prevents adherence of dust, loose debris, etc. as well as damage to an interior circuit thereof due to static charge, thereby efficiently performing a cleaning operation.
摘要翻译：一种机器人清洁器，其具有静电荷去除装置，以防止性能劣化或由于静电荷而损坏清洁器的内部电路。机器人清洁器包括用于捕获摩擦静电的导电捕集构件，与捕获构件电连接以将由捕获构件捕获的静电的排出物排放到另一种能量例如光，声或动力学中的排出构件能量和位于机器人清洁器上的接地构件，同时连接到排出构件。机器人清洁器防止灰尘，松散的碎片等附着，以及由于静电而损坏其内部电路，从而有效地执行清洁操作。

6. 发明申请

US20110118928A1 Control method of performing rotational traveling of robot cleaner 有权
标题翻译：执行机器人清洁器旋转行驶的控制方法
公开(公告)号：US20110118928A1
公开(公告)日：2011-05-19
申请号：US12926432
申请日：2010-11-17
申请人： Kyung Hwan Yoo , Dong Won Kim , Jae Man Joo , Jun Hwa Lee , Jun Pyo Hong , Woo Ram Chung , Jae Young Jung , Hwi Chan Jang
发明人： Kyung Hwan Yoo , Dong Won Kim , Jae Man Joo , Jun Hwa Lee , Jun Pyo Hong , Woo Ram Chung , Jae Young Jung , Hwi Chan Jang
IPC分类号： G05D1/02
CPC分类号： G05D1/0272 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L9/2873 , A47L9/2894 , A47L2201/04 , G05D1/0225 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D2201/0203 , Y02B40/82
摘要： Disclosed herein is a control method of a robot cleaner in which a robot cleaner is moved at an arbitrary starting angle along a rotation trajectory having an arbitrary rotational center and rotation radius during obstacle-following traveling, whereby an obstacle-following traveling time is reduced and consequently, a movement time of the robot cleaner is reduced.
摘要翻译：这里公开了一种机器人清洁器的控制方法，其中机器人清洁器沿着跟随行驶期间具有任意旋转中心和旋转半径的旋转轨迹以任意的起始角度移动，由此减少了障碍物跟随行驶时间，因此，机器人清洁器的移动时间减少。

7. 发明申请

US20100324734A1 ROBOT CLEANER AND METHOD OF CONTROLLING TRAVEL 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：US20100324734A1
公开(公告)日：2010-12-23
申请号：US12815631
申请日：2010-06-15
申请人： Jun Hwa Lee , Jae Man Joo , Dong Won Kim , Jun Pyo Hong , Woo Ram Chung , Jae Young Jung , Kyung Hwan Yoo , Hwi Chan Jang , Jang Youn Ko , Jeong Gon Song , Sam Jong Jeung
发明人： Jun Hwa Lee , Jae Man Joo , Dong Won Kim , Jun Pyo Hong , Woo Ram Chung , Jae Young Jung , Kyung Hwan Yoo , Hwi Chan Jang , Jang Youn Ko , Jeong Gon Song , Sam Jong Jeung
IPC分类号： G06F7/00
CPC分类号： A47L11/33 , A47L11/4002 , A47L11/4011 , A47L11/4061 , A47L11/4072 , A47L2201/04 , A47L2201/06 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： A robot cleaner that travels straight through alignment of drive wheels to move the robot cleaner and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner is detected from angle information of a caster wheel rotating depending upon a state of a floor, such as a carpet in a state in which texture of the carpet occurs in one direction, and, when the movement angle of the robot cleaner deviates due to slippages of the drive wheels, rates of rotation of the drive wheels are adjusted to correct the slippages of the drive wheels such that the robot cleaner easily travels straight.
摘要翻译：机器人清洁器，其通过驱动轮的对准直线行进以移动机器人清洁器以及控制其移动的方法。关于机器人清洁器的移动角度的信息是根据在地毯发生状态的地板的状态（例如地毯在一个方向上发生的状态）旋转的脚轮的角度信息，以及当机器人清洁器的移动角度由于驱动轮的滑动而偏离，驱动轮的旋转速度被调节以校正驱动轮的滑动，使得机器人清洁器容易地直线行进。

8. 发明申请

US20100313364A1 Robot cleaner and control 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：US20100313364A1
公开(公告)日：2010-12-16
申请号：US12801483
申请日：2010-06-10
申请人： Woo Ram Chung , Jae Man Joo , Dong Won Kim , Jun Hwa Lee , Jun Pyo Hong , Jae Young Jung , Kyung Hwan Yoo , Hwi Chan Jang
发明人： Woo Ram Chung , Jae Man Joo , Dong Won Kim , Jun Hwa Lee , Jun Pyo Hong , Jae Young Jung , Kyung Hwan Yoo , Hwi Chan Jang
IPC分类号： G05D1/02 , G06F19/00 , A47L9/00 , B08B7/00
CPC分类号： B25J9/1664 , B25J5/00 , B25J9/0003 , G05D1/021 , G05D1/0219 , G05D2201/0203 , Y10S901/01
摘要： Disclosed herein are a robot cleaner having an improved travel pattern and a control method thereof. The robot cleaner performs cleaning using zigzag travel as a basic cleaning traveling manner, and then performs cleaning using random travel as a finishing cleaning traveling manner so as to clean areas skipped during the zigzag travel. The robot cleaner performs the zigzag travel while maintaining a designated interval with a travel route proceeding to a wall regardless of a direction proceeding to the wall, and employs an improved zigzag travel method to maintain a zigzag travel pattern, if the robot cleaner senses an obstacle during the zigzag travel.
摘要翻译：这里公开了具有改进的行进方式的机器人清洁器及其控制方法。机器人清洁器使用锯齿形行进作为基本的清洁行进方式进行清洁，然后通过随机旅行执行清洁作为整理清洁行进方式，以清洁在之字形行进期间跳过的区域。机器人清洁器执行锯齿形行进，同时保持指定的间隔，而不管进入墙壁的方向如何，行进路线保持指定的间隔，并且如果机器人清洁器感测到障碍物，则采用改进的之字形行进方法来保持锯齿形行进方式在之字形旅行期间。

9. 发明授权

US09456725B2 Robot cleaner and control 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：US09456725B2
公开(公告)日：2016-10-04
申请号：US13373192
申请日：2011-11-08
申请人： Dong Won Kim , Jun Hwa Lee
发明人： Dong Won Kim , Jun Hwa Lee
IPC分类号： B08B7/00 , B08B7/04 , B08B1/04 , A47L9/28 , G05D1/02
CPC分类号： A47L9/2826 , A47L9/28 , A47L9/2805 , A47L9/2831 , A47L9/2847 , A47L9/2852 , A47L9/2857 , A47L2201/02 , A47L2201/022 , A47L2201/04 , A47L2201/06 , G05D1/0227 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D2201/0203
摘要： A robot cleaner includes a main brush to sweep or scatter dust off a floor, a main brush motor to rotate the main brush, a Revolution Per Minute (RPM) detector to detect an RPM of the main brush motor, and a control unit to determine a type of floor according to the RPM of the main brush motor acquired by the RPM detector and control an operation of the robot cleaner based on the determined type of floor. A carpet mode to clean only a carpet area and a hard floor mode to clean a hard floor area excluding the carpet area are given based on detected information relating to the material of a floor, which enables partial cleaning with respect to a cleaning area selected by a user and adjustment in the number of cleaning operations or the intensity of cleaning according to the material of the floor.
摘要翻译：机器人清洁器包括用于扫除或分散地板上的灰尘的主刷子，用于旋转主刷子的主刷马达，用于检测主刷马达的RPM的每分钟转数检测器，以及用于确定根据由RPM检测器获取的主刷马达的RPM的一种类型的地板，并且基于确定的地板类型来控制机器人清洁器的操作。基于检测到的关于地板材料的信息，给出了仅清洁地毯区域和硬地板模式以清洁除了地毯区域之外的硬地板区域的地毯模式，其能够相对于由用户根据地板的材料调整清洁操作的数量或清洁强度。

10. 发明授权

US09186030B2 Robot cleaner, maintenance station, and cleaning system having the same 有权
标题翻译：机器人清洁器，维护站和具有相同的清洁系统
公开(公告)号：US09186030B2
公开(公告)日：2015-11-17
申请号：US13183723
申请日：2011-07-15
申请人： Hyun Soo Jung , Dong Won Kim , Jun Hwa Lee , Jun Pyo Hong , Sang Sik Yoon
发明人： Hyun Soo Jung , Dong Won Kim , Jun Hwa Lee , Jun Pyo Hong , Sang Sik Yoon
IPC分类号： A47L9/00 , A47L9/28 , A47L9/10
CPC分类号： A47L9/2805 , A47L9/106 , A47L9/28 , A47L9/2815 , A47L9/30 , A47L2201/00 , A47L2201/024 , A47L2201/028 , A47L2201/04 , A47L2201/06
摘要： A robot cleaner includes a body; a dust box to store dust; and a dust sensing unit to detect dust stored in the dust box, the dust sensing unit including a light emitting unit to transmit a signal to an interior of the dust box and a light receiving sensor to sense the signal transmitted by the light emitting unit. The light emitting unit and the light receiving sensor are positioned between the dust box and the body, and face each other at the same height.
摘要翻译：机器人清洁器包括一个主体; 一个防尘盒存放灰尘; 以及尘埃检测单元，用于检测存储在所述集尘盒中的灰尘，所述灰尘感测单元包括发射单元以将信号传输到所述集尘盒的内部;以及光接收传感器，用于感测由所述发光单元发送的信号。发光单元和光接收传感器位于集尘盒和主体之间，并且在相同的高度处彼此面对。

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