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1. 发明授权

US07780796B2 Apparatus and method for controlling operation of robot cleaner 有权
标题翻译：用于控制机器人清洁器操作的装置和方法
公开(公告)号：US07780796B2
公开(公告)日：2010-08-24
申请号：US11315187
申请日：2005-12-23
申请人： In-Bo Shim , Young-Gie Kim , Hee-Suk Roh
发明人： In-Bo Shim , Young-Gie Kim , Hee-Suk Roh
IPC分类号： B08B5/04
CPC分类号： A47L9/2884 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L2201/00 , Y02B40/82
摘要： An apparatus for controlling an operation of a robot cleaner including: a battery installed in the robot cleaner; and a means for selectively cutting off power supply of the battery to at least one or more units operated for performing a cleaning operation when the cleaning operation of the robot cleaner is stopped. When the cleaning operation of the robot cleaner is stopped, the robot cleaner is changed to the power saving mode or to the standby mode, and accordingly, power consumption of the battery of the robot cleaner can be reduced.
摘要翻译：一种用于控制机器人清洁器的操作的装置，包括：安装在所述机器人清洁器中的电池; 以及用于当所述机器人清洁器的清洁操作停止时，将所述电池的电源选择性地切断到至少一个或多个操作以进行清洁操作的单元的装置。当机器人清洁器的清洁操作停止时，机器人清洁器被改变到省电模式或待机模式，因此可以减少机器人清洁器的电池的功耗。

2. 发明申请

US20060237158A1 Apparatus and method for controlling operation of robot cleaner 有权
标题翻译：用于控制机器人清洁器操作的装置和方法
公开(公告)号：US20060237158A1
公开(公告)日：2006-10-26
申请号：US11315187
申请日：2005-12-23
申请人： In-Bo Shim , Young-Gie Kim , Hee-Suk Roh
发明人： In-Bo Shim , Young-Gie Kim , Hee-Suk Roh
IPC分类号： B08B7/04 , B08B5/04
CPC分类号： A47L9/2884 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L2201/00 , Y02B40/82
摘要： An apparatus for controlling an operation of a robot cleaner including: a battery installed in the robot cleaner; and a means for selectively cutting off power supply of the battery to at least one or more units operated for performing a cleaning operation when the cleaning operation of the robot cleaner is stopped. When the cleaning operation of the robot cleaner is stopped, the robot cleaner is changed to the power saving mode or to the standby mode, and accordingly, power consumption of the battery of the robot cleaner can be reduced.
摘要翻译：一种用于控制机器人清洁器的操作的装置，包括：安装在所述机器人清洁器中的电池; 以及用于当所述机器人清洁器的清洁操作停止时，将所述电池的电源选择性地切断到至少一个或多个操作以进行清洁操作的单元的装置。当机器人清洁器的清洁操作停止时，机器人清洁器被改变到省电模式或待机模式，因此可以减少机器人清洁器的电池的功耗。

3. 发明申请

US20060261772A1 Position-recognizing system for self-moving robot 有权
标题翻译：自动机器人定位识别系统
公开(公告)号：US20060261772A1
公开(公告)日：2006-11-23
申请号：US11330257
申请日：2006-01-12
申请人： Young-Gie Kim
发明人： Young-Gie Kim
IPC分类号： G05D1/00 , B64C13/18
CPC分类号： G05D1/0255 , G05D1/0225 , G05D1/0261 , G05D2201/0203
摘要： Disclosed is a position-recognizing system of a self-moving robot. A position-recognizing system of a self-moving robot includes: a floor in which a magnet is inserted; and a self-moving robot provided with a magnetic sensor that can sense the magnet while the robot is moving on the floor. According to this, a magnet mounted in a floor is sensed through the magnetic sensor, and thusly a current location of the self-moving robot can be accurately recognized, so that the self-moving robot can be precisely controlled.
摘要翻译：公开了一种自动移动机器人的位置识别系统。自动机器人的位置识别系统包括：其中插入有磁体的地板; 以及具有磁传感器的自动机器人，该磁传感器能够在机器人在地板上移动时感测磁体。据此，通过磁传感器感测安装在地板上的磁体，因此可以准确地识别自动移动机器人的当前位置，从而能够精确地控制自动移动的机器人。

4. 发明授权

US07274167B2 Position-recognizing system for self-moving robot 有权
标题翻译：自动机器人定位识别系统
公开(公告)号：US07274167B2
公开(公告)日：2007-09-25
申请号：US11330257
申请日：2006-01-12
申请人： Young-Gie Kim
发明人： Young-Gie Kim
IPC分类号： G05D1/02
CPC分类号： G05D1/0255 , G05D1/0225 , G05D1/0261 , G05D2201/0203
摘要： Disclosed is a position-recognizing system of a self-moving robot. A position-recognizing system of a self-moving robot includes: a floor in which a magnet is inserted; and a self-moving robot provided with a magnetic sensor that can sense the magnet while the robot is moving on the floor.According to this, a magnet mounted in a floor is sensed through the magnetic sensor, and thusly a current location of the self-moving robot can be accurately recognized, so that the self-moving robot can be precisely controlled.
摘要翻译：公开了一种自动移动机器人的位置识别系统。自动机器人的位置识别系统包括：其中插入有磁体的地板; 以及具有磁传感器的自动机器人，该磁传感器能够在机器人在地板上移动时感测磁体。据此，通过磁传感器感测安装在地板上的磁体，因此可以准确地识别自动移动机器人的当前位置，从而能够精确地控制自动移动的机器人。

5. 发明授权

US09060658B2 Mobile robot with single camera and method for recognizing 3D surroundings of the same 有权
标题翻译：具有单摄像头的移动机器人和识别3D环境的方法
公开(公告)号：US09060658B2
公开(公告)日：2015-06-23
申请号：US13262192
申请日：2010-03-12
申请人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
发明人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
IPC分类号： G06K9/00 , A47L9/00 , G01S15/93 , G05D1/02
CPC分类号： A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
摘要： Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
摘要翻译：公开了具有能够对周围进行清洁处理的单个摄像机的移动机器人，并且能够更准确地制作包括多个特征点的周围环境的3D地图，以及用于识别其周围的3D环境的方法。根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取环境的3D信息。

6. 发明申请

US20120019627A1 MOBILE ROBOT WITH SINGLE CAMERA AND METHOD FOR RECOGNIZING 3D SURROUNDINGS OF THE SAME 有权
标题翻译：具有单个摄像机的移动机器人和用于识别其中的3D环绕的方法
公开(公告)号：US20120019627A1
公开(公告)日：2012-01-26
申请号：US13262192
申请日：2010-03-12
申请人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
发明人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
IPC分类号： H04N13/02
CPC分类号： A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
摘要： Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
摘要翻译：公开了具有能够对周围环境进行清洁处理的单个摄像机的移动机器人，并且能够更准确地制作包括多个特征点的周围环境的3D地图，以及用于识别其中的3D环境的方法。根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取环境的3D信息。

7. 发明授权

US08489234B2 Mobile robot and controlling method thereof 有权
标题翻译：移动机器人及其控制方法
公开(公告)号：US08489234B2
公开(公告)日：2013-07-16
申请号：US12669208
申请日：2008-07-16
申请人： Ho-Seon Rew , Dong-Hoon Yi , Young-Gie Kim , Young-Gyu Jung , Moon-Kee Chung , Jong-Il Park , Woo-Jin Choi
发明人： Ho-Seon Rew , Dong-Hoon Yi , Young-Gie Kim , Young-Gyu Jung , Moon-Kee Chung , Jong-Il Park , Woo-Jin Choi
IPC分类号： G06F19/00
CPC分类号： A47L9/009 , A47L2201/04 , G05D1/0255 , G05D2201/0215
摘要： Disclosed are a mobile robot and a controlling method thereof. The mobile robot comprises: a case; and a sensor unit having two or more sending portions and two or more receiving portions arranged on an outer surface of the case separately and alternately. The plurality of sending portions and receiving portions are arranged in an alternating manner, thereby having a directivity. Also, since signals received through the receiving portions are judged based on a reference value, an area unallowable to be detected for an obstacle sensing is minimized, which allows an obstacle to be detected more accurately. When the obstacle corresponds to a side wall on the basis of a moving path of the mobile robot, a distance between the side wall and the mobile robot is calculated based on signals received by the receiving portion closest to the side wall. Accordingly, the mobile robot can move with maintaining a constant distance from the side wall.
摘要翻译：公开了一种移动机器人及其控制方法。移动机器人包括：壳体; 以及传感器单元，其具有两个或更多个发送部分和两个或更多个接收部分，分别和交替地布置在壳体的外表面上。多个发送部分和接收部分以交替的方式布置，从而具有方向性。此外，由于基于参考值判断通过接收部分接收到的信号，所以不容易被检测用于障碍物感测的区域被最小化，这允许更准确地检测障碍物。当障碍物基于移动机器人的移动路径对应于侧壁时，基于最靠近侧壁的接收部分接收的信号来计算侧壁和移动机器人之间的距离。因此，移动机器人可以在与侧壁保持恒定距离的情况下移动。

8. 发明申请

US20050134209A1 Apparatus and method for correcting position of mobile robot 有权
标题翻译：用于校正移动机器人位置的装置和方法
公开(公告)号：US20050134209A1
公开(公告)日：2005-06-23
申请号：US10921912
申请日：2004-08-20
申请人： Young-Gie Kim
发明人： Young-Gie Kim
IPC分类号： A47L9/00 , B25J5/00 , B25J9/16 , B25J13/08 , B25J19/02 , G05D1/02 , G07B15/02 , G07C1/30 , B64C13/18 , G05D1/00
CPC分类号： G05D1/0274 , G05D1/0261 , G05D2201/0203
摘要： An apparatus and a method for correcting a position of a mobile robot includes a position notifying unit, installed at a predetermined position, that generates and transmits a signal indicative of the predetermined position. The mobile robot includes a position signal detector, installed at a predetermined position of the mobile robot, that detects a signal; and a control unit, installed at a predetermined position of the mobile robot, that corrects a position of the mobile robot on the basis of pre-stored position information corresponding to the detected position signal, so that a position error that is generated when the mobile robot moves is corrected.
摘要翻译：用于校正移动机器人的位置的装置和方法包括安装在预定位置的位置通知单元，其产生并发送指示预定位置的信号。移动机器人包括安装在移动机器人的预定位置的位置信号检测器，其检测信号; 以及安装在移动机器人的预定位置的控制单元，其基于与所检测到的位置信号相对应的预先存储的位置信息来校正可移动机器人的位置，使得当移动机器人的位置错误机器人移动被纠正。

9. 发明授权

US07480960B2 Bumper device of robot cleaner and robot cleaner having the same 有权
标题翻译：机器人清洁器和机器人清洁器的保险杠装置具有相同的功能
公开(公告)号：US07480960B2
公开(公告)日：2009-01-27
申请号：US11382745
申请日：2006-05-11
申请人： Young-Gie Kim
发明人： Young-Gie Kim
IPC分类号： A47L9/00
CPC分类号： G05D1/0227 , G05D2201/0203
摘要： A bumper device of a robot cleaner, and a robot cleaner equipped with the bumper device are disclosed. The bumper device of a robot cleaner includes: a bumper housing coupled to cover an outer circumferential surface of a main body of a robot cleaner, made of a material for restraining an expansion, and having an internal passage; an air tube insertedly installed inside the bumper housing so as to be expandable along the internal passage; and a sensing unit for sensing expansion of the air tube. Even if an impact is applied to any position of front, side and rear surfaces of the main body, it can be lessened in its transfer to the robot cleaner.
摘要翻译：公开了一种机器人清洁器的保险杠装置和装备有保险杠装置的机器人清洁装置。机器人清洁器的保险杠装置包括：保险杠壳体，其联接以覆盖由用于限制膨胀的材料制成并具有内部通道的机器人清洁器的主体的外周表面; 插入地安装在保险杠壳体内部以便沿着内部通道可扩张的空气管; 以及用于感测空气管的膨胀的感测单元。即使对主体的前侧，后侧和后表面的任何位置施加冲击，也可以减少其转移到机器人清洁器。

10. 发明授权

US07274166B2 Apparatus and method for correcting position of mobile robot 有权
标题翻译：用于校正移动机器人位置的装置和方法
公开(公告)号：US07274166B2
公开(公告)日：2007-09-25
申请号：US10921912
申请日：2004-08-20
申请人： Young-Gie Kim
发明人： Young-Gie Kim
IPC分类号： B25J19/02 , B25J5/00
CPC分类号： G05D1/0274 , G05D1/0261 , G05D2201/0203
摘要： An apparatus and a method for correcting a position of a mobile robot includes a position notifying unit, installed at a predetermined position, that generates and transmits a signal indicative of the predetermined position. The mobile robot includes a position signal detector, installed at a predetermined position of the mobile robot, that detects a signal; and a control unit, installed at a predetermined position of the mobile robot, that corrects a position of the mobile robot on the basis of pre-stored position information corresponding to the detected position signal, so that a position error that is generated when the mobile robot moves is corrected.
摘要翻译：用于校正移动机器人的位置的装置和方法包括安装在预定位置的位置通知单元，其产生并发送指示预定位置的信号。移动机器人包括安装在移动机器人的预定位置的位置信号检测器，其检测信号; 以及安装在移动机器人的预定位置的控制单元，其基于与所检测到的位置信号相对应的预先存储的位置信息来校正可移动机器人的位置，使得当移动机器人的位置错误机器人移动被纠正。

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