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1. 发明授权

US09141110B2 Robot cleaner, docking station, robot cleaner system including robot cleaner and docking station, and method of controlling robot cleaner 有权
标题翻译：机器人清洁器，对接站，机器人清洁系统，包括机器人清洁器和对接站，以及控制机器人清洁器的方法
公开(公告)号：US09141110B2
公开(公告)日：2015-09-22
申请号：US13067532
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.
摘要翻译：描述了一种机器人清洁器系统，其包括对接站以在其前侧的预定角度范围内形成对接区域，以形成在对接区域的左侧和右侧彼此不重叠的对接引导区域，并且发送对接指南信号，使得对接引导区域根据对接引导信号的到达距离被区分为第一对接引导区域和第二对接引导区域。所述机器人清洁器系统还包括机器人清洁器，当所述对接引导信号被感测时，沿着所述第一对接引导区域和所述第二对接引导区域之间的边界移动到所述对接区域并且沿着所述对接区域移动以便执行对接，到达对接区。

2. 发明授权

US08457789B2 Wall-following robot cleaner and method to control the same 失效
标题翻译：壁挂机器人清洁器和方法控制相同
公开(公告)号：US08457789B2
公开(公告)日：2013-06-04
申请号：US12007898
申请日：2008-01-16
申请人： Jun Pyo Hong , Woo Ram Chung , Kyung Hwan Yoo , Jae Man Joo , Hoon Wee , Dong Won Kim , Yong Tae Kim
发明人： Jun Pyo Hong , Woo Ram Chung , Kyung Hwan Yoo , Jae Man Joo , Hoon Wee , Dong Won Kim , Yong Tae Kim
IPC分类号： G06F17/00 , A47L11/40
CPC分类号： A47L9/009 , A47L2201/04 , G05D1/0219 , G05D1/0238 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： A robot cleaner that cleans a cleaning region while traveling the cleaning region and a method to control the same are provided. The robot cleaner can uniformly clean a cleaning region based on a wall-following technique which allows the robot cleaner to travel along the outline of the cleaning region. The method selects, as a reference wall, a wall at a left or right side of the robot cleaner at a start position of the robot cleaner based on a left or right-based travel algorithm, which allows the robot cleaner to travel along a left or right wall, and controls the robot cleaner to travel the cleaning region in a zigzag travel pattern in which the robot cleaner moves a predetermined distance in a direction perpendicular to the reference wall at specific intervals along the selected reference wall while following the selected reference wall.
摘要翻译：提供了在行进清洁区域时清洁清洁区域的机器人清洁器和控制清洁区域的方法。机器人清洁器可以基于允许机器人清洁器沿着清洁区域的轮廓行进的壁跟随技术来均匀地清洁清洁区域。该方法基于左或右的行进算法在机器人清洁器的起始位置处选择机器人清洁器的左侧或右侧的壁，其允许机器人清洁器沿着左侧行进或右壁，并且控制机器人清洁器以锯齿形行进图案行进清洁区域，其中机器人清洁器沿着所选参考壁沿着与参考壁垂直的方向以特定间隔移动预定距离，同时遵循所选择的参考壁。

3. 发明授权

US08438694B2 Cleaning apparatus 有权
标题翻译：清洁装置
公开(公告)号：US08438694B2
公开(公告)日：2013-05-14
申请号：US12801309
申请日：2010-06-02
申请人： Dong Won Kim , Hwi Chan Jang , Jae Man Joo , Jun Pyo Hong , Jun Hwa Lee , Woo Ram Chung , Jae Young Jung , Kyung Hwan Yoo , Jang Youn Ko , Jeong Gon Song , Sam Jong Jeung
发明人： Dong Won Kim , Hwi Chan Jang , Jae Man Joo , Jun Pyo Hong , Jun Hwa Lee , Woo Ram Chung , Jae Young Jung , Kyung Hwan Yoo , Jang Youn Ko , Jeong Gon Song , Sam Jong Jeung
IPC分类号： A47L5/00
CPC分类号： A47L11/24 , A47L7/02 , A47L9/106 , A47L2201/00
摘要： A cleaning apparatus including a main body, a dust collection unit detachably installed on the main body and provided with a plurality of inlets, through which foreign substances are introduced into the dust collection unit, and a connection hole, to which an external instrument is connected, a shutter to open and close one inlet, and a cap to open and close the connection hole. The shutter opens and closes the inlet in cooperation with one of whether or not the dust collection unit is attached to or detached from the main body and whether or not the connection hole is opened or closed.
摘要翻译：一种清洁装置，包括主体，可拆卸地安装在主体上并具有多个入口的集尘单元，异物被引入到集尘单元中，以及连接孔，外部设备连接到该连接孔，用于打开和关闭一个入口的快门，以及用于打开和关闭连接孔的盖。与灰尘收集单元是否附接到主体或从主体分离，以及连接孔是否打开或关闭中的一个组合，快门打开和关闭入口。

4. 发明申请

US20110278082A1 SENSING SYSTEM AND MOVING ROBOT HAVING THE SAME 有权
标题翻译：感应系统和移动机器人
公开(公告)号：US20110278082A1
公开(公告)日：2011-11-17
申请号：US13086887
申请日：2011-04-14
申请人： Woo Ram CHUNG , Jae Man Joo , Jun Hwa Lee , Jun Pyo Hong , Hwi Chan Jang
发明人： Woo Ram CHUNG , Jae Man Joo , Jun Hwa Lee , Jun Pyo Hong , Hwi Chan Jang
IPC分类号： G05D1/02 , H01J40/14
CPC分类号： G01S17/936 , A47L2201/04 , G01S7/4814 , G05D1/0227 , G05D1/0238 , G05D2201/0203
摘要： A moving robot includes a sensing system. The moving robot includes light sources generating light, an optical guide to receive, diffuse, and emit the light generated from the light source, and light receiving sensors to receive the light emitted from the optical guide and then reflected by the object. Light irradiated from the light sources is diffused and emitted to a wide region through the optical guide, thereby allowing light to be emitted to the wide region with a small number of the light sources.
摘要翻译：移动机器人包括感测系统。移动机器人包括产生光的光源，用于接收，扩散和发射从光源产生的光的光导;以及光接收传感器，用于接收从光学引导器发出的光然后被物体反射。从光源照射的光通过光导体扩散并发射到宽的区域，从而允许用少量的光源将光发射到宽的区域。

5. 发明申请

US20110238214A1 Robot cleaner, docking station, robot cleaner system including robot cleaner and docking station, and method of controlling robot cleaner 有权
标题翻译：机器人清洁器，对接站，机器人清洁系统，包括机器人清洁器和对接站，以及控制机器人清洁器的方法
公开(公告)号：US20110238214A1
公开(公告)日：2011-09-29
申请号：US13067532
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： B25J13/08
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.
摘要翻译：描述了一种机器人清洁器系统，其包括对接站以在其前侧的预定角度范围内形成对接区域，以形成在对接区域的左侧和右侧彼此不重叠的对接引导区域，并且发送对接指南信号，使得对接引导区域根据对接引导信号的到达距离被区分为第一对接引导区域和第二对接引导区域。所述机器人清洁器系统还包括机器人清洁器，当所述对接引导信号被感测时，沿着所述第一对接引导区域和所述第二对接引导区域之间的边界移动到所述对接区域并且沿着所述对接区域移动以便执行对接，到达对接区。

6. 发明申请

US20100324736A1 Robot cleaner, docking station, robot cleaner system including robot cleaner and docking station, and method of controlling robot cleaner 有权
标题翻译：机器人清洁器，对接站，机器人清洁系统，包括机器人清洁器和对接站，以及控制机器人清洁器的方法
公开(公告)号：US20100324736A1
公开(公告)日：2010-12-23
申请号：US12801575
申请日：2010-06-15
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： G06F19/00 , H04B10/04 , H04B10/14
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.
摘要翻译：描述了一种机器人清洁器系统，其包括对接站以在其前侧的预定角度范围内形成对接区域，以形成在对接区域的左侧和右侧彼此不重叠的对接引导区域，并且发送对接指南信号，使得对接引导区域根据对接引导信号的到达距离被区分为第一对接引导区域和第二对接引导区域。所述机器人清洁器系统还包括机器人清洁器，当所述对接引导信号被感测时，沿着所述第一对接引导区域和所述第二对接引导区域之间的边界移动到所述对接区域并且沿着所述对接区域移动以便执行对接，到达对接区。

7. 发明授权

US07849555B2 Robot cleaning system and dust removing method of the same 失效
标题翻译：机器人清洁系统和除尘方法相同
公开(公告)号：US07849555B2
公开(公告)日：2010-12-14
申请号：US11644934
申请日：2006-12-26
申请人： Jung Yoon Hahm , Eduard Kurgi , Hoon Wee , Jin Ha Jeong , Jae Man Joo
发明人： Jung Yoon Hahm , Eduard Kurgi , Hoon Wee , Jin Ha Jeong , Jae Man Joo
IPC分类号： A47L9/28
CPC分类号： A47L9/106 , A47L9/1481 , A47L9/1691 , A47L2201/024
摘要： A robot cleaning system and a dust removing method of the same that are capable of moving a first dust collector mounted in a robot cleaner to a docking station to remove dust collected in the first dust collector. The robot cleaning system includes a robot cleaner having an opening, though which a first dust collector to collect suctioned dust is carried in and out of the robot cleaner, a docking station, to which the robot cleaner is docked to remove the dust collected in the first dust collector, and a collector moving unit to move the first dust collector to the docking station.
摘要翻译：一种能够将安装在机器人清洁器中的第一集尘器移动到对接站的机器人清洁系统和除尘方法，以除去在第一集尘器中收集的灰尘。机器人清洁系统包括具有开口的机器人清洁器，通过该开口将用于收集吸入的灰尘的第一集尘器携带入和移出机器人清洁器，对接站，机器人清洁器对接到其上以除去在第一集尘器和收集器移动单元以将第一集尘器移动到对接站。

8. 发明申请

US20100292839A1 Mobile robot system and method of controlling the same 有权
标题翻译：移动机器人系统及其控制方法
公开(公告)号：US20100292839A1
公开(公告)日：2010-11-18
申请号：US12662942
申请日：2010-05-12
申请人： Jun Pyo Hong , Kyung Hwan Yoo , Jae Young Jung , Jae Man Joo , Dong Won Kim , Woo Ram Chung , Hwi Chan Jang
发明人： Jun Pyo Hong , Kyung Hwan Yoo , Jae Young Jung , Jae Man Joo , Dong Won Kim , Woo Ram Chung , Hwi Chan Jang
IPC分类号： G05B19/04 , G05D1/00
CPC分类号： B25J9/1676 , B25J5/00 , B25J9/0003 , B25J11/0085 , G05D1/0234 , G05D2201/0203
摘要： Disclosed herein are a mobile robot system to restrict a traveling region of a robot and to guide the robot to another region, and a method of controlling the same. Only when a remote controller reception module of a beacon senses a signal transmitted from a mobile robot, the sensed result is reported to the mobile robot in the form of a response signal. In addition, the Field-of-View (FOV) of the remote control reception module is restricted by a directivity receiver. Only when the signal transmitted from the mobile robot is sensed within the restricted FOV, the sensed result is reported to the mobile robot.
摘要翻译：这里公开了一种用于限制机器人的行进区域并将机器人引导到另一区域的移动机器人系统及其控制方法。只有当信标的遥控器接收模块感测到从移动机器人发送的信号时，将感测结果以响应信号的形式报告给移动机器人。此外，遥控接收模块的视场（FOV）由方向性接收机限制。只有当在受限的FOV中感测到从移动机器人发送的信号时，才将感测到的结果报告给移动机器人。

9. 发明申请

US20100215216A1 Localization system and method 审中-公开
标题翻译：本地化制度和方法
公开(公告)号：US20100215216A1
公开(公告)日：2010-08-26
申请号：US12659078
申请日：2010-02-24
申请人： Jun Pyo Hong , Kyung Hwan Yoo , Jae Man Joo , Dong Won Kim , Woo Bam Chung , Jae Yong Jung , Hwi Chan Jang
发明人： Jun Pyo Hong , Kyung Hwan Yoo , Jae Man Joo , Dong Won Kim , Woo Bam Chung , Jae Yong Jung , Hwi Chan Jang
IPC分类号： G06K9/62
CPC分类号： G06K9/3216 , G05D1/0225 , G05D1/0234 , G06K2009/3225 , G06T7/74 , G06T2207/10016 , G06T2207/30204 , G06T2207/30252
摘要： Disclosed herein is a localization system and method to recognize the location of an autonomous mobile platform. In order to recognize the location of the autonomous mobile platform, a beacon (three-dimensional structure) having a recognizable image pattern is disposed at a location desired by a user, the mobile platform which knows image pattern information of the beacon photographs the image of the beacon and finds and analyzes a pattern to be recognized from the photographed image. A relative distance and a relative angle of the mobile platform are computed using the analysis of the pattern such that the location of the mobile platform is accurately recognized.
摘要翻译：这里公开了一种用于识别自主移动平台的位置的定位系统和方法。为了识别自主移动平台的位置，具有可识别图像图案的信标（三维结构）设置在用户期望的位置，知道信标图像信息的移动平台拍摄图像的图像信标，并从拍摄的图像中发现并分析要识别的图案。使用模式的分析来计算移动平台的相对距离和相对角度，使得准确地识别移动平台的位置。

10. 发明授权

US07779504B2 Cleaner system 有权
标题翻译：清洁系统
公开(公告)号：US07779504B2
公开(公告)日：2010-08-24
申请号：US11501081
申请日：2006-08-09
申请人： Jun Hwa Lee , Jae Man Joo
发明人： Jun Hwa Lee , Jae Man Joo
IPC分类号： A47L9/28 , A47L7/00 , A47L5/12
CPC分类号： A47L9/2889 , A47L5/225 , A47L9/106 , A47L9/2805 , A47L9/2873 , A47L9/2884 , A47L2201/00 , A47L2201/022 , A47L2201/024
摘要： A cleaner system having an improved connecting position and structure between a robot cleaner and a docking station for achieving an improvement in dust removal performance of the docking station. The docking station performs manual cleaning. The robot cleaner has a dust outlet at a top wall of the robot body to discharge the dust collected in the first dust collector into the docking station, and the docking station has a connection port at a position thereof corresponding to the dust outlet to receive the dust discharged from the dust outlet. The robot cleaner or docking station includes a connector to connect the dust outlet to the connection port. The docking station includes a suction part, suction pipe, and suction hole for manual operation. A channel switching member is mounted in the docking station to selectively apply power required to suck dust to the connection port or suction hole.
摘要翻译：一种清洁系统，其具有机器人清洁器和对接站之间改进的连接位置和结构，以实现对接站的除尘性能的改进。对接站进行手动清洁。机器人清洁器在机器人主体的顶壁处具有灰尘出口，用于将收集在第一集尘器中的灰尘排放到对接站中，并且对接站在其对应于灰尘出口的位置处具有连接端口，以接收灰尘从灰尘出口排出。机器人清洁器或对接站包括将灰尘出口连接到连接端口的连接器。对接站包括抽吸部分，吸入管和用于手动操作的抽吸孔。通道切换构件安装在对接站中，以选择性地施加将灰尘吸附到连接端口或吸入孔所需的电力。

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