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公开(公告)号：US09864914B2
公开(公告)日：2018-01-09
申请号：US14883773
申请日：2015-10-15
发明人： Jong-il Kim , Suk-june Yoon , Shin Kim , Kyung-shik Roh , Soon-yong Park , Sang-sik Yoon , Seung-jae Lee
IPC分类号： G01C22/00 , G06K9/00 , G01S17/93 , G02B17/00 , G02B17/08 , G01S17/46 , G01S7/481 , B25J5/00 , B25J9/16 , G02B13/06 , G05D1/00 , G05D1/02 , H04N5/225
CPC分类号： G06K9/00805 , A47L2201/04 , B25J5/00 , B25J9/1666 , G01S7/4816 , G01S17/46 , G01S17/936 , G02B13/06 , G02B17/00 , G02B17/08 , G02B17/0808 , G02B17/0812 , G02B17/086 , G05D1/0088 , G05D1/0238 , G05D1/0246 , G05D2201/0203 , H04N5/2254 , Y10S901/01
摘要： An obstacle detecting unit includes a reflective mirror formed to reflect light which is incident from a front area and a lower portion of the front area below a central portion of the reflective mirror; a catadioptric lens disposed coaxially with the reflective mirror in an upper portion of the reflective mirror, the catadioptric lens on which light incident from the front area and an upper portion of the front area; and an image forming module disposed coaxially with the reflective mirror below the reflective mirror, the image forming module on which the light reflected by the reflective mirror is incident, wherein a through hole is formed in the central portion of the reflective mirror, and the light coming out of the catadioptric lens passes through the through hole and then is incident on the image forming module.
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公开(公告)号：US09751214B2
公开(公告)日：2017-09-05
申请号：US14934320
申请日：2015-11-06
发明人： Ji-min Kim , No-san Kwak , Shin Kim , Kyung-shik Roh , Soon-yong Park , Suk-june Yoon
CPC分类号： B25J9/1694 , A47L11/4011 , A47L2201/022 , A47L2201/04 , B25J5/00 , B25J9/1664 , B25J9/1674 , B25J11/0085 , B25J19/005 , B60L11/1824 , B60L11/1838 , G05D1/0225 , G05D1/0242 , G05D2201/0203 , Y10S901/01
摘要： An apparatus for returning of robot and a returning method thereof are provided, in which the apparatus for returning of robot includes a signal transmitter which is disposed on a charging station and transmits a single front signal and a plurality of distance signals including first, second and third distance signals, a signal receiver which is disposed on the robot and includes a plurality of receiving sensors to receive any one among the single front signal and one among the plurality of distance signals, and a controller which calculates an angle of the charging station by using one among the received single front signal and the plurality of received distance signals and controls the driving so that the robot can return to the charging station by using the calculated angle of the charging station.
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