公开(公告)号：US09037294B2

公开(公告)日：2015-05-19

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。

公开(公告)号：US08655539B2

公开(公告)日：2014-02-18

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。

公开(公告)号：US08560119B2

公开(公告)日：2013-10-15

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： G05B15/00

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。

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.

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。

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。

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。

公开(公告)号：US08794367B2

公开(公告)日：2014-08-05

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： B62D1/24

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。

公开(公告)号：US08224487B2

公开(公告)日：2012-07-17

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： G05B15/00 ,  G05B19/00

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。

公开(公告)号：US20110236026A1

公开(公告)日：2011-09-29

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： H04B10/00 ,  H04L27/00

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.