Position sensing device for mobile robots and robot cleaner equipped with the same
First Claim
1. A position sensing device for mobile robots, comprising:
- a light-receiving element configured such that light is focused on different positions of the light-receiving element according to the distance from an obstruction, from which the light is reflected;
a light-emitting element configured to emit the light, which is reflected by the obstruction and is incident on the light-receiving element, in a straight line, the light-emitting element serving to emit the light at a predetermined angle to the external jamming light such that an imaginary obstruction formed by an external jamming light incident on the light-receiving element is positioned out of an effective sensing range, within which the mobile robot is driven, among a sensible range of the distance from the obstruction; and
a signal processing unit configured to calculate the distance from the obstruction based on the position where the light incident on the light-receiving element is focused.
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Accused Products
Abstract
A position sensing device for mobile robots comprises a light-receiving element configured such that light is focused on different positions of the light-receiving element according to the distance from an obstruction, a light-emitting element to emit the light, which is reflected by the obstruction and is incident on the light-receiving element, in a straight line, the light-emitting element serving to emit the light at a predetermined angle to the external jamming light such that an imaginary obstruction formed by an external jamming light incident on the light-receiving element is positioned out of an effective sensing range, a signal processing unit to calculate the distance from the obstruction based on the position where the light incident on the light-receiving element is focused, and an incorrect signal processing unit to determine whether the obstruction is present within the distance considering the change of the distance sensed by the position sensing device while the mobile robot is driven. Consequently, the mobile robot is properly operated although the external jamming light is present, and incorrect recognition of the distance from the obstruction due to reflection of the light, which is emitted while being inclined, not by the obstruction but by a floor of a moving space is prevented.
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Citations
21 Claims
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1. A position sensing device for mobile robots, comprising:
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a light-receiving element configured such that light is focused on different positions of the light-receiving element according to the distance from an obstruction, from which the light is reflected;
a light-emitting element configured to emit the light, which is reflected by the obstruction and is incident on the light-receiving element, in a straight line, the light-emitting element serving to emit the light at a predetermined angle to the external jamming light such that an imaginary obstruction formed by an external jamming light incident on the light-receiving element is positioned out of an effective sensing range, within which the mobile robot is driven, among a sensible range of the distance from the obstruction; and
a signal processing unit configured to calculate the distance from the obstruction based on the position where the light incident on the light-receiving element is focused. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A robot cleaner comprising:
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at least one position sensing device for emitting light to a floor of a cleaning space at a predetermined angle to the floor of the cleaning space such that the light emitted from the at least one position sensing device is distinguished from an external jamming light to sense the distance from an obstruction, from which the light is reflected; and
an information processing unit for transmitting a signal to the at least one position sensing device and receiving a signal from the at least one position sensing device to control a drive unit such that the robot cleaner cleans the cleaning space while the robot is driven in the cleaning space. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification