Ultrasonic distance sensor and robot cleaner using the same
First Claim
Patent Images
1. An ultrasonic distance sensor comprising:
- a wave transmitter to transmit an ultrasonic wave;
an ultrasonic wave extender to extend the ultrasonic wave; and
a wave receiver to receive the ultrasonic wave reflected from an object.
1 Assignment
0 Petitions
Accused Products
Abstract
Disclosed herein are an ultrasonic distance sensor that is capable of extending an ultrasonic wave transmitted from a wave transmitter to sense the distance between an object located in a wide region and an installation body having the sensor installed therein and a robot cleaner using the same. The ultrasonic distance sensor includes a wave transmitter to transmit an ultrasonic wave, an ultrasonic wave extender to extend the ultrasonic wave, and a wave receiver to receive the ultrasonic wave reflected from an object.
-
Citations
19 Claims
-
1. An ultrasonic distance sensor comprising:
-
a wave transmitter to transmit an ultrasonic wave; an ultrasonic wave extender to extend the ultrasonic wave; and a wave receiver to receive the ultrasonic wave reflected from an object. - View Dependent Claims (2, 4, 5)
-
-
3. An ultrasonic distance sensor comprising:
-
a wave transmitter to transmit an ultrasonic wave; an ultrasonic wave extender to extend the ultrasonic wave; first and second wave receivers to receive the ultrasonic wave reflected from an object; and an ultrasonic sensor controller to calculate first and second wave receiving distances (L1, L2) by using time taken until the ultrasonic wave, transmitted from the waver transmitter, is received by the first and second wave receivers, substituting the first and second wave receiving distances (L1, L2) into [Mathematical equation 3] and [Mathematical equation 4], associating [Mathematical equation 3] and [Mathematical equation 4] with each other to acquire object projective coordinates, and sensing an object distance, which is an x-axis coordinate of the object projective coordinates, wherein;
√
{square root over ((Px−
a)2+(Py−
b)2+(h−
c)2)}{square root over ((Px−
a)2+(Py−
b)2+(h−
c)2)}{square root over ((Px−
a)2+(Py−
b)2+(h−
c)2)}+√
{square root over ((Px−
a1)2+(Py−
b1)2+(h−
c1)2)}{square root over ((Px−
a1)2+(Py−
b1)2+(h−
c1)2)}{square root over ((Px−
a1)2+(Py−
b1)2+(h−
c1)2)}=L1
[Mathematical equation 3] isand
√
{square root over ((Px−
a)2+(Py−
b)2+(h−
c)2)}{square root over ((Px−
a)2+(Py−
b)2+(h−
c)2)}{square root over ((Px−
a)2+(Py−
b)2+(h−
c)2)}+√
{square root over ((Py−
a2)2+(Py−
b2)2+(h−
c2)2)}{square root over ((Py−
a2)2+(Py−
b2)2+(h−
c2)2)}{square root over ((Py−
a2)2+(Py−
b2)2+(h−
c2)2)}=L2
[Mathematical equation 4] iswhere (a, b, c) are an installation position of the wave transmitter on XYZ spatial coordinates with the center of an installation body having the sensor installed therein as the origin, (a1, b1, c1) are an installation position of the first wave receiver on XYZ spatial coordinates with the center of the installation body as the origin, (a2, b2, c2) are an installation position of the second wave receiver on XYZ spatial coordinates with the center of the installation body as the origin, h is an object sensing height on an object sensing plane (X,Y,Z=h) of the installation body, and (Px, Py) are object projective coordinates at which intersection points between an elliptical sphere equation defined by L1, the installation position (a, b, c) of the wave transmitter, and the installation position (a1, b1, c1) of the first wave receiver and an elliptical sphere equation defined by L2, the installation position (a, b, c) of the wave transmitter, and the installation position (a2, b2, c2) of the second wave receiver are projected on the object sensing plane (X,Y,Z=h) of the installation body. - View Dependent Claims (12, 13)
-
-
6. A robot cleaner using an ultrasonic distance sensor, the ultrasonic distance sensor comprising:
-
a wave transmitter to transmit an ultrasonic wave; an ultrasonic wave extender to extend the ultrasonic wave; and a wave receiver to receive the ultrasonic wave reflected from an object. - View Dependent Claims (7, 10, 11, 16, 17)
-
-
8. A robot cleaner using an ultrasonic distance sensor, the ultrasonic distance sensor comprising:
-
a wave transmitter installed at the top of a cleaner body to transmit an ultrasonic wave; an ultrasonic wave extender to extend the ultrasonic wave; and first and second wave receivers installed at the circumference of the cleaner body to receive the ultrasonic wave reflected from an object. - View Dependent Claims (9, 14, 15, 18, 19)
-
Specification