OBSTACLE SENSING MODULE AND CLEANING ROBOT INCLUDING THE SAME

• US 20150112538A1
• Filed: 12/29/2014
• Published: 04/23/2015
• Est. Priority Date: 06/07/2012
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Kim, Dong Won, Yoon, Sang Sik, Kwon, Joon Hyung, Jeong, Yeon Kyu, So, Jea Yun, Jung, Gwang Jin
• Granted Patent: US 9,846,435 B2
• Time in Patent Office: Days
• US Class Current: 701/28
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G02B 5/02 Diffusing elements; Afocal elements
• CPC Class Codes: G02B 9/04 having two components only
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93

Abstract

Disclosed herein are an obstacle sensing module and a cleaning robot including the same. The cleaning robot includes a body, a driver to drive the body, an obstacle sensing module to sense an obstacle present around the body, and a control unit to control the driver, based on sensed results of the obstacle sensing module. The obstacle sensing module includes at least one light emitter including a light source, and a wide-angle lens to refract or reflect light from the light source so as to diffuse the incident light in the form of planar light, and a light receiver including a reflection mirror to again reflect reflection light reflected by the obstacle so as to generate reflection light, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, and an image sensor, and an image processing circuit.

Claims

1. A wide-angle lens formed of a transparent material to allow light incident from a light source to pass therethrough, comprising:

a first diffusion surface to refract the light incident from the light source to diffuse the incident light within the wide-angle lens; and

a second diffusion surface to refract or reflect the light refracted by the first diffusion surface to generate planar light.

2. The wide-angle lens according to claim 1, further comprising:

a holding recess formed at a surface opposite to the second diffusion surface, to hold the light source received therein.

3. The wide-angle lens according to claim 1, further comprising:

a third diffusion surface to refract the light refracted by the first diffusion surface or the light reflected by the second diffusion surface to generate planar light.

4. The wide-angle lens according to claim 3, wherein the second diffusion surface is formed at one surface of the second wide-angle lens, to have a U or V-shaped concave structure.

5. The wide-angle lens according to claim 4, wherein:

the second diffusion surface comprises a first surface formed at a central portion of the second diffusion surface, to extend perpendicularly in a forward direction in the form of a flat surface, and second surfaces having a curved shape and forming a predetermined angle with regard to the first surface;

the first surface refracts the light reflected by the first diffusion surface to generate planar light;

the second surfaces reflect, toward the third diffusion surfaces, the light reflected by the first diffusion surface.

6. The wide-angle lens according to claim 5, wherein a diffusion range of the planar light is adjusted in accordance with the predetermined angle or a curvature of the curved shape.

7. The wide-angle lens according to claim 4, wherein the second diffusion surface is formed with wave patterns each having a tapered ridge.

8. The wide-angle lens according to claim 3, wherein:

the second diffusion surface is formed at one surface of the wide-angle lens and has a concave conical shape.

9. The wide-angle lens according to claim 1, wherein the second diffusion surface or the third diffusion surface has a convex shape to reduce a thickness of the planar light.

10. An obstacle sensing module for a cleaning robot, comprising:

at least one light emitter comprising;

a light source;

a wide-angle lens formed of a transparent material to allow light incident from the light source to pass therethrough, the wide-angle lens comprising a first diffusion surface to refract the light incident from the light source and a second diffusion surface to refract or reflect the light refracted by the first diffusion surface to generate planar light; and

a light source driver to drive the light source to emit light; and

a light receiver comprising;

a reflection mirror to reflect the planar light reflected by an obstacle to generate reflection light;

an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens;

an image sensor to receive the reflection light emerging from the optical lens to generate an image signal from the reflection light emerging from the optical lens; and

an image processing circuit to receive the image signal, and to convert the received image signal into an image signal in the form of a digital image signal.

11. The obstacle sensing module according to claim 10, wherein the light emitter further comprises a slit disposed in front of the wide-angle lens, to adjust a thickness of the planar light.

12. The obstacle sensing module according to claim 10, wherein the optical lens is arranged between the reflection mirror and the image sensor, and the light emitter is arranged in front of the image sensor in relation to the direction in which light is emitted from the light source.

13. The obstacle sensing module according to claim 10, wherein the at least one light emitter comprises a plurality of light emitters disposed at different positions.

14. The obstacle sensing module according to claim 10, wherein the reflection mirror is a conical reflection mirror arranged such that an apex of the conical reflection mirror faces the image sensor.

15. The obstacle sensing module according to any one of claim 10, wherein the reflection mirror has a conical structure formed with a conical surface having a side surface portion extending from a bottom surface of the conical structure to a predetermined height and having a concave shape, and a side surface portion extending from the predetermined height to an apex of the conical structure and having a convex shape.

16. The obstacle sensing module according to claim 10, wherein a filter is coated over a surface of the reflection mirror or a surface of the optical lens, to allow light having a wavelength of the planar light to pass through the optical lens.

17. The obstacle sensing module according to claim 10, wherein the at least one light emitter comprises a plurality of light emitters disposed on the same vertical plane and at different levels from a floor.

18. The obstacle sensing module according to claim 10, further comprising an obstacle sensing controller to generate optical control signals to control turn-on/off of the light source and to generate obstacle sensing information, based on the digital image signal.

19. The obstacle sensing module according to claim 18, wherein the obstacle sensing information comprises at least one of a distance from the body to the obstacle, a position of the obstacle, a height of the obstacle, a shape of the obstacle, and a fall point.

20. A cleaning robot comprising:

a body;

a driver to drive the body;

an obstacle sensing module to sense an obstacle present around the body; and

a control unit to control the driver, based on sensed results of the obstacle sensing module,

wherein the obstacle sensing module comprises at least one light emitter and a light receiver,

wherein, the at least one light emitter comprises;

a light source;

a wide-angle lens formed of a transparent material to allow light incident from the light source to pass therethrough, the wide-angle lens comprising a first diffusion surface to refract the light incident from the light source and a second diffusion surface to refract or reflect the light refracted by the first diffusion surface to generate planar light; and

a light source driver to drive the light source to emit light; and

wherein the light receiver comprising;

a reflection mirror to reflect the planar light reflected by an obstacle to generate reflection light;

an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens;

an image sensor to receive the reflection light emerging from the optical lens to generate an image signal from the reflection light emerging from the optical lens; and

an image processing circuit to receive the image signal, and to convert the received image signal into an image signal in the form of a digital image signal.

21. The cleaning robot according to claim 20, wherein the control unit generates optical control signals to control turn-on/off of the light source, generates obstacle sensing information, based on the digital image signal, or generates a drive control signal, based on the obstacle sensing information, wherein the obstacle sensing information may comprise at least one of a distance from the body to the obstacle, a position of the obstacle, a height of the obstacle, a shape of the obstacle, and a fall point.

22. The cleaning robot according to claim 20, wherein the optical control signal to control turn-off of the light source is generated when the robot is lifted from a floor.

23. The cleaning robot according to claim 20, wherein the optical control signal to control turn-on of the light source is generated when the robot starts to travel, and the optical control signal to control turn-off of the light source is generated when the robot completes traveling.

24. The cleaning robot according to claim 20, wherein the at least one light emitter comprises a plurality of light emitters disposed on the robot.