Apparatus and method for recognizing carpets and stairs by cleaning robot

• US 5,307,273 A
• Filed: 08/27/1991
• Issued: 04/26/1994
• Est. Priority Date: 08/29/1990
• Status: Expired due to Fees

• Current Assignee: Goldstar Jewellery LLC
• Original Assignee: Goldstar Jewellery LLC
• Inventors: Oh, Ki Tae, Hwang, Jin Seong
• Primary Examiner(s): Harvey, Jack B.
• Assistant Examiner(s): Wachsman, Hal D.
• Application Number:
  US07/750,403
• Time in Patent Office: 973 Days
• Field of Search: 364/424.02, 364/424.01, 367/96, 367/903, 367/99, 367/116, 367/89, 367/93, 367/117, 367/140, 367/901, 901/1, 901/46, 180/167-169, 340/516, 340/446, 181/123, 73/597, 73/646
• US Class Current: 702/127
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• 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: G01N 2291/02854 Length, thickness
• CPC Class Codes: G01N 2291/044 Internal reflections (echoes), e.g. on walls or defects
• CPC Class Codes: G01N 29/07 by measuring propagation velocity or propagation time of acoustic waves
• CPC Class Codes: G01N 29/11 by measuring attenuation of acoustic waves
• CPC Class Codes: G01S 7/539 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: Y10S 367/903 Transmit-receive circuitry

Abstract

Apparatus and method for determining the condition of the floor to be cleaned by a cleaning robot. The apparatus comprises an ultrasonic wave signal transmitting circuit for transmitting an ultrasonic wave signal to an ultrasonic wave signal transmitter under the control of a microcomputer, a receiving amplifying unit for amplifying the ultrasonic wave signal transmitted from the ultrasonic wave signal transmitter and received in a ultrasonic wave signal receiver, a receiving demodulating unit for smoothing the output signal from the receiving amplifying unit to demodulate it and then apply it to the microcomputer. According to the control of the microcomputer, the ultrasonic wave signal is transmitted for a predetermined period. The period from the time when the ultrasonic wave signal is transmitted to the time when the ultrasonic wave signal is received in the ultrasonic wave signal receiver is measured. Then, the distance between the position of the ultrasonic wave signal receiver and the floor to be cleaned is calculated from the measured period. Accordingly, it can be determined whether the floor to be cleaned is a normal floor, a floor covered with a carpet, or stairs, thereby enabling correct recognition of the condition of the floor to be cleaned, without being adversely affected from environment.

Claims

1. Apparatus for recognizing the condition of a floor comprising:

(a) first means for transmitting an ultrasonic wave to be reflected off said floor when an actuate signal is provided to said first means; and

(b) an ultrasonic wave receiver comprising second means for generating an ultrasonic wave receipt signal when said ultrasonic wave reflected on said floor is received by said ultrasonic wave receiver; and

(c) computing means for providing said actuate signal to said first means for a first time, and testing if said floor is in one of at least three predefined conditions as a function of said first time and the difference in time between when said ultrasonic wave is transmitted and when it is received; and

(d) if said one of at least three predefined conditions is not the condition of said floor, third means for eliminating this condition as a possibility so it will not be retested, altering said first time, and repeating the steps performed by said computing means and said third means in (c)-(d) until the condition of said floor is determined.

2. Apparatus of claim 1, wherein an initial value of said first time is on the order of 0.1 msec, and is increased to a time on the order of 1 msec if an initial said one of at least three predefined conditions is not the condition of said floor.

3. Apparatus of claim 1, wherein said first means comprises:

an oscillating integrated element for generating an oscillating signal of predetermined frequency; and

means for frequency-dividing said oscillating signal under control of said computing means in order to generate said ultrasonic wave.

4. Apparatus of claim 1, wherein three of said at least three predefined conditions comprise a normal condition, a carpeted condition and a step condition.

5. Apparatus of claim 1, wherein said second means comprises:

means for converting said ultrasonic wave received into an electric signal representing the level of said ultrasonic wave received; and

means for comparing said electric signal with a reference signal; and

means for generating or not generating said ultrasonic wave receipt signal as a function of said comparing.

6. The apparatus of claim 5, further comprising means for amplifying said electric signal for better comparison with said reference signal.

7. A method for recognizing the condition of a floor comprising:

(a) transmitting an ultrasonic wave with an ultrasonic wave transmitter to be reflected off said floor when an actuate signal is provided to said ultrasonic wave transmitter; and

(b) generating an ultrasonic wave receipt signal with an ultrasonic wave receiver when said ultrasonic wave reflected on said floor is received by said ultrasonic wave receiver; and

(c) providing said actuate signal to said ultrasonic wave transmitter for a first time, and testing if said floor is in one of at least three predefined conditions as a function of said first time and the difference in time between when said ultrasonic wave is transmitted and when it is received; and

(d) if said one of at least three predefined conditions is not the condition of said floor, eliminating this condition as a possibility so it will not be retested, altering said first time, and repeating steps (c)-(d) until the condition of said floor is determined.

8. The method of claim 7, wherein an initial value of said first time is on the order of 0.1 msec, and is increased to a time on the order of 1 msec if an initial said one of at least three predefined conditions is not the condition of said floor.

9. The method of claim 7, wherein said generating an ultrasonic wave receipt signal comprises:

converting said ultrasonic wave received into an electric signal representing the level of said ultrasonic wave received; and

comparing said electric signal with a reference signal; and

generating or not generating said ultrasonic wave receipt signal as a function of said comparing.