Obstacle sensing module and cleaning robot including the same

• US 9,020,641 B2
• Filed: 06/06/2013
• Issued: 04/28/2015
• Est. Priority Date: 06/07/2012
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Jeong, Yeon Kyu, Kim, Dong Won, So, Jea Yun, Yoon, Sang Sik, Jung, Gwang Jin, Kwon, Joon Hyung
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US13/911,525
• Publication Number:
  US 20130331990A1
• Time in Patent Office: 691 Days
• Field of Search: 700/259, 700/255, 700/258, 359/619, 359/627, 359/626, 359/620, 359/639
• US Class Current: 700/259
• 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 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 comprising a light source, a wide-angle lens to refract or reflect light incident from the light source to diffuse the incident light in the form of 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 reflection light reflected by the obstacle, 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 and 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 electrical image signal in the form of a digital image signal.

2. The cleaning robot according to claim 1, wherein the obstacle sensing module further comprises 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.

3. The cleaning robot according to claim 2, wherein the control unit generates a drive control signal, based on the obstacle sensing information.

4. The cleaning robot according to claim 1, 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.

5. The cleaning robot according to claim 2, 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.

6. The cleaning robot according to claim 2, wherein the optical control signal to control turn-off of the light source is generated when the cleaning robot is lifted from a floor.

7. The cleaning robot according to claim 2, wherein the optical control signal to control turn-on of the light source is generated when the cleaning robot starts to travel, and the optical control signal to control turn-off of the light source is generated when the cleaning robot completes traveling.

8. 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 comprising a light source, and a wide-angle lens to diffuse light incident from the light source in the form of planar light; and

a light receiver comprising an image sensor to receive reflection light reflected by the obstacle and to generate an image signal from the reflection light.

9. An obstacle sensing module installed in a cleaning robot, comprising:

at least one light emitter comprising a light source, a wide-angle lens to refract or reflect light incident from the light source to diffuse the incident light in the form of 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 reflection 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.

10. The obstacle sensing module according to claim 9, wherein the light emitter further comprises a slit disposed in front of the wide-angle lens, to adjust a thickness of the planar light.

11. The obstacle sensing module according to claim 9, 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.

12. The obstacle sensing module according to claim 9, wherein the at least one light emitter comprises a plurality of light emitters disposed at different positions on the cleaning robot and being arranged at a same level from a floor.

13. The obstacle sensing module according to claim 12, wherein the plurality of light emitters diffuses planar light in a simultaneous manner or in a sequential manner.

14. The obstacle sensing module according to claim 12, wherein:

the plurality of light emitters comprises first to third light emitters disposed on the cleaning robot;

the light receiver is disposed at a front side of the cleaning robot;

the first light emitter is arranged in front of the light receiver;

the second light emitter is spaced from the first light emitter in a left direction by a predetermined distance; and

the third light emitter is spaced from the first light emitter in a right direction by a predetermined distance.

15. The obstacle sensing module according to claim 12, wherein:

the plurality of light emitters comprises first to fourth light emitters disposed on the cleaning robot;

the light receiver is disposed at a front side of the cleaning robot;

the first and second light emitters are spaced from the light receiver in a left direction by a predetermined distance; and

the third and fourth light emitters are spaced from the light receiver in a right direction by a predetermined distance.

16. The obstacle sensing module according to claim 9, wherein the reflection mirror is a conical reflection mirror arranged such that an apex of the conical reflection mirror faces the image sensor.

17. The obstacle sensing module according to claim 9, 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.

18. The obstacle sensing module according to claim 9, 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.

19. The obstacle sensing module according to claim 9, 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.

20. The obstacle sensing module according to claim 19, 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.

21. The obstacle sensing module according to claim 9, wherein the at least one light emitter comprises a plurality of light emitters disposed at different positions on the robot or at different levels from a floor.

22. The obstacle sensing module according to claim 9, wherein the at least one light emitter comprises a plurality of light emitters disposed at a same position on the robot and at different levels from a floor.