Obstacle sensing module and cleaning robot including the same

• US 9,846,435 B2
• Filed: 12/29/2014
• Issued: 12/19/2017
• 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:
  US14/584,267
• Publication Number:
  US 20150112538A1
• Time in Patent Office: 1,086 Days
• Field of Search: 700259, 700255, 700258, 700245, 359619, 359627, 359626, 359620, 359639, 701 28, 701 1, 165185
• 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. An obstacle sensing module for a cleaning robot, comprising:

at least one light emitter comprising;

a light source; and

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 surface to refract the light incident from the light source and forming a holding recess to hold the light source received therein, and a second surface to refract or reflect the light refracted by the first surface to generate planar light; and

a light receiver comprising;

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

an image sensor to receive the reflection light to generate an image signal,

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.

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

at least one light emitter comprising;

a light source; and

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 surface to refract the light incident from the light source and forming a holding recess to hold the light source received therein, and a second surface to refract or reflect the light refracted by the first surface to generate planar light; and

a light receiver comprising;

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

an image sensor to receive the reflection light to generate an image signal,

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 image signal.

3. The obstacle sensing module 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.

4. 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; and

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 surface to refract the light incident from the light source and a second surface to refract or reflect the light refracted by the first surface to generate planar light; and

wherein the light receiver comprises;

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

an image sensor to receive the reflection light to generate an image signal.

5. The cleaning robot according to claim 4, wherein the control unit generates optical control signals to control turn-on/off of the light source, generates obstacle sensing information, based on the 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.

6. The cleaning robot according to claim 4, wherein the optical control signal to control turn-off of the light source is generated when the robot is lifted from a floor.

7. The cleaning robot according to claim 4, 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.

8. The cleaning robot according to claim 4, wherein the at least one light emitter comprises a plurality of light emitters disposed on the robot.