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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
First Claim
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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.

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