Sensor module and robot cleaner having the same

• US 9,918,603 B2
• Filed: 04/08/2014
• Issued: 03/20/2018
• Est. Priority Date: 04/11/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Kim, Byung Chan, Yoon, Sang Sik, Kim, Kyong Su, Kim, Dong Won, So, Jea Yun, Jeong, Yeon Kyu
• Primary Examiner(s): REDDING, DAVID A
• Application Number:
  US14/247,819
• Publication Number:
  US 20140304937A1
• Time in Patent Office: 1,442 Days
• Field of Search: 15319, 15339
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/28 Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• 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
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A sensor module and a robot cleaner including the sensor module may provide accurate sensing of an obstacle and prevent an erroneous sensing of an obstacle. The robot cleaner may include a body including a cleaning unit to remove foreign substances from a surface of a floor, a cover to cover an upper portion of the body, a sensor module including an obstacle sensor mounted to sense an obstacle, and a sensor window provided at one side of the sensor module. The sensor module may include a light emitting device to emit light through the sensor window, a light receiving reflector on which light reflected from the obstacle is incident, and a light shielding portion interposed between the light emitting device and the light receiving reflector to block the light emitted from the light emitting device from being incident upon the light receiving reflector.

Claims

1. A robot cleaner comprising:

a body including a cleaning unit to perform a cleaning operation;

a cover to cover an upper portion of the body;

a sensor module mounted to the body to sense an obstacle; and

a sensor window provided at one side of the sensor module,

wherein the sensor module comprises;

a light emitting device mounted to a base frame to emit light through the sensor window;

a light receiving reflector on which light emitted from the light emitting device and reflected from the obstacle is incident; and

a light shielding portion, mounted to the base frame and interposed between the light emitting device and the light receiving reflector to block the light emitted from the light emitting device from being reflected from an inner surface of the sensor window and incident upon the light receiving reflector.

2. The robot cleaner according to claim 1, wherein the sensor module comprises an upper frame coupled to the base frame.

3. The robot cleaner according to claim 2, wherein a slit is formed at one side of a front of the upper frame, and the light shielding portion includes an upper surface of the upper frame forming the slit.

4. The robot cleaner according to claim 3, wherein the light emitting device corresponds to a position of the slit, and the light emitted from the light emitting device radiates forward through the slit.

5. The robot cleaner according to claim 3, wherein a step portion is formed on a front upper surface of the upper frame.

6. The robot cleaner according to claim 2, wherein the light receiving reflector is mounted to the upper frame.

7. The robot cleaner according to claim 6, wherein the upper frame is provided with a mount protruding upward, and the light receiving reflector is mounted to an upper side of the mount.

8. The robot cleaner according to claim 7, wherein the upper frame is provided with a hole at a position corresponding to a lower portion of the mount.

9. The robot cleaner according to claim 8, wherein the base frame is provided with a light receiving unit camera to receive information about the reflected light incident upon the light receiving reflector, the light receiving unit camera arranged to face the light receiving reflector.

10. The robot cleaner according to claim 7, wherein a docking sensor to communicate with the docking station is mounted to the mount.

11. The robot cleaner according to claim 10, wherein the docking sensor is positioned above the light receiving reflector.

12. The robot cleaner according to claim 11, wherein a bracket to space the docking sensor from the light receiving reflector is interposed between the docking sensor and the light receiving reflector.

13. The robot cleaner according to claim 2, wherein the base frame is provided with a remote control signal reception portion to receive a signal from a remote control.

14. The robot cleaner according to claim 2, wherein, the sensor module is modularized as one unit by mounting the light receiving reflector to the upper frame, and coupling the base frame to the upper frame, and the sensor module is mounted to a front of the body.

15. The robot cleaner according to claim 1, wherein the sensor window is integrated with the sensor module.