Moving object, cleaning robot, floor condition determining device, method of controlling the moving object, and method of controlling the cleaning robot

• US 10,722,088 B2
• Filed: 10/27/2016
• Issued: 07/28/2020
• Est. Priority Date: 11/18/2015
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Son, Hyung Min, Choi, Jung Won, Park, Yong Jong, Choi, Jun Hoe, Han, Jeong Su
• Primary Examiner(s): Geisel, Kara E.
• Assistant Examiner(s): Underwood, Jarreas C
• Application Number:
  US15/777,648
• Publication Number:
  US 20180368642A1
• Time in Patent Office: 1,370 Days
• Field of Search: None
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• 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 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/30 Arrangement of illuminating devices
• CPC Class Codes: G01B 11/22 for measuring depth
• CPC Class Codes: G05B 2219/45098 Vacuum cleaning robot
• 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

Abstract

Provided are a moving object, a cleaning robot, a floor condition determining device, a method of controlling the moving object, and a method of controlling the cleaning robot. The moving object includes a light source configured to irradiate a first light to a floor surface, a plurality of sensors for receiving light reflected from the floor surface at different positions from each other, and a controller configured to determine a condition of the floor surface on the basis of a result sensed by the plurality of sensors.

Claims

1. A cleaning robot comprising:

a light source configured to irradiate a first light to a floor surface;

a first sensor configured to sense a light specularly reflected from the floor surface;

a second sensor configured to sense a light diffusely reflected from the floor surface, at a position different from a position of the first sensor, wherein the first sensor and the second sensor are respectively configured to output a first electrical signal and a second electrical signal; and

a controller configured to;

calculate a ratio between a voltage of the first electrical signal and a voltage of the second electrical signal,

compare a result of calculating the ratio between the voltage of the first electrical signal and the voltage of the second electrical signal with a reference value,

increase a count variable according to a result of comparison,

determine a condition of the floor surface based on a result sensed by the first sensor and the second sensor and whether the count variable is equal to a present count reference value, and

determine whether a recessed region is present on the floor surface by comparing at least one of the voltage of the first electrical signal or the voltage of the second electrical signal with a corresponding reference voltage.

2. The cleaning robot of claim 1, wherein the controller is further configured to:

compare the voltage of the first electrical signal output from the first sensor with a first reference voltage, and

compare the voltage of the second electrical signal output from the second sensor with a second reference voltage.

3. The cleaning robot of claim 2, wherein, when the voltage of the first electrical signal is lower than the first reference voltage and the voltage of the second electrical signal is lower than the second reference voltage, the controller is further configured to:

determine the condition of the floor surface using a ratio of the voltage of an electrical signal output from the second sensor with respect to the voltage of an electrical signal output from the first sensor, or

determine that the recessed region is present on the floor surface using at least one of the electrical signal output from the first sensor and the electrical signal output from the second sensor.

4. The cleaning robot of claim 2, wherein, when the voltage of the first electrical signal is higher than the first reference voltage or the voltage of the second electrical signal is higher than a second reference signal, the controller is further configured to control the light source to irradiate a second light having a relatively lower intensity than the first light.

5. The cleaning robot of claim 1, wherein:

the light source is further configured to irradiate a light toward the floor surface at at least one incident angle, and

the first sensor is disposed on a traveling path of a light reflected at an angle of reflection, which is the same as the incident angle.

6. The cleaning robot of claim 1, wherein the second sensor is disposed between the first sensor and the light source or disposed opposite the first sensor with respect to the light source.

7. The cleaning robot of claim 1, wherein:

the light source is further configured to irradiate the first light a plurality of times;

the first sensor and the second sensor are respectively configured to output the first electrical signal and the second electrical signal a plurality of times; and

the controller is further configured to calculate the ratio between the voltage of the first electrical signal and the voltage of the second electrical signal every time the electrical signals are output.

8. The cleaning robot of claim 1, wherein the controller is further configured to apply a high-pass filter to an electrical signal output from at least one of the first sensor and the second sensor to remove noise due to a disturbance light from the electrical signal.

9. The cleaning robot of claim 8, wherein the controller is further configured to apply a low-pass filter to the electrical signal to which the high-pass filter is applied.

10. A method of controlling a cleaning robot, the method comprising:

irradiating a first light toward a floor surface;

sensing a light reflected from the floor surface by each of a first sensor and a second sensor disposed at different positions, wherein the first sensor receives a light specularly reflected from the floor surface, and the second sensor receives a light diffusely reflected from the floor surface;

outputting, respectively using the first sensor and the second sensor, a first electrical signal and a second electrical signal;

comparing a result of calculating a ratio between a voltage of the first electrical signal and a voltage of the second electrical signal with a reference value;

increasing a count variable according to a result of comparison;

determining a condition of the floor surface based on results of sensing by the first sensor and the second sensor and whether the count variable is equal to a preset count reference value; and

determining whether a recessed region is present on the floor surface by comparing at least one of the voltage of the first electrical signal or the voltage of the second electrical signal with a corresponding reference voltage.

11. The method of claim 10, further comprising:

irradiating a plurality of times using a light source,

outputting, respectively using the first sensor and the second sensor, the first electrical signal and the second electrical signal a plurality of times, and

calculating the ratio between the voltage of the first electrical signal and the voltage of the second electrical signal every time the electrical signals are output.

12. The method of claim 10, further comprising:

applying a high-pass filter to an electrical signal output from at least one of the first sensor and the second sensor to remove noise due to a disturbance light from the electrical signal.

13. The method of claim 12, further comprising:

applying a low-pass filter to the electrical signal to which the high-pass filter is applied.