CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME

• US 20080091303A1
• Filed: 09/17/2007
• Published: 04/17/2008
• Est. Priority Date: 10/13/2006
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: JUNG, Yong Gyu, JEON, Hyeong Shin
• Granted Patent: US 7,856,291 B2
• Time in Patent Office: Days
• US Class Current: 700/247
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 2201/0215 Vacuum cleaner

Abstract

A cleaning robot may be provided having a case and a sensor assembly. The sensor assembly may include a sensor hole having a first opening provided at an outer surface of the case and a second opening provided inwardly of the first opening, with respect to a center of the case. Additionally, the sensor assembly may include a sensor element configured to receive a signal and the sensor element may be provided inwardly of the first opening.

Claims

1. A cleaning robot comprising:

a case; and

a sensor assembly comprising;

a sensor hole having a first opening provided at an outer surface of the case and a second opening provided inwardly of the first opening, with respect to a center of the case; and

a sensor element configured to receive a signal, wherein the sensor element is provided inwardly of the first opening.

2. The cleaning robot of claim 1, wherein the sensor hole includes a sensor mount provided at the second opening, and wherein the sensor element is provided at the sensor mount.

3. The cleaning robot of claim 2, wherein the sensor element comprises a plurality of sensor elements including a transmitter and a receiver, and

the sensor hole comprises a plurality of sensor holes having corresponding sensor mounts, and wherein the transmitter and receiver portion is provided at a corresponding sensor mount.

4. The cleaning robot of claim 1, wherein the sensor hole further comprises:

a sensor wall extending inwardly from the first opening to the second opening, an outer end of the sensor wall opening to an outer side of the case, and an inner end of the sensor wall opening to an interior of the case.

5. The cleaning robot of claim 3, wherein the sensor hole further comprises:

a sensor mount provided at the second opening, wherein the sensor wall is communicatingly connected to the sensor mount and second opening.

6. The cleaning robot of claim 2, wherein the second opening has a cross-sectional area which is smaller than a cross-sectional area of a mount opening of the sensor mount.

7. The cleaning robot of claim 2, wherein Hh defines a minimum distance from the first opening to the second opening, ds defines a diameter of the sensing element, and the ratio Hh/ds is about 1.1 to about 1.8.

8. The cleaning robot of claim 4, wherein the slope of the sensor wall, with respect to an axis passing through the centers of the first and second openings, is about 0.0 to about 18.0 degrees.

9. The cleaning robot of claim 2, wherein dh defines a diameter of the second opening, ds defines a diameter of the sensing element, and the ratio dh/ds of the sensor is about 0.3 to about 1.0.

10. The cleaning robot of claim 1, wherein a cross-sectional area of the sensor hole increases as the sensor hole extends from the second opening towards the first opening.

11. The cleaning robot of claim 1, wherein the case has a generally circular shape.

12. The cleaning robot of claim 1, wherein at least a portion of the sensor hole has a truncated generally conical shape.

13. The cleaning robot of claim 1, wherein the sensor hole comprises a plurality of sensor holes spaced at an interval and positioned at a predetermined angle with respect to the case.

14. The cleaning robot of claim 1, wherein the sensor hole is formed unitarily and in one piece with the case.

15. The cleaning robot of claim 1, wherein the sensor hole is mounted to the case.

16. The cleaning robot of claim 1, wherein the sensor hole protrudes outwardly of the case.

17. The cleaning robot of claim 1, wherein the sensor element comprises an ultrasonic sensor.

18. A cleaning robot comprising:

a case; and

a sensor assembly comprising;

a sensor hole including a sensor wall which extends inwardly from a first opening provided at an outside of the case and a second opening provide at an inside of the case; and

a sensing element including a transmitter and a receiver, wherein at least one of the transmitter and the receiver is provided inwardly of the first opening.

19. A cleaning robot, comprising:

a case; and

a sensor assembly comprising;

a sensing element which transmits or receives a predetermined signal; and

a sensor hole provided on the case, the sensor hole having a first opening provided at an outer surface of the case, and a second opening provided inwardly of the first opening with respect to a center of the case, wherein the sensor hole is configured to restrict a radiation range of the predetermined signal.

20. The cleaning robot of claim 19, wherein the sensing element is provided inwardly of the first opening with respect to a center of the case.

21. The cleaning robot of claim 19, wherein a cross-sectional area of the sensor hole increases as the sensor hole extends from the second opening towards the first opening.

22. The cleaning robot of claim 19, wherein the sensor hole protrudes outside of the case.

23. A method for controlling a cleaning robot, comprising:

providing a case having a sensing element, the sensing element including a transmitter configured to transmit a signal and a receiver configured to receive a transmitted signal;

comparing an amplitude of the transmitted signal received by the receiver to a predetermined level; and

determining that the transmitted signal is a signal reflected by an obstacle when the amplitude of the transmitted signal is greater than the predetermined level, and that the signal is a direct noise when the amplitude of the transmitted signal is less than the predetermined level.

24. The method of claim 23, wherein when a plurality of signals is inputted into the receiver and at least one of the plurality of input signals is higher than the predetermined level, the at least one of the input signals is determined to be a signal reflected from an obstacle.

25. The method of claim 23, wherein the amplitude of the transmitted signal received by the receiver is compared to a predetermined level, after a predetermined signal corresponding to the predetermined level is transmitted by the transmitter.