RU2591912C1 - Module for detecting obstacles and robot-cleaner including same - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: invention relates to a module for detecting obstacles and robot-cleaner, including said module. Robot-cleaner comprises housing, drive for driving housing, an obstacle detecting module for detecting obstacles around housing and control device for controlling drive based on results obtained by module for detecting obstacles. Module for detecting obstacles contains at least one light emitter and a light receiver. Light emitter includes light source and wide-angle lens for refraction or light reflection from light source for incident light dissipation in form of flat light. Light receiver has a reflecting mirror for repeated reflection of reflected light reflected by obstacle, for generation of reflected light, an optical lens, spaced apart from reflecting mirror through preset distance to allow reflected light to pass through optical lens and image sensor and image processing circuit.

EFFECT: higher accuracy of detecting obstacles without using a plurality of sensors or a separate servo.

15 cl, 52 dwg

Description

Technical field

Embodiments relate to an obstacle detection module capable of detecting obstacles around it, and to a robot cleaner including one.

State of the art

In general, an obstacle sensor emits light, ultrasound waves, or the like, and detects light or ultrasound waves returned after reflection from an obstacle in the form of detected signals. Based on the time difference, phase difference, or intensity difference among the detected signals, the obstacle sensor detects if an obstacle exists and determines the distance from the sensor to the obstacle. The obstacle sensor can determine the distance from the sensor to the obstacle based on the reflection angles of the reflected light or ultrasonic waves.

Recently, an obstacle detection method using a point light source has been proposed. However, when using a point light source, it is necessary to install a plurality of light emitters, and a zone of lack of sensitivity may be formed despite the installation of such a plurality of light emitters. When a point light source is rotated to solve the problems mentioned above, a separate servo mechanism must be used. In addition, it takes some time to scan. For this reason, performance degradation may occur.

Description

Technical problem

In an aspect of one or more embodiments, an obstacle detection module is provided that is capable of detecting obstacles around it by generating uniformly distributed flat light (planar light — see definition below) using a wide angle lens and a robot cleaner using it.

Technical solution

In an aspect of one or more embodiments, a robot cleaner is provided that includes a housing, a drive device for driving the housing, an obstacle detection module for detecting obstacles surrounding the housing, and a control device for controlling the drive device based on the results obtained an obstacle detection module, wherein this obstacle detection module includes at least one light emitter including a light source, a wide-angle lens for refracting or reflecting light incident from a light source, for scattering incident light in the form of a plane light, and a light source driving device causing a light source to emit light, and a light receiver including a reflective mirror for reflecting reflected light reflected by an obstacle, the purpose of generating reflected light, an optical lens spaced a predetermined distance from the reflecting mirror to allow reflected light to pass through the optical lens, an image sensor for receiving a reflection Nogo light exiting from the optical lens and generating an image signal from the reflected light exiting from the optical lens, and an image processing circuit for receiving an image signal and converting the received image signal into an image signal in the form of a digital image signal.

The obstacle detection module may further include an obstacle detection controller for generating optical control signals for controlling the on / off light source and for generating obstacle detection information based on the digital image signal.

The control device may generate a control signal of the drive device based on the obstacle detection information.

The control device may generate optical control signals for controlling on / off of the light source, may generate obstacle detection information based on a digital image signal, or may generate a control signal of the drive device based on the obstacle detection information. Information on detecting an obstacle may include at least either the distance from the body to the obstacle, or the position of the obstacle, or the height of the obstacle, or the shape of the obstacle, or the point of incidence.

An optical control signal for controlling the on / off light source can be generated when the robot cleaner rises from the floor.

An optical control signal for controlling on / off of the light source can be generated when the robot cleaner starts moving, and an optical control signal for controlling on / off of the light source can be generated when the robot cleaner stops moving.

In an aspect of one or more embodiments, a robot cleaner is provided that includes a housing, a drive device for driving the housing, an obstacle detection module for detecting obstacles around the housing, and a control device for controlling the drive device based on the received detection module obstacle results, wherein this obstacle detection module includes at least one light emitter including a light source and a wide-angle lens y for scattering light incident from the light source in the form of a plane light, and a light detector including an image sensor for receiving reflected light reflected by the obstacle, and for generating an image signal from the received reflected light.

In an aspect of one or more embodiments, an obstruction detection module is provided that is mounted in a cleaning robot that includes at least one light emitter including a light source, a wide-angle lens for refracting or reflecting light incident from a light source, for the purpose scattering incident light in the form of a flat light and a light source driving device for causing a light source to emit light, and a light receiver including a reflective mirror for reflecting reflected light reflected by an obstacle in order to generate reflected light, an optical lens spaced apart from the reflecting mirror by a predetermined distance to allow reflected light to pass through the optical lens, an image sensor for receiving reflected light coming out of the optical lens in order to generate an image signal from reflected light output from the optical lens and an image processing circuit for receiving an image signal and converting the received image signal into an image signal in the form of a digital signal from mapping.

The light emitter may further include a slot located in front of the wide-angle lens to adjust the thickness of the plane light.

An optical line may be located between the reflective mirror and the image sensor, and a light emitter may be located in front of the image sensor.

At least one light emitter may include a plurality of light emitters located in different positions on the robot cleaner and located at the same level from the floor.

Many light emitters can scatter flat light in simultaneous or sequential order.

A plurality of light emitters may include first to third light emitters located on the cleaning robot. The light receiver may be located on the front side of the robot cleaner. The first light emitter may be located in front of the light receiver. The second light emitter may be carried away from the first light emitter to the left by a predetermined distance. The third light emitter can be attributed from the first light emitter to the right by a predetermined distance.

A plurality of light emitters may include from first to fourth light emitters located on the cleaning robot. The light receiver may be located on the front side of the robot cleaner. The first and second light emitters can be carried from the light receiver to the left by a predetermined distance. The third and fourth light emitters can be carried to the right by a predetermined distance from the light receiver.

The reflecting mirror may be a conical reflecting mirror arranged so that the apex of the conical reflecting mirror faces toward the image sensor.

A reflecting mirror may have a conical structure formed by a conical surface having a lateral surface portion extending from a lower surface of the conical surface to a predetermined height and having a conical shape, and a lateral surface portion extending from a predetermined height to the top of the conical structure and having a convex shape.

The filter may be applied to the surface of the optical sensor, to the surface of a reflective mirror, or to the surface of an optical lens to allow light having a wavelength of plane light to pass through the optical lens.

The obstacle detection module may further include an obstacle detection controller for generating optical control signals for controlling the on / off light source and for generating obstacle detection information based on the digital image signal.

Information on detecting obstacles may include at least either the distance from the body to the obstacle, or the position of the obstacle, or the height of the obstacle, or the shape of the obstacle, or the point of incidence.

In an aspect of one or more embodiments, a wide-angle lens made of a transparent material is provided to allow light incident from a light source to pass through it. The wide-angle lens includes a first diffusing surface for refracting light incident from a light source to scatter incident light within the wide-angle lens, a second diffusing surface for refracting or reflecting light refracted by the first diffusing surface to generate a flat light, and a holding cavity formed on a surface opposite the first scattering surface to hold a light source located therein.

The wide-angle lens may further include a third scattering surface for refracting light refracted by the first scattering surface or light reflected by the second scattering surface in order to generate plane light.

A second scattering surface may be formed on one surface of the second wide-angle lens to have a U-shaped or V-shaped concave structure.

The second scattering surface may include a first surface formed in a central portion of the second scattering surface and extending perpendicularly in the forward direction in the form of a flat surface, and second surfaces having a curved shape and forming a predetermined angle with respect to the first surface. The first surface can refract the light reflected by the first scattering surface to generate plane light. The second surfaces may reflect in the direction of the third scattering surfaces the light reflected by the first scattering surface.

The scattering range of plane light can be adjusted in accordance with a predetermined curvature angle of curvilinear shape.

The second scattering surface can be formed by wave-like contours, each of which has a ridge converging on a cone.

The second scattering surface may be formed on one surface of the wide-angle lens and have a concave conical shape. The holding cavity may have a central axis aligned with the central axis of the second scattering surface.

Beneficial effects

According to the obstacle detection module, a flat light can be generated, and thereby the accuracy of the detection of obstacles will be improved. In this case, an obstacle in the environment is detected by the use of flat light, therefore, it is not necessary to install many sensors or an additional servomechanism, which increases economic and structural efficiency.

Description of drawings

These and / or other aspects will become apparent and more easily understood from the following description of embodiments taken in conjunction with the accompanying drawings, in which:

FIG. 1 is an overview of a robot cleaner including an obstacle detection module according to an exemplary embodiment;

FIG. 2A is a block diagram illustrating a configuration of a robot cleaner control system that includes an obstacle detection module according to an exemplary embodiment;

FIG. 2B is a perspective view of a robot cleaner including an obstacle detection module according to an exemplary embodiment;

FIG. 2C is a rear view of a robot cleaner including an obstacle detection module according to an exemplary embodiment;

FIG. 2D is a perspective view illustrating an obstacle detection module according to an exemplary embodiment;

FIG. 3A is a block diagram illustrating a configuration of a control system of an obstacle detection module according to an exemplary embodiment;

FIG. 3B is a view illustrating an example in which an obstacle detection module generates a plane light wave according to an exemplary embodiment;

FIG. 3C is a view illustrating an example in which an obstacle detection module generates plane light according to an exemplary embodiment;

FIG. 4A is a view showing an external configuration of an obstacle detection module according to an exemplary embodiment;

FIG. 4B is a view illustrating a viewing range of a robot cleaner when two light emitters included in an obstacle detection module are installed in different positions according to a typical embodiment;

FIG. 4C is a view illustrating a viewing range of a robot cleaner when an obstacle detection module includes three light emitters according to an exemplary embodiment;

FIG. 4D is a view illustrating a viewing range of a robot cleaner when an obstacle detection module includes four light emitters according to an exemplary embodiment;

FIG. 5A is a view illustrating a light receiver included in an obstacle detection module according to an exemplary embodiment, and an image received by a light receiver;

FIG. 5B is a view illustrating a first example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror;

FIG. 5C is a view illustrating a second example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror;

FIG. 5D is a view illustrating a third example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror;

FIG. 5E is a view illustrating a fourth example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror;

FIG. 5F is a view illustrating a fifth example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror;

FIG. 6A is a view illustrating another example of a light receiver in an obstacle detection module according to an exemplary embodiment;

FIG. 6B is a view corresponding to region F in FIG. 6A;

FIG. 6C is a sectional view taken along line G-G ′ in FIG. 6A;

FIG. 6D is a view illustrating a viewing range of a robot cleaner including an exemplary light receiver according to the exemplary embodiment of FIG. 6A;

FIG. 6E is a graph explaining the determination of the distance to an obstacle by a robot cleaner that includes another example of a light receiver in an obstacle detection module according to an exemplary embodiment;

FIG. 7A is a view illustrating a first exemplary wide-angle lens included in an obstacle detection module according to an exemplary embodiment;

FIG. 7B is a view illustrating the scattering of plane light emerging from a first exemplary wide-angle lens included in an obstacle detection module according to an exemplary embodiment;

FIG. 7C is a view illustrating a state in which a first wide-angle lens according to an exemplary embodiment is installed in an obstacle detection module.

FIG. 7D is a view illustrating a second wide-angle lens included in an obstacle detection module according to an exemplary embodiment;

FIG. 7E is a view illustrating the scattering of plane light exiting from a second wide-angle lens included in an obstacle detection module according to an exemplary embodiment;

FIG. 7F is a view illustrating a third wide-angle lens included in an obstacle detection module according to an exemplary embodiment;

FIG. 7G is a view illustrating the scattering of plane light exiting from a third wide-angle lens included in an obstacle detection module according to an exemplary embodiment;

FIG. 8A is an exploded perspective view showing a fourth wide angle lens included in an obstacle detection module according to an exemplary embodiment;

FIG. 8B is a perspective view showing a fourth wide-angle lens included in an obstacle detection module according to an exemplary embodiment;

FIG. 8C is a view illustrating the scattering of plane light exiting from a fourth wide-angle lens included in an obstacle detection module according to an exemplary embodiment;

FIG. 8D is a view illustrating a state in which a fourth wide-angle lens according to an exemplary embodiment is installed in an obstacle detection module.

FIG. 9A is a view showing a slot capable of adjusting the thickness of a plane light when one of the first to third wide angle lenses is used, according to a typical embodiment;

FIG. 9B is a view showing a slot capable of adjusting the thickness of a plane light when a fourth wide-angle lens is used, according to a typical embodiment;

FIG. 10A is a view showing obstacle detection results that are obtained with a large slot size in the obstacle detection module according to an exemplary embodiment;

FIG. 10B is a view showing obstacle detection results that are obtained with a small slot size in an obstacle detection module according to an exemplary embodiment;

FIG. 11 is a schematic diagram illustrating a relationship between each constituent element of an obstacle detection module and an obstacle for calculating a distance to an obstacle according to an exemplary embodiment;

FIG. 12A is a plan view of an obstacle detection module according to an exemplary embodiment and obstacles;

FIG. 12B is a side view of an obstacle detection module according to an exemplary embodiment and obstacles;

FIG. 12C is a view of images received by the image sensor in the obstacle detection module according to an exemplary embodiment;

FIG. 13A is a plan view of a plurality of light emitters that are included in an obstacle detection module when they are installed in positions having different levels, according to a typical embodiment, and an obstacle;

FIG. 13B is a side view of a plurality of light emitters that are included in an obstacle detection module when they are installed in positions having different levels, according to a typical embodiment, and an obstacle;

FIG. 13C is a view of a planar light received by an image sensor in the form of an image after radiation from each of a plurality of light emitters included in an obstacle detection module and installed at different levels and reflected by an obstacle, according to a typical embodiment;

FIG. 14 is a plan view of a plurality of light emitters included in an obstacle detection module when they are installed in different positions, according to a typical embodiment;

FIG. 15A is a side view illustrating an arrangement in which a second wide-angle lens is positioned vertically to allow an obstacle detection module to detect a falling point, according to an exemplary embodiment;

FIG. 15B is a side view illustrating an arrangement in which a fourth wide-angle lens is positioned vertically to allow an obstacle detection module to detect a point of incidence, according to an exemplary embodiment;

FIG. 16A is a view of a state in which an obstacle detection module emits flat light when there is no incidence point, according to an exemplary embodiment;

FIG. 16B is a view illustrating a plane light image received by the image sensor after reflection from the floor in the absence of a point of incidence, according to an exemplary embodiment;

FIG. 17A is a view of a state in which an obstacle detection module emits flat light when an incidence point exists, according to an exemplary embodiment;

FIG. 17B is a view illustrating a plane light image received by the image sensor after reflection from the floor when there is a point of incidence, according to an exemplary embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION

The exemplary embodiment described herein and the configurations shown in the drawings are merely exemplary, and various modifications are possible. Next will be considered in detail embodiments, examples of which are presented in the accompanying drawings, in which all such elements are denoted by the same reference position.

Below, embodiments will be described with reference to the accompanying drawings.

In FIG. 1 is an overview of a robot cleaner including an obstacle detection module according to an exemplary embodiment.

As shown in FIG. 1, a robot cleaner according to an exemplary embodiment, indicated by “1”, is a device for automatically cleaning an area that it will clean by sucking weeds, such as dust, from the floor of the area to be cleaned, automatically moving around the area to be cleaned without user control. The cleaning robot 1 detects an obstacle or wall that is located inside the area to be cleaned by means of various sensors or similar devices. Based on the results obtained, the robot cleaner 1 controls its movement and its cleaning work. Specifically, the robot cleaner 1 emits flat light, moving indoors, and detects obstacles encountered in its path along which flat light is emitted. “Plane light” means subtle light rays propagating in different directions in the same plane, being emitted by a light source, as will be described below.

The cleaning robot 1 is equipped with an obstacle detection module (not shown) and, as such, can “feel” the area around itself in all directions or in a wide fan-shaped area. Based on the read results of the obstacle detection module, the robot cleaner 1 can determine the distance to the obstacle present in the zone, the position of the obstacle, the height of the obstacle, the shape of the obstacle and the point of incidence. Based on the results of this determination, the robot cleaner 1 can determine the environment in the area to be cleaned and can then perform a cleanup operation for that area.

In FIG. 2A is a block diagram illustrating a configuration of a robot cleaner control system that includes an obstacle detection module according to an exemplary embodiment. In FIG. 2B is a perspective view of a robot cleaner including an obstacle detection module according to an exemplary embodiment. In FIG. 2C is a rear view of a robot cleaner including an obstacle detection module according to an exemplary embodiment. In FIG. 2D is a perspective view illustrating an obstacle detection module according to an exemplary embodiment.

As shown in FIG. 2A-2D, the robot cleaner 1 includes a housing 20 defining the appearance of the robot cleaner 1. The robot cleaner 1 also includes a cleaning device for cleaning a space to be cleaned (hereinafter referred to as a “cleaned space”), a device 40 movement for moving the robot cleaner 1, an input / output device 12 for receiving working commands for the robot cleaner 1 and for displaying information related to the operation of the robot cleaner 1, a position detection device 13 for detecting the position of the robot cleaner 1 in the cleaned space, the obstacle detection device 14 for detecting an obstacle located in the cleaned space, the lift detection device 15 for detecting the rise of the cleaning robot 1 relative to the floor of the cleaned space, the operating state detection device 16 for detecting movement of the cleaning robot 1, the drive device 17 for actuating the movement device 40 and the cleaning device 30, a storage device 18 for storing various data, a power supply device 18 for supplying lektropitaniya to the robot cleaner 1 and a control device 11 for controlling the constituent elements of the robot cleaner 1.

The cleaning device 30 includes a main brush device 31 for sweeping the dust present on the floor so as to direct the sweeping dust into the suction opening, and side brush devices 32a and 32b for cleaning the area adjacent to the wall and corners.

The main brush device 31 may be installed in an opening 33 formed on the bottom of the housing 20 for sweeping away dust accumulated on the floor on which the housing 20 is located. A hole 33 may be formed on a portion of the bottom of the housing 20 offset from the central area of the housing 20 in the rear direction R. Hole 33 can be used as a dust intake into which dust is introduced. The main brush device 31 may include a shaft 31a and a main brush 31b glued to the outer surface of the shaft 31a.

The shaft 31a rotates the main brush 31b. When the shaft 31a rotates, the main brush 31b sweeps away dust accumulated on the floor, so that the swept away dust is sent to the dust intake 33. In this case, the shaft 31a can be made in the form of a rigid steel body, and the main brush 31b can be made of various materials with elasticity. Of course, embodiments are not limited to such materials.

Although not shown, the cleaning device 30 may include a ventilation device (not shown) located in the hole 33 to generate a suction force. The function of the ventilation device is to move the dust entering the dust intake into a dust collector (not shown).

The movement device 40 includes running wheels 41 and 42 for moving the housing 20 in accordance with the motion control signal and a roller 43, allowing the housing 2o to maintain a stable position when turning in accordance with the direction of movement of the robot cleaner 1.

For example, two running wheels 41 and 42 may be centrally located in a symmetrical order on opposite sides of the bottom of the housing 20, respectively. The driving wheels 41 and 42 can perform movement operations, including forward movement, reverse movement and rotation, under the control of the drive circuit while the cleaning robot 1 performs a cleaning operation.

The roller 43 can be installed on the front edge portion of the bottom of the housing 20, if you look at it, based on the direction of movement.

The driving wheels 41 and 42, and the roller 43 can be made in the form of a single removable assembly mounted on the housing 20.

An input / output device 12 is provided on the upper surface of the robot body 20. The input / output device 12 includes a plurality of operation buttons 81 for user input of operating commands into the robot cleaner and a display 82 for reproducing information related to the operation of the robot cleaner, for example, information such as whether the robot cleaner 1 is operating, information about driving mode, etc. Membrane switches can be used as operating buttons 81. As a display 82, a liquid crystal display (LCD) or an LED display can be used.

The position detection device 13 may include an upper camera module 70 for acquiring an upper image for the robot cleaner 1, namely, an image of a ceiling in a cleaning space. For example, when the robot cleaner 1 moves in an arbitrary direction provided that there is no predetermined path along which the robot cleaner moves, that is, when the robot cleaner 1 moves using the obstacle detection module, it can move within the cleared space using the obstacle detection module . In this case, the position detection device 13 can photograph the top image for the robot cleaner 1, using the upper camera module 70 to generate information related to the position of the robot cleaner 1. The obstacle detection device 14 includes an obstacle detection module 100 for emitting flat light in forward or lateral direction relative to the cleaning robot 1 and then detecting reflected light reflected from the obstacle to detect the obstacle.

As shown in FIG. 2D, an obstacle detection module 100 is mounted on the front side of the robot cleaner 1. Of course, when a plurality of obstacle detection modules 100 are installed in the robot cleaner 1, their installation positions may include a position different from the front side of the robot 1.

An obstacle detection module 100 will be described in detail below.

The lift detection device 15 may include a separation sensor module (not shown) for detecting the separation of the running wheels 41 and 42. Speaking in detail, when the robot cleaner 1 is separated from the floor of the cleaning space, the running wheels 41 and 42 can be separated from their original position . In this case, the compartment detection module detects the separation of the running wheels 41 and 42. As will be described below, when the lift of the robot cleaner 1 is detected by the lift detection device 15, the robot cleaner 1 turns off the light source (not shown) included in the obstacle detection module ( not shown).

The operating state detection device 16 may include an accelerometer (not shown), a gyro sensor, or the like, for detecting the translational movement and rotation of the cleaning device 30. The operating state detection device 16 generates information related to the movement of the cleaning robot 1. The source excitation device The light that is included with the obstacle detection module works based on this movement information. For example, when the light source driving device, which will be described later, receives a movement signal from the operating state detection device 16, it may turn on the light source. On the other hand, when the driver of the light source receives the stop signal, it can turn off the light source.

The storage device 18 may include a non-volatile storage device (not shown), such as a magnetic disk or a hard disk, for permanently storing programs and control data to control the operation of the cleaning robot 1, and a non-volatile storage device (not shown), such as D-RAM or S-RAM, for temporary storage of data generated in the process of controlling the operation of the robot cleaner 1.

The power device 19 includes a battery 50 for supplying power to the constituent elements of the robot cleaner 1.

Battery 50 may be a rechargeable battery. When the housing 20 is connected to a charger or loading station (not shown) after the cleaning operation is completed, power may be supplied to the battery 50 from the loading station to charge it.

The function of the control device 11 is to control the actuation of the cleaning robot 1 based on the results obtained by the obstacle detection module 100 in the cleaning robot 1. For example, the control device 11 can determine the travel path based on environmental information the cleaning robot 1, namely, information on detecting obstacles, and can generate a drive control signal for controlling operations related to movement and cleaning operations of the cleaning robot 1.

In this case, the obstacle detection information may include the distance from the housing 20 to the detected obstacle, the position of the obstacle, the height of the obstacle, the shape of the obstacle, the point of incidence, etc. The obstacle detection information may be received from the obstacle detection module 100 or directly generated from the control device 11.

The configuration of the robot cleaner 1 was described above. Next, the obstacle detection module included in the robot cleaner 1 will be described.

In FIG. 3A is a block diagram of a configuration of a control system for an obstacle detection module according to an exemplary embodiment.

As shown in FIG. 3A, the obstacle detection module 100 may include at least one light emitter 110 for diffusing light emitted from the light source 112 so as to emit flat light, the light receiver 120 for receiving reflected light reflected from the obstacle so as to generate an electric image signal, and an obstacle detection controller 130.

A light source 112 is included in the light emitter 110. The light emitter 110 may further include a light source driver 113 to drive the light source 112.

The function of the light source 112 is to emit light. The light source 112 may be a laser diode (LD), a light emitting diode (LED), or a similar source. The light emitted by the light source 112 may include invisible infrared light, visible light, and the like. The light source 112 may generate light in the form of rays propagating in the same direction.

The light source driver 113 may cause the light source 112 to emit light in accordance with the light control signal from the obstacle detection controller 130, and may receive feedback on the intensity of the emitted light using a photodiode (not shown) or the like.

The light receiver 120 may include an optical mechanism 121 for changing a reflected light path reflected from an obstacle, an optical sensor 123 for receiving reflected light transmitted along the changed path, and thus for generating an electric image signal, and a signal processing circuit 124 for receiving an electric signal signal and the subsequent conversion of the received signal into a digital signal. Of course, when the optical sensor 123 has the function of converting the electrical image signal into a digital signal, the light receiver 120 can dispense with the signal processing circuit 124.

The optical mechanism 121 changes the transmission path of the reflected light reflected from the obstacle so that the reflected light is directed to the optical sensor 123, which will be described later. As the optical mechanism 121, either a mirror, or a lens, or a prism of total reflection, and the like, which can change the light path, can be used.

For example, when a mirror is used as the optical mechanism 121, the optical mechanism 121 once again reflects the reflected light that is reflected from the obstacle, so that the reflected light is directed to the optical sensor. On the other hand, when the lens is used as the optical mechanism 121, the optical mechanism 121 refracts the reflected light, which is reflected from the obstacle, so that the reflected light is directed to the optical sensor. In addition, when the total reflection prism is used as the optical mechanism 121, the optical mechanism 121 reflects or refracts the reflected light that is reflected from the obstacle, so that the reflected light is directed to the optical sensor.

The filter may be applied to the surface of the optical mechanism 121 or the optical sensor 123 in the light receiver 120 to allow light having a wavelength of plane light to pass through the optical mechanism 121. In this case, the light different from the reflected light generated in accordance with the reflection from obstacles of planar light emanating from the light emitter 110 can be eliminated.

The optical sensor 123 receives reflected light that is reflected from an obstacle, and thus generates an analog or digital signal. For example, an image sensor may be used as the optical sensor 123. The image sensor may include a photodiode sensor for detecting reflected light intensity, an image sensor with a complementary metal oxide semiconductor (MOS) structure for receiving an image based on the reflected light, or an image sensor on feedback devices (CCD).

The reflected light reflected from the obstacle, being emitted by the light emitter 110, is incident on the optical sensor 123 through the optical mechanism 121. The incident light is converted into an electrical image signal in the optical sensor 123. When the image sensor is used as the optical sensor 123, the light receiver 120 may further include an optical lens (not shown) located between the optical mechanism 121 and the optical sensor 123, while being separated from the optical mechanism 121 by a predetermined distance to allow It is the reflected light to pass therethrough. In more detail, an optical lens (not shown) concentrates the reflected light passing through the path changed by the optical mechanism 121 so as to focus the image on the optical sensor 123. The optical lens (not shown) may be a convex lens.

The image processing circuit 124 may convert the analog signal received from the optical sensor 123 to a digital signal and may convert the signal format. The image processing circuit 124 may include an analog-to-digital (A / D) converter (not shown) for converting an analog signal to a digital signal.

For example, when the image sensor described above is used as the optical sensor 123, the image processing circuit 124 may convert the image format received by the image sensor so that the converted format matches the desired home appliance. The image processing circuit 124 may convert the image format to a particular format, such as JPEG or MPEG, in accordance with the characteristics and requirements of a household appliance (e.g., a cleaning robot).

The obstacle detection controller 130 may generate optical control signals for controlling the on / off control of the light source 112, and may generate obstacle detection information based on an image signal supplied to the obstacle detection controller 130. For example, obstacle detection information may include the distance from the body to the detected obstacle, the position of the obstacle, the height of the obstacle, the shape of the obstacle, a point of incidence, and the like.

The obstacle detection controller 130 may modulate the frequency, on-time, and intensity based on the light intensity received from a photodetector (not shown), and may transmit a control signal corresponding to the modulation to the light source driver 113 to emit light having a frequency of duration inclusions and intensity desired by the user. For example, an obstacle detection controller 130 may control light intensity through a control means such as pulse width modulation (PWM).

The obstacle detection controller 130 need not be a single module in which the obstacle detection controller 130 is physically connected to the light emitter 110 and the light receiver 120. Other devices into which the obstacle detection module 100 can be inserted, such as a central processing unit (CPU) or a multi-point communication control unit (MCU), can be used as an obstacle detection controller 130.

The light source 112 in the obstacle detection module 100 may generate flat light. Alternatively, the light emitter 110 may include a plurality of light sources 112 for generating plane light.

Next, a method for generating plane light in an obstacle detection unit 100 will be described.

In FIG. 3B is a view illustrating an example in which an obstacle detection module generates plane light in accordance with an exemplary embodiment. In FIG. 3C is a view illustrating an example in which an obstacle detection module generates flat light in accordance with an exemplary embodiment.

As shown in FIG. 3B with respect to the case in which the light emitter 110 includes one light source 112 for generating plane light, the obstacle detection unit 100 can generate a fan-shaped form of plane light by reflecting the light emitted by the light source 112, a mirror, or refracting light through the lens. For example, the light emitter 110 may generate a fan-shaped flat light using a conical mirror to reflect incident light so as to widely diffuse light, or a wide-angle lens to widely diffuse light.

On the other hand, in FIG. 3C in the case in which the light emitter 110 includes a plurality of light sources 112 for generating flat light, the light sources 112 are densely distributed on the front side of the cleaning robot 1, so that a plurality of rays emanating from the light sources 112 overlap with each other in order to form a flat light.

Below, a fan-shaped or semicircular-shaped generation of flat light by the refraction of the light emitted by the light source 112 using the wide-angle lens as shown in FIG. 3B.

In FIG. 4A is a view illustrating an appearance of an obstacle detection module according to an exemplary embodiment.

When one light emitter 110 and one light receiver 120 are integrally formed, they can be located on the base 100b. In this case, the light emitter 110 may be in front of the light receiver 120. The light emitter 110 may be located within the light emitter body 100a. The light receiver 120 may be connected to the strut 100c so that the light receiver 120 is supported by the coupling member 100e.

Of course, the configuration shown in FIG. 4A is an example embodiment of an obstacle detection module 100, and is not limited to that shown in FIG. 4A. That is, the light emitter 110 may be located below the base 100b, and the light receiver 120 may be located above the base 100b. Alternatively, the light emitter 110 and the light receiver 120 may be located at the same position.

Of course, when the obstacle detection module 100 is installed in the robot 1, it is important as far as possible to reduce the size of the obstacle detection module 100. It may be possible to reduce the height of the obstacle detection module 100 by positioning the light emitter 110 in front of the light receiver 120. In this case, the light receiver 120 may be located at a level that is higher than the level of the light emitter 110. Accordingly, even when the light emitter 110 is located in front of the light receiver 120, the reflected light reflected from the obstacle can be completely transmitted to the light receiver 120 without being blocked by the light emitter 110.

Although in the illustrated case, the obstacle detection module includes an integral structure of one light emitter and one light detector, the light emitter and the light detector can be separated from each other. Alternatively, the obstacle detection module may include multiple light emitters or multiple light detectors. In other words, the light emitter and the light receiver can be located in different positions, so that they can be independent of each other.

In FIG. 4B is a view illustrating a viewing range of a robot cleaner when two light emitters included in an obstacle detection module are installed in different positions according to a typical embodiment.

As shown in FIG. 4B, the obstacle detection module 100 may include two light emitters 110a and 110b located at different positions, and one light receiver 120. The two light emitters 110a and 110b may have different mounting positions on the cleaning robot or different levels with respect to the floor.

In this case, it may be possible to detect obstacles at different levels by arranging the plurality of light emitters 110a and 110b at different levels or by arranging the plurality of light emitters 110a and 110b obliquely. When the light emitters 110a and 110b and the light receiver 120 are located in different positions without vertical alignment, it may be possible to detect obstacles located at different levels without increasing the height of the obstacle detection module 100.

In FIG. 4C is a view illustrating a viewing range of a robot cleaner when an obstacle detection module includes three light emitters according to an exemplary embodiment.

As shown in FIG. 4C, the obstacle detection module 100 may include three light emitters 110a, 110b and 110c located at different positions on the cleaning robot 1. When three light emitters 110a, 110b and 110c are used that are able to diffuse flat light in a 120 ° sector, it becomes possible to obtain the same effect as in the case in which one light emitter is used, capable of scattering light in a 220 ° sector.

In this case, the first light emitter 110a may be installed in front of the light receiver mounted on the front side of the robot 1, being adapted to scatter plane light in the forward direction. The second light emitter 110b is set offset from the first light emitter 110a to the left by a predetermined distance, being adapted to scatter plane light in a direction forming a predetermined angle with respect to the front side of the robot 1. On the other hand, the third light emitter 110c is set offset from the first light emitter 110a to the right a predetermined distance, being adapted to scatter plane light in a direction forming a predetermined angle relative to the front side of the robot 1.

In this case, the areas of scattering of plane light from the first light emitter 110a, the second light emitter 110b, and the third light emitter 110c may partially overlap with each other. Additionally, the first light emitter 110a, the second light emitter 110b, and the third light emitter 110c may be positioned so as to minimize the dead zone that may not be perceived by the robot 1, given the positional characteristics of the first light emitter 110a, the second light emitter 110b, and the third emitter 110c Sveta.

In FIG. 4D is a view illustrating a viewing range of a robot cleaner when an obstacle detection module includes four light emitters according to an exemplary embodiment.

In FIG. 4D shows four light emitters 110a, 110b, 110c and 110d located at different positions on the robot 1. When four light emitters 110a, 110b, 110c and 110d are used that are able to scatter light in a 120 ° sector, it may become possible to scatter plane light over more a wider area than when using a single light emitter capable of scattering light in a 220 ° sector.

In this case, a pair of light emitters, namely, the first light emitter 110a and the second light emitter 110b are set offset to a left distance from the light receiver 120 mounted on the front side of the robot 1, being oriented in different directions, forming a predetermined angle between them. Another pair of light emitters, namely, the third light emitter 110c and the fourth light emitter 110d are set to be offset a predetermined distance to the right of the light receiver 120 mounted on the front side of the robot 1, being oriented in different directions forming a predetermined angle between them.

In this case, the first light emitter 110a and the second light emitter 110b can scatter plane light forward and to the left of the robot 1, respectively. On the other hand, the third light emitter 110c and the fourth light emitter 110d can scatter plane light forward and to the right of the robot 1, respectively. In this case, the areas of scattering of plane light from the first light emitter 110a, the second light emitter 110b, the third light emitter 110c and the fourth light emitter 110d may partially overlap with each other. Additionally, the first light emitter 110a, the second light emitter 110b, the third light emitter 110c and the fourth light emitter 110d can be positioned so as to minimize the dead zone, which may not be perceived by the robot 1, taking into account the positional characteristics of the first light emitter 110a, the second emitter 110b light, a third light emitter 110c and a fourth light emitter 110d. The obstacle detection module 100 can detect obstacles existing around the robot 1, generating uniformly distributed flat light.

A robot 1 equipped with an obstacle detection module 100 can provide more efficient cleaning and move in accordance with the detected obstacles existing around it and using the results obtained in the motion control system.

Next, a light detector will be described in detail.

For a better understanding of the light receiver, the following description will be given with reference to the case in which a reflective mirror is used as the optical mechanism (“121” in FIG. 3A) to reflect reflected light towards the optical sensor (“123” in FIG. 3A), reflected by an obstacle.

Additionally, the light detector will be described with reference to the case in which the light detector uses an image sensor and to the case in which the light detector uses a photodiode. First, a light detector that uses an image sensor will be described.

In FIG. 5A is a view showing a light receiver included in an obstacle detection module according to an exemplary embodiment, and an image received by the light receiver. As shown in FIG. 5A (a), the light receiver, which is indicated by the reference number “122a”, includes a reflection mirror 121a for changing the transmission path of the reflected light reflected from the obstacle so that the reflected light is directed to the image sensor 123a, and an optical lens 122b for collecting into a beam of reflected light, the transmission path of which is changed by a reflecting mirror 121a. The light receiver further includes an image sensor 123a for receiving reflected light collected in a beam by an optical lens 122b.

As a reflecting mirror 121a, a conical mirror can be used to change the path of the reflected light incident on the mirror in different directions towards the image sensor 123a. A reflection mirror 121a may be located above the image sensor 123a, extending vertically downward, so that the apex of the conical reflection mirror will face down towards the image sensor 123a. Of course, the shape of the reflection mirror 121a is not limited to a conical shape.

The reflecting mirror 121a may be made of metal, such as aluminum, or may be in the form of a plastic housing with a chromium (Cr) coating on the plastic housing, in order to increase the reflectivity of the surface of the reflecting mirror 121a, which may reflect light reflected away from an obstacle in the direction of the image sensor 123a without distortion.

When using a conical mirror as the reflecting mirror 121a, the image sensor 123a can receive the image shown in FIG. 5A (b). In more detail, in the central portion of the image received by the image sensor 123a, there is no image associated with an obstacle due to the blocking of reflected light by the robot cleaner body. The received image includes an image associated with the obstacle, while being located in the range of positions, allocated in the radial direction from the center of the received image. The image of an obstacle located in a position close to the body of the robot cleaner, while being removed from the floor of the cleaned space to a small height, is located in a position close to the center of the received image. On the other hand, the image of an obstacle located in a position remote from the body of the robot cleaner, while being removed from the floor of the cleaned space to a great height, is located in a position close to the periphery of the received image. In other words, the image of an obstacle closer to the cleaning robot is positioned closer to the center of the image received by the image sensor 123a, while the image of the obstacle further away from the cleaning robot is located at a position remote from the center of the image received image sensor 123a.

Various conical shapes of the reflecting mirror 121a will be presented below, and viewing angles of the robot cleaner associated with corresponding conical shapes of the reflecting mirror 121a, and obstacle images received by the image sensor 123a in connection with the corresponding conical shapes of the reflecting mirror 121a will be described.

In FIG. 5B is a view illustrating a first example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror.

As seen in FIG. 5B, the reflecting mirror, which is indicated by the reference numeral “121a-1”, has the typical conical shape shown in FIG. 5B (a).

A section of the reflecting mirror 121a-1 along the line A-A ′ in FIG. 5B (a) has a triangular shape, as shown in FIG. 5B (b).

The robot cleaner 1, which uses a reflective mirror 121a-1 having the conical shape described above, has a fan-shaped viewing range, as shown in FIG. 5B (c). In detail, the robot cleaner 1 may have a viewing angle of 100 ° to 150 ° in the left and right directions with respect to the front side of the robot cleaner, where a light receiver 120a including a reflecting mirror 121a-1 is located. In other words, the robot cleaner 1 may generally have a viewing angle of 200 ° to 300 °. Since the body of the robot cleaner 1 blocks the field of view of the light receiver 120a, it may not be possible to provide a 360 ° field of view. The viewing angle of the robot cleaner 1 may vary in accordance with the position of the light receiver 120a. For example, when a light receiver 120a protruding from the body of the robot cleaner 1 is mounted, a wide viewing angle can be provided. On the other hand, when the receiver 120a is located inside the body of the robot cleaner 1, the viewing angle may be narrower.

In addition, the robot cleaner 1 may provide a predetermined viewing distance d. The viewing distance d of the robot cleaner 1 may vary in accordance with the resolution of the image sensor 123a, the material of the reflecting mirror 121a-1 and the shape of the reflecting mirror 121a-1, namely, the angle of the side surface of the conical shape. The image sensor 123a included in the robot cleaner 1 using the reflective mirror 121a-1 can receive a fan-shaped image, as shown in FIG. 5B (d). In detail, as shown in FIG. 5B (d), it may be possible to obtain an image that has a shape similar to that of the viewing range of the robot cleaner 1. It may also be possible to obtain a clear image of the obstacle formed at a position corresponding to the position of the obstacle. For example, when the obstacle is in a position slightly shifted to the left in front of the robot cleaner 1, as shown in FIG. 5B (c), the image sensor 123a may receive an obstacle image OI having a clear arcuate shape in a position slightly shifted to the left in front of the robot cleaner 1. As will be described later, based on the position of the received obstacle OI image, the robot cleaner 1 can determine the presence of obstacle O and the position of obstacle O.

In FIG. 5C is a view illustrating a second example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror.

As seen in FIG. 5C, the reflecting mirror, which is indicated by the reference numeral “121a-2”, has a shape formed by vertical truncation of the conical shape from the bottom of the conical shape (hereinafter referred to as “vertically truncated conical shape”), as shown in FIG. 5C (a).

A section of the reflecting mirror 121a-2 along the line B-B ′ in FIG. 5C (a) has a right-angled triangular shape, as shown in FIG. 5C (b). The cleaning robot 1, which uses a reflective mirror 121a-2 having a vertically truncated conical shape, has a semicircular shape of a viewing range, as shown in FIG. 5C (c).

In more detail, the robot cleaner 1 may have a 90 ° viewing angle in left and right directions with respect to the front side of the robot cleaner 1, where the light receiver 120a is located. In other words, the robot cleaner 1 may generally have a viewing angle of 180 °. This is because the reflected light falls only on the side of the conical shape, and no reflected light falls on the rear surface of the reflecting mirror 121a-2.

In addition, the robot cleaner may provide a predetermined viewing distance d. As described above, the viewing distance d of the robot cleaner 1 may vary depending on the resolution of the image sensor 123a, the material of the reflection mirror 121a-2, and the shape of the reflection mirror 121a-2, namely, the angle of the side surface of the conical shape.

The image sensor 123a included in the robot cleaner 1 using the reflective mirror 121a-2 can receive a semicircular image, as shown in FIG. 5C (d).

In more detail, as shown in FIG. 5C (d), it may be possible to receive an image having a shape similar to that of the viewing range of the robot cleaner 1. It may also be possible to obtain a clear image of the obstacle formed at a position corresponding to the position of the obstacle. For example, when the obstacle is in a position slightly shifted to the left in front of the robot cleaner 1, as shown in FIG. 5C (c), the image sensor 123a may receive an obstacle image OI having a clear arcuate shape in a position slightly shifted to the left in front of the robot cleaner 1.

In FIG. 5D is a view illustrating a third example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror.

As can be seen in FIG. 5D, the reflecting mirror, which is indicated by the reference number “121a-3”, has a shape formed by horizontal truncation of the conical shape from the bottom of the conical shape (hereinafter referred to as “horizontally truncated conical shape”), as shown in FIG. 5D (a).

A section of the reflecting mirror 121a-3 along the line C-C ′ in FIG. 5D (a) has a horizontally truncated shape, as shown in FIG. 5D (b). The cleaning robot 1, which uses a reflective mirror 121a-3 having a horizontally-truncated conical shape, has a viewing range in the form of a cut ring, as shown in FIG. 5D (c). That is, a zone very close to the cleaning robot 1 is not included in the viewing range of the cleaning robot 1.

In more detail, the robot cleaner 1 may have a viewing angle of 100 ° to 150 ° in the left and right directions with respect to the front side of the robot cleaner 1, where the light receiver 120a is located. In other words, the robot cleaner 1 may generally have a viewing angle of 200 ° to 300 °. Since the body of the robot cleaner 1 blocks the field of view of the light receiver 121a, it is not possible to provide a 360 ° field of view.

In addition, the robot cleaner 1 may provide a predetermined viewing distance d. That is, the robot cleaner 1 has a range of viewing distances between a viewing distance d1 corresponding to the length of the side surface of the conical shape and a viewing distance d2 corresponding to the length of the side surface of the cut section of the conical shape. In other words, the robot cleaner 1 has a viewing range from a first distance d1 to a second distance d2. This is because the reflected light incident on the side surface of the reflecting mirror 121a-3, while there is no reflected light incident on the cut bottom surface of the reflecting mirror 121a-3. The viewing distance d of the cleaning robot 1 may vary depending on the resolution of the image sensor 123a, the material of the reflecting mirror 121a and the shape of the reflecting mirror 121a, namely, the angle of the side surface of the conical shape.

The image sensor 123a included in the robot cleaner 1 using the reflective mirror 121a-3 can receive the image in the form of a cut ring, as shown in FIG. 5D (d).

In FIG. 5E is a view illustrating a fourth example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror.

As can be seen in FIG. 5E, the reflecting mirror, which is indicated by the reference numeral “121a-4”, has a conical shape having a convex side surface (hereinafter referred to as a “convex conical surface”), as shown in FIG. 5E (a).

The section of the reflecting mirror 121a-4 along the line D-D ′ in FIG. 5E (a) has a convex conical shape, as shown in FIG. 5E (b).

The cleaning robot 1, which uses a convex conical reflecting mirror 121a-4, has a fan-shaped viewing range, as shown in FIG. 5E (c). In more detail, the robot cleaner 1 may have a viewing angle of 100 ° to 150 ° in the left and right directions with respect to the front side of the robot cleaner 1, where the light receiver 120a is located. In other words, the robot cleaner 1 may generally have a viewing angle of 200 ° to 300 °. Since the body of the robot cleaner 1 blocks the field of view of the light receiver 121a, it is not possible to provide a 360 ° field of view.

In addition, the robot cleaner 1 may provide a predetermined viewing distance d. The viewing distance d of the reflecting mirror 121a-4 having the convex conical shape described above is large compared to the reflecting mirror (“121a-1” in FIG. 5B) having the conventional conical shape, as in the case of the convex mirror having a wider viewing range than a flat mirror.

The image sensor 123a included in the robot cleaner 1 using the reflective mirror 121a-4 can receive a fan-shaped image, as shown in FIG. 5E (d). Since the reflective mirror 121a-4 having the convex conical shape described above has a wider viewing range than the reflective mirror (“121a-1” in FIG. 5B) having the conventional conical shape described above, the image received by the convex conical reflective mirror 121a -4 may include information about an obstacle in a wider cleared space than the image received by a conventional conical reflective mirror (“121a-1” in FIG. 5B).

In FIG. 5F is a view illustrating a fifth example of a reflective mirror included in an exemplary light receiver in an obstacle detection module according to an exemplary embodiment, and an image received by a reflective mirror.

As can be seen in FIG. 5F, a reflecting mirror, which is indicated by the reference numeral “121a-5”, has a conical structure having a convex portion of the side surface extending from the top of the conical structure to a predetermined height, and a concave portion of the side surface extending from the predetermined height to the bottom of the conical structure, as shown in FIG. 5F (a).

A section of the reflecting mirror 121a-5 along the line E-E ′ in FIG. 5F (a) has a convex conical shape, as shown in FIG. 5F (b).

As shown in FIG. 5F (c), the robot cleaner 1 using the reflective mirror 121a-5 may have a viewing angle of 200 ° to 300 °. Since the body of the robot cleaner 1 blocks the field of view of the light receiver 121a, it is not possible to provide a 360 ° field of view.

In addition, the robot cleaner 1 may provide a predetermined viewing distance d. The image sensor 123a included in the robot cleaner 1 using the reflective mirror 121a-5 may receive a fan-shaped image, as shown in FIG. 5F (d).

In FIG. 6A is a view illustrating another example of a light receiver in an obstacle detection module according to an exemplary embodiment. In FIG. 6B is a view corresponding to zone F in FIG. 6A. In FIG. 6C shows a section along line G-G ′ in FIG. 6A. In FIG. 6D is a view illustrating a viewing range of a robot cleaner including an exemplary light detector according to the embodiment of FIG. 6A.

As shown in FIG. 6A-6D, the light receiver 120 includes a reflecting mirror 121b for changing the transmission path of the reflected light reflected from the obstacle, a plurality of screens 122b for dividing the reflecting mirror 121b into a plurality of reflection zones 121b-1, 121b-2, 121b-3, 121b- 4 and 121b-5, and a plurality of photodiodes 123b mounted to match the reflective zones 121b-1, 121b-2, 121b-3, 121b-4 and 121b-5 separated by screens 122b.

A conical mirror may be used as the reflecting mirror 121b in order to change the path of the reflected light incident on the mirror in different directions towards the image sensor 123a. In FIG. 6A-6D show conical mirrors as reflective mirrors 121b. However, the reflection mirror 121b is not limited to the cases shown. The reflecting mirror 121b may have various shapes as shown in FIG. 5B-5F.

Screens 122b divide the reflection mirror 121b into a plurality of reflection zones. In addition, the robot cleaner 1 has a field of view v120b divided into a plurality of fields of view v120b-1, v120b-2, v120b-3, v120-4 and v120b-5. Each screen 122b blocks reflected light incident on reflective areas that do not correspond to a suitable one of the areas of the field of view. For example, screens 122b corresponding to the first field of view field v122b-1 allow reflected light reflected from the obstacle O in the first field of view field v120b-1 to fall on the first reflection zone 121b-1 of FIG. 6A, while preventing the reflected light reflected in the areas from the second field v120b-2 through the fifth field v120b-5 from falling onto the first reflection zone 121b-1.

Each screen 122b may be trapezoidal so that it can correspond to a side surface of the reflecting mirror 121b, as shown in FIG. 6B. Each screen 122b may use material capable of effectively absorbing light in order to shield reflected light coming from areas of the field of view different from the corresponding area of the field of view.

A plurality of photodiodes 123b-1, 123b-2, 123b-3, 123b-4 and 123b-5 are installed to match the corresponding reflective zones 121b-1, 121b-2, 121b-3, 121b-4 and 121b-5. The photodiodes 123b-1, 123b-2, 123b-3, 123b-4 and 123b-5 detect reflected light reflected from the respective reflective zones 121b-1, 121b-2, 121b-3, 121b-4 and 121b-5. For example, the first photodiode 123b-1 detects the amount of light whose path has been changed by the first reflective region 121b-1 in the reflective mirror 121b after reflection by an obstacle located in the first field of view region v120b.

Next, the determination of the direction of the obstacle by the robot cleaner 1. The robot cleaner 1 may determine the direction of the obstacle based on one of the photodiodes 123b that detected the reflected light.

For example, as shown in FIG. 6D, the robot cleaner 1 emits a flat light, and this flat light is then reflected by an obstacle O located in the first field of view region v120b-1. The reflected light reflected by the obstacle O is incident on the reflecting mirror 121b in the light receiver 120b.

In this case, the reflected light falls not only on the first reflective zone 121b-1 corresponding to the first field of view field v120b-1, but also on the reflective zones from second 121b-2 through the fifth 121b-5. However, the reflected light incident on the reflection zones from the second 121b-2 through the fifth 121b-5 is blocked by screens 122b corresponding to the first reflection zone 121b. Accordingly, only reflected light incident on the first reflection zone 121b-1 is reflected from the reflection mirror 121b and then incident on the first photodiode 123b-1. As a result, the reflected light reflected by the obstacle O located in the first field of view region v120-1 is detected only by the first photodiode 123b-1.

When the first photodiode 123b-1 detects reflected light, the robot cleaner 1 can determine that the obstacle O is in the first viewing area v120b-1.

Next, the determination by the robot cleaner 1 of the distance to the obstacle will be described. The distance to the obstacle is determined based on the amount of light detected by the photodiode 123b of the robot cleaner 1.

In FIG. 6E is a graph explaining the determination of the distance to an obstacle by a robot cleaner that includes another example of a light receiver in an obstacle detection module according to an exemplary embodiment.

The output signal I of the photodiode 123b corresponding to the distance d from the obstacle is shown in FIG. 6E. In more detail, when the distance d to the obstacle is shorter than the specified focal length, the input signal I of the photodiode 123b gradually increases in accordance with the increase in the distance d to the obstacle.

This phenomenon is due to the characteristics of the obstacle detection module that uses light. The light emitter emits light, provided that the light is focused at a position spaced a predetermined distance from the light emitter in order to provide increased susceptibility to an obstacle located at a position remote from the light emitter at a predetermined distance. In this case, the light receiver provides the maximum output value in response to the light reflected from the obstacle located at a position remote from the light emitter at a predetermined distance. Accordingly, the photodiode 123b provides the maximum output value when the obstacle is located at a position focal distance from the light emitter. When an obstacle is located at a position shorter or longer than the focal length from the light emitter, the output value of the photodiode 123b decreases. Due to these characteristics of the obstacle detection module using light, it may be possible to ignore distances shorter than the focal length by positioning the photodiode 123b at a position focussed backward from the frontmost portion of the robot cleaner 1.

The cleaning robot 1 may determine the distance d from the obstacle based on the output signal I of the photodiode 123b corresponding to the distance d from the obstacle, as shown in FIG. 6E. For example, when the output signal of the photodiode 123b has a first output value I1, the robot cleaner 1 may determine the distance to the obstacle as the first distance d1. When the output signal of the photodiode 123b has a second output value I2, the robot cleaner 1 can determine the distance to the obstacle as the second distance d2. In the case where the output signal of the photodiode 123b has a third output value I3, the robot cleaner 1 can determine the distance to the obstacle as the third distance d3.

In short, when a robot cleaner includes a light receiver using multiple photodiodes, it can determine the direction of the obstacle based on one of the photodiodes that detected the reflected light, and can determine the distance to this obstacle based on the value of the output signal from the photodiode .

The light detector in the obstacle detection module has been described above. The light emitter in the obstacle detection module will be described below.

In FIG. 7A is a view illustrating an example of a wide-angle lens included in an obstacle detection module according to an exemplary embodiment. In FIG. 7B is a view illustrating the scattering of plane light emanating from a first exemplary wide-angle lens included in an obstacle detection module according to an exemplary embodiment.

As shown in FIG. 7A and 7B, the first wide-angle lens, which is denoted by the reference numeral “111a”, may include a transparent element allowing light incident on it from a light source (not shown) to pass through it.

The first wide-angle lens 111a may include a first diffusing surface u1 for refracting light incident from the light source so as to diffuse incident light within the first wide-angle lens 111a, a second diffusing surface u2 for refracting the light refracted by the first diffusing surface u1, outside a first wide-angle lens 111a for generating flat light, and a holding cavity u4 formed on a surface opposite to the first scattering surface u1 to hold located therein and source of light.

For example, the first wide-angle lens 111a may include scattering of plane light within an angle of 120 °. In this case, the second diffusing surface u2 of the first wide-angle lens 111a may be convex in order to make thinner the flat light scattered in the first wide-angle lens 111a.

Next, the light path in the first wide-angle lens 111a will be described. First, the light emitted by the light source is refracted by the first scattering surface u1 of the first wide-angle lens 111a. The refracted light is then scattered within the first wide-angle lens 111a.

Light that scatters in different directions passing through the first scattering surface u1 is again scattered in different directions passing through the second scattering surface u2. That is, the light is converted into flat light.

The first wide-angle lens 111a described above may be in the form shown in FIG. 7A. Of course, the first wide-angle lens 111a is not limited to this shown shape. In FIG. 7C is a view illustrating a state in which a first wide-angle lens 111a corresponding to an exemplary embodiment is installed in an obstacle detection unit.

As shown in FIG. 7C, the light source 112 in the light emitter 110 emits light in a direction parallel to the floor.

The first wide-angle lens 111a can scatter in the forward direction the plane light generated in accordance with the refraction or reflection of the light coming from the light source 112. Such flat light may be emitted in a direction parallel to the floor, or in a direction inclined with respect to the floor.

As a result, the obstacle detection module can detect an obstacle located at a higher or lower level than that when the obstacle is located on the floor.

The reflected light may be reflected by an obstacle, and the reflected light may be reflected again after being transmitted to the reflecting mirror 121.

The reflected light reflected by the reflecting mirror 121 may be transmitted to the optical sensor 123.

In FIG. 7D is a view showing a second wide-angle lens included in an obstacle detection module according to an exemplary embodiment. In FIG. 7E is a view illustrating the scattering of plane light emanating from a second wide-angle lens included in an obstacle detection module according to an exemplary embodiment.

As shown in FIG. 7D and 7E, the second wide-angle lens, which is denoted by the reference numeral “111b”, may include a transparent element allowing light incident on it from a light source (not shown) to pass through it. The light source is indicated by the reference numeral “112”. The second wide-angle lens 111b reflects or refracts light incident from the light source 112, thereby generating plane light L1 and plane light L2. The second wide-angle lens 111b may include a first diffusing surface u1 for refracting light incident from the light source 112 so as to diffuse incident light within the second wide-angle lens 111b, a second diffusing surface u2 for refracting light refracted by the first diffusing surface u1, the limits of the second wide-angle lens 111b or the reflection of light refracted by the first diffusing surface u1 in the direction inward of the second wide-angle lens 111b, the third diffusing surface u3 for Lenia light refracted first diffusing surface u1, or light scattering reflected by the second surface u2, to generate a flat beam, and a holding cavity u4, formed on the surface opposite to the first surface of the scattering u1, to keep it present in 112 light source.

For example, a planar light may include a first planar light L1 and a second planar light L2. The first plane light L1 is generated as light refracted by the first scattering surface u1 and again refracted by the second scattering surface u2. On the other hand, the second plane light L2 is generated as light refracted by the first scattering surface u1 and reflected by the second scattering surface u2.

The second scattering surface u2 may generate a first plane light L1 and a second plane light L2 by refracting or reflecting the light.

The second scattering surface u2 may include a U- or V-shaped concave structure formed on the surface of the second wide-angle lens 111b.

The second scattering surface u2 may include a first surface u20 formed on the central portion of the second scattering surface u2, extending perpendicular to the forward direction in the form of a flat surface, and second surfaces u22 having a curved shape forming a predetermined angle with respect to the first surface u20.

The first surface u20 can generate flat light by refracting the light reflected by the first scattering surface u1, while the second surfaces u22 can reflect, towards the third scattering surface u3, the light reflected by the second scattering surface u2. The scattering range of plane light can be adjusted in accordance with a predetermined angle or curvature of the second surfaces u22.

Alternatively, the second scattering surface u2 or the third scattering surface u3 may have a convex shape to reduce the thickness of the plane light, namely, to make the plane light thinner.

The holding cavity u4 may be formed at the center of the surface opposite the second scattering surface u2. In this case, the first scattering surface u1 may be further formed on the inner surface of the holding cavity u4 in the form of a concave structure.

The light transmission path in the second wide-angle lens 111b will be described below.

First, the set emanating from the light source 112 is refracted by the first scattering surface u1 of the second wide-angle lens 111b, passing through the first scattering surface u1. The refracted light is then scattered within the second wide-angle lens 111b. A portion of the light scattered within the second wide-angle lens 111b is refracted through the second scattering surface u2 and, as such, can be emitted outside the second wide-angle lens 111b. This light is called the first flat light L1.

When light passes through the second scattering surface u2, it is refracted at an angle of refraction that is greater than its angle of incidence, since this case corresponds to the case in which light is incident from a high-density medium onto a low-density medium. According to such refraction, the refracted light is scattered in different directions. Part of the first plane light L1 is refracted twice, because it falls on the second wide-angle lens 111b, passing through the second diffusing surface u2 of the second wide-angle lens 111b, and then is emitted outside the second wide-angle lens 111b in the form of the first plane light L1. In accordance with the generation of such first plane light L1, the area of emission of plane light by the light emitter 110 is expanded.

The remaining part of the light scattered inside the second wide-angle lens 111b may be reflected by the second scattering surface u2 towards the inside of the second wide-angle lens 111b.

That is, when the light incident on the second wide-angle lens 111b reaches the boundary surface of a material having a lower refractive index than the second wide-angle lens 111b, namely, the second diffusing surface u2, the light can be completely reflected, since the phenomenon of total reflection occurs on such a surface .

To ensure such a phenomenon of total reflection, it may be necessary that the angle of incidence of light be equal to or exceed the critical angle. In order for the angle of incidence of light to be equal to or greater than the critical angle, it may be necessary to adjust the refractive index of the material and the shape of the second wide-angle lens 111b.

Light reflected inwardly from the second wide-angle lens 111b by the second scattering surface u2 is refracted through the third scattering surface u3 and, as such, can be emitted outside the second wide-angle lens 111b. This light is called the second flat light L2.

For example, flat light can be scattered parallel to the floor within a predetermined angle with respect to the forward direction (in the x-axis direction) of the second wide-angle lens 111b.

The predetermined angle may be 110 ° to the left or right with respect to the forward direction (x-axis direction) of the second wide-angle lens 111b, and flat light can be emitted in a state that is completely diffused within the angle of 220 °. Of course, a given angle is not limited to the angle given as an example.

The following description will be given with reference to a case in which the sum of the angles extending in the left and right directions with respect to the forward direction (x-axis direction) of the second wide-angle lens 111b is 220 °.

 In FIG. 7F is a view showing a third wide-angle lens included in an obstacle detection module according to an exemplary embodiment. In FIG. 7G is a view illustrating the scattering of plane light emanating from a third wide-angle lens included in a rebound of an obstacle detection module according to an exemplary embodiment.

As shown in FIG. 7F and 7G, the third wide-angle lens, denoted by the reference numeral “111c”, may include a transparent element allowing light incident on it from a light source (not shown) to travel through it. The third wide-angle lens 111c reflects or refracts light incident from the light source, thereby generating plane light L1 and plane light L2.

The third wide-angle lens 111c may include a first diffusing surface u1 for refracting light incident from the light source so as to diffuse incident light within the third wide-angle lens 111c, a second diffusing surface u2 for refracting the light refracted by the first diffusing surface u1, outside a third wide-angle lens 111c or light reflection, refracted by the first reflective surface u1, in the direction inward of the third wide-angle lens 111c, a third diffuser surface u3 for refraction tions light refracted first diffusing surface u1, or light scattering reflected by the second surface u2, for generating planar light, and a holding cavity u4, formed on a surface opposite the second scattering surface u2, for arranging therein a light source.

The third wide-angle lens 111c is similar to the second wide-angle lens 111b except that the second scattering surface u2 of the third wide-angle lens 111c is formed by wave-like contours, each of which has a pointed ridge. Due to such wavy contours, the third wide-angle lens 111c can provide an extended scattering range of plane light.

In FIG. 8A is an exploded perspective view illustrating a fourth wide-angle lens included in an obstacle detection module according to an exemplary embodiment. In FIG. 8B is a perspective view showing a fourth wide-angle lens included in an obstacle detection module according to an exemplary embodiment. In FIG. 8C is a view illustrating the scattering of plane light emanating from a fourth wide angle lens included in an obstacle detection module according to an exemplary embodiment. In FIG. 8D is a view illustrating a state in which a fourth wide-angle lens according to an exemplary embodiment is mounted in an obstacle detection module.

As shown in FIG. 8A-8D, the fourth wide-angle lens, which is indicated by the reference numeral “111d”, can generate flat light by reflecting the light emitted by the light source. The light source is indicated by the reference numeral “112”. The fourth wide-angle lens 111d may include a transparent element that allows light incident on it from the light source 112 to pass through it. The fourth wide-angle lens 111d reflects or refracts light incident from the light source 112, thereby generating flat light.

The fourth wide-angle lens 111d may include a first diffusing surface u1 for refracting light incident from the light source 112 so as to diffuse incident light within the fourth wide-angle lens 111d, a second diffusing surface u2 for reflecting light refracted by the first diffusing surface u1, in inward direction of the fourth wide-angle lens 111d, the third scattering surface u3 for refracting light reflected by the second scattering surface u2, for generating flat light, and holding a cavity u4 formed on a surface opposite to the second scattering surface u2 to hold a light source therein.

The second scattering surface u2 may be formed by one surface of the fourth wide-angle lens 111d, the name being concave in a conical shape.

The second scattering surface u2 of the fourth wide-angle lens 111d may be the surface of the fourth wide-angle lens 111d defining a boundary with a medium having a refractive index different from the refractive index of the fourth wide-angle lens 111d.

For example, the medium may be air having a refractive index corresponding to “1”, or may be a material having a lower refractive index than the fourth wide-angle lens 111d.

The material may be configured to be connected to a fourth wide angle lens 111d.

The third diffusing surface may be the lateral surface of the fourth wide-angle lens 111d and may be convex in shape to reflect light reflected by the second reflecting surface u2 so as to further reduce the thickness of the plane light.

The holding cavity u4 has a central axis aligned with the central axis of the second scattering surface u2. The holding cavity u4 can be made in the center of the surface opposite the second scattering surface u2, in the form of a concave structure. Although the holding cavity u4 is shown formed in the fourth wide-angle lens 111d, it can be performed being separated from the fourth wide-angle lens 111d so as to be connected to the fourth wide-angle lens 111d.

The light transmission path in the fourth wide-angle lens 111d will be described below. First, the light coming from the light source 112 is refracted by the first scattering surface u1 of the fourth wide-angle lens 111d, passing through the first scattering surface u1. The light coming from the first scattering surface u1 is then reflected by the second scattering surface u2 and then refracted, passing through the third scattering surface u3 formed on the side surface of the fourth wide-angle lens 111d. In this case, the light is converted into flat light, passing through the third scattering surface u3, and, as such, can be radiated in all directions within 360 °.

Meanwhile, the principle of reflection of light from the second scattering surface u2 of the fourth wide-angle lens 111d is based on the principle of total reflection. That is, when the light incident on the fourth wide-angle lens 111d reaches the boundary surface of a material having a lower refractive index than the fourth wide-angle lens 111d, namely, the second scattering surface u2, the light can be completely reflected, since the phenomenon of complete reflection.

For the occurrence of such a phenomenon of total reflection, it may be necessary that the angle of incidence of light be equal to or exceed the critical angle. In order for the incidence angle to be equal to or greater than the critical angle, it may be necessary to adjust the refractive index of the material and the height and radius of the second reflecting surface u2, which has a conical shape.

Snell's law applies to the principle of reflecting light on the side surface of the fourth wide-angle lens 111d.

As shown in FIG. 6D, the light source 112 of the light emitter 110 emits light in a direction perpendicular to the floor.

The fourth wide-angle lens 111d can scatter in all directions the flat light generated in accordance with the reflection of the light emitted by the light source 112. Such flat light may be emitted in a direction parallel to the floor, or in a direction inclined with respect to the floor.

As a result, the obstacle detection module can detect an obstacle located above or below the level of an obstacle located on the floor.

Flat light may be reflected by an obstacle, and reflected light may be reflected again by being transmitted to the reflective mirror 121.

When the reflected light LR, once again reflected by the reflecting mirror 121, falls on the optical lens 122, it is refracted by the optical lens 122, passing through the optical lens 122. The light exiting the optical lens 122 can be transmitted to the optical sensor 123.

In FIG. 9A is a view showing a slot capable of adjusting the thickness of a plane light when one of the first to third wide-angle lenses is used, according to a typical embodiment. In FIG. 9B is a view showing a slot capable of adjusting the thickness of a flat light when a fourth wide-angle lens is used, according to a typical embodiment.

As shown in FIG. 9A, at least one slot 114 having a narrow vertical clearance may be located in front of the first, second, or third wide-angle lens 111a, 111b, or 111c. When the planar light emanating from the first, second, or third wide-angle lens 111a, 111b, or 111c passes through the slot 114, a thinner planar light parallel to the floor can be created. It may be possible to generate a planar light having the desired thickness by adjusting the size of the gap formed in the slit 114, marked “k”.

As shown in FIG. 9B, at least one slot 114 having a narrow vertical clearance may be located in front of the fourth wide-angle lens 111d. When the planar light emanating from the fourth wide-angle lens 111d passes through the slot 114, a thinner planar light parallel to the floor can be generated. It may be possible to generate a planar light having a desired thickness by adjusting the size k of the gap formed in the slit 114.

In FIG. 10A is a view illustrating obstacle detection results obtained when a slot size in the obstacle detection module is large, according to an exemplary embodiment. In FIG. 10B is a view illustrating obstacle detection results obtained when the slot size in the obstacle detection module is small, according to an exemplary embodiment.

In FIG. 10A shows the obstacle detection results by the obstacle detection module 100 with a large size k of the gap of the slot 114. In this case, it can be seen that the light emitted by the light emitter 110 is thick. On the other hand, in FIG. 10B shows the results of the detection of obstacles by the obstacle detection module 100 with a small size k of the gap of the slot 114. In this case, it can be seen that the light emitted by the light emitter 110 is thin.

In FIG. 11 is a schematic representation of the relationship between each constituent element of an obstacle detection module and an obstacle for calculating the distance to an obstacle according to a typical embodiment.

The angle formed between the incident light and the reflected light in the case when the flat light coming from the light source 110 is reflected from an obstacle, namely, the angle θ _i , can be determined by the following expression 1:

[Expression 1]

The distance between the obstacle detection module 100 and the obstacle, namely, the distance d_ican be inferred using “θ_i” and the following expression 2:

[Expression 2]

In FIG. 12A is a plan view of an obstacle detection module according to an exemplary embodiment and obstacles. In FIG. 12B is a side view of an obstacle detection module according to an exemplary embodiment and obstacles. In FIG. 12C is a view of images received by the image sensor in the obstacle detection unit according to an exemplary embodiment.

The following description applies to each of the cases in which the first to fourth wide-angle lenses 111a-111d are used, respectively.

As shown in FIG. 12A, there is an x axis extending forward in relation to the obstacle detection module 100, being parallel to the floor, and a y axis perpendicular to the x axis. The first zone, which can be perceived by the obstacle detection module, is present on the plane formed by the x axis and the y axis.

The first zone can be similar to the zone defined by the arc AB, which is defined on a circle having a radius R, two lines OA and OB, extending respectively from the center O of the circle to two points A and B on the circle, while having a central angle AOB of angle θ. In this case, the radius R may be a distance of removal.

When a second wide-angle lens 111b is used, “θ” may be 220 °. When the fourth wide-angle lens 111d is used, “θ” may have a larger meaning. The angle θ is not limited to the above values and may have other values. In the first zone are the first obstacle 5 and the second obstacle 6, located at positions spaced at different distances and at different angles from the origin O coordinates. respectively. Obstacles in the first zone are not limited to the first obstacle 5 and the second obstacle 6. One or more obstacles may be in the first zone. The following description will be given with reference to the case in which there are two obstacles in the first zone, namely, the first and second obstacles 5 and 6. The first obstacle 5 is located within the angular range, continuing in the counterclockwise direction with respect to the x axis between the angle 1β and angle 1α, while being referred from the origin O to the distance g1. The second obstacle 6 is located within an angular range extending in a clockwise direction with respect to the x axis between the angle 2α and the angle 2β, while being spaced apart from the origin O by a distance g2.

Here, “1α” is the angle between the x axis and the endpoint 1a of the first obstacle 5, which is the maximum distance from the x axis, while “1β” is the angle between the x axis and the endpoint 1b of the first obstacle 5, which is the minimum distance from the x axis .

“2α” is the angle between the x-axis and the endpoint 2a of the second obstacle 6, the minimum distance from the x-axis, while “2β” is the angle between the x-axis and the endpoint 2b of the second obstacle 6, which is the maximum distance from the x-axis.

Turning to FIG. 12B, it can be seen that planar light emanating from the light emitter 110 propagates forward from the light emitter 110 and then is transmitted to the light receiver 120, reflected by obstacles that are distant from the obstacle detection module 100 at various distances.

The following description will be given with reference to the case in which the reflecting mirror 121 is a conical mirror.

When the obstacle is closer to the obstacle detection module 100, the reflected light reflected from the obstacle reaches a point closer to the top of the reflecting mirror 121. When the reflected light reflected from the obstacle reaches a point closer to the top of the reflecting mirror 121, the reflected light exiting from the optical lens 122, is recorded in the optical sensor 123 at a position closer to the center of the optical sensor 123.

That is, when an obstacle is closer to the obstacle detection module 100, reflected light is detected at the optical sensor 123 at a position closer to the center of the optical sensor 123.

As shown in FIG. 12C, images of the first and second obstacles 5 and 6 recorded in the optical sensor 123 can be seen. The reflected light reflected from each obstacle after being emitted by the light emitter 110 is recorded in the optical sensor 123 as an image, being reflected by the reflecting mirror 121 and passing through the optical lens 122.

The first obstacle 5 is recorded within the angular range, continuing in the left direction with respect to the x axis, between the angle 1β and the angle 1α, while being referred to the distance g1 ′ from the origin O of coordinates. That is, the first obstacle 5 is detected in the optical sensor 123 in the form of a figure similar to an arc 5 ′ defined on a circle having a radius g1 ′ by two radial lines O′1a ′ and O′1b ′, respectively, extending from the center O ′ of the circle to two points 1a ′ and 1b ′ on the circle.

The second obstacle 6 is detected within the angular range, continuing in the right direction with respect to the x axis, between the angle 2α and the angle 2β, while being referred to the distance g2 ′ from the origin O of coordinates. That is, the second obstacle 6 is detected in the optical sensor 123 in the form of a figure similar to an arc 6 ′ defined on a circle having a radius g2 ′ by two radial lines O′2a ′ and O′2b ′, respectively, extending from the center O ′ of the circle to two points 2a ′ and 2b ′ on the circle.

The electrical image signals converted by the optical sensor 123 are converted to digital image signals by the image processing circuit 124. Digital image signals are transmitted to an obstacle detection controller (not shown) or to a control device (not shown). The obstacle detection controller or control device analyzes the images based on the digital image signals into which the images were converted to determine the distance from the obstacle detection module 100 to the corresponding obstacles 5 and 6 and the position of the obstacles 5 and 6.

In FIG. 13A is a plan view of a plurality of light emitters that are included in an obstacle detection module, when installed in positions having different levels, according to a typical embodiment, and an obstacle. In FIG. 13B is a side view of a plurality of light emitters that are included in an obstacle detection module, being installed in positions having different levels, according to a typical embodiment, and an obstacle. In FIG. 13C is a view of a planar light received by an image sensor in the form of an image after it is emitted from each of a plurality of light emitters included in an obstacle detection module and installed at different levels according to an exemplary embodiment, and reflected by an obstruction according to an exemplary embodiment.

The following description applies to each of the cases in which the first to fourth wide-angle lenses 111a-111d are used, respectively.

As shown in FIG. 13A, there is a first zone that is described with reference to FIG. 10A. An obstacle 2 is present in this zone. One or more obstacles may be present in the first zone. The following description will be given in relation to the case in which there is one obstacle in the first zone.

An obstacle detection module (not shown) includes three light emitters 11oa, 110b and 110c and one light receiver 120. Three light emitters 11oa, 110b and 110c emit flat light at different levels from the floor, respectively. The flat light emitted by each of the three light emitters 11oa, 110b and 110c may linearly propagate parallel to the floor or may linearly propagate obliquely with respect to the floor. The three light emitters 11oa, 110b and 110c may be located at the same position on the robot cleaner 1 or may be located at different positions on the robot cleaner 1, respectively.

For example, the light emitters 110a, 110b and 110c shown in FIG. 13A are located in the same position on the cleaning robot 1 and, accordingly, emit flat light at different levels from the floor.

Of course, the number of light emitters 110 is not limited to the above number. The number of light emitters 110 may be one or more. In addition, there is no restriction on the positions of the plurality of light emitters 110a, 110b and 110c on the cleaning robot 1.

The light receiver 120 may receive reflected light beams respectively reflected from the obstacle 2 after they are emitted by the plurality of light emitters 110a, 110b and 110c in a simultaneous or sequential order.

Turning to FIG. 13B, it can be seen that the planar light emitted by each of the three light emitters 110a, 110b and 110c propagates rectilinearly in the forward direction from the respective emitter 110a, 110b or 110c and then transmitted to the receiver 120, being reflected by the obstacle 2.

The following description will be given with reference to the case in which the reflecting mirror 121 is a conical mirror.

When the level at which the plane light is reflected from the obstacle 2 is closer to the floor, the reflected light reflected from the obstacle 2 reaches a point closer to the top of the reflecting mirror 121. The code reflected light reflected from the obstacle 2 reaches the point closer to the top of the reflecting mirror 121, the reflected light exiting from the optical lens 122 is detected in the optical sensor 123 at a position closer to the center of the optical sensor 123. That is, when the level at which flat light is reflected from the obstacle is I am closer to the floor, the reflected light is detected in the optical sensor at a position closer to the center of the optical sensor 123.

Turning to FIG. 13C, images of the obstacle 2 recorded on the optical sensor 123 can be seen. The reflected light reflected from the obstacle 2 after each of the light emitters 110a, 110b and 110c is emitted from it, is detected in the optical sensor 123 as an image reflected by the reflecting mirror 121 and passing through optical lens 122.

When there are many light emitters, for example, light emitters 110a, 110b and 110c, one of the light emitters 110a, 110b and 110c can be defined as a reference light emitter. The reference light emitter may set the distance between the obstacle detection module 100 and the obstacle. The following description will be given with reference to the case in which the second light emitter 110b is defined as a reference light emitter.

The flat light emitted by the second light emitter 110b is reflected at the level 2e of the obstacle 2. Based on the flat light emitted by the second light emitter 110b, the obstacle 2 is detected within an angular range extending in a counterclockwise direction with respect to the x axis between the angle 1β and angle 1α, being spaced from the origin O ′ by a distance g1 ′. That is, the obstacle 2 is detected in the optical sensor 123 in the form of a figure similar to an arc 2 ′ defined on a circle having a radius g1 ′ by two radial lines O′1a ′ and O′1b ′, respectively, extending from the center O ′ of the circle to two points 1a ′ and 1b ′ on this circle.

The flat light emitted by the first light emitter 110a is reflected at the level 1e of the obstacle 2. The flat light emitted by the first light emitter 110a is detected in the optical sensor 123 at a position spaced farther from the center O ′ than the distance g1 ′ in the form of a figure similar to the arc 4 ′.

The flat light emitted by the third light emitter 110c is reflected at the level 3e of the obstacle 2. The flat light emitted by the third light emitter 110c is detected in the optical sensor 123 at a position that is shorter from the center O ′ than the distance g1 ′, in the form of a figure similar to the arc 3 ′.

The electrical image signals converted by the optical sensor 123 are converted to digital image signals by the image processing circuit 124. Digital image signals are transmitted to an obstacle detection controller (not shown) or a control device (not shown). An obstacle detection controller or control device analyzes the images based on the digital image signals into which the images were converted to determine the distance between the obstacle detection module 100 and the obstacle, the position of the obstacle, the height of the obstacle, and the shape of the obstacle.

The obstacle detection controller or control device can determine the height of the obstacle 2 based on the three arcs 2 ′, 3 ′ and 4 ′ registered in the optical sensor 123 and the levels 1e, 2e and 3e of the three light emitters 110a, 110b and 110c installed in the module 100 obstacle detection.

In FIG. 14 is a plan view of a plurality of light emitters that are included in an obstacle detection module, being installed in different positions according to a typical embodiment, and obstacles.

As shown in FIG. 14, a plurality of light emitters, for example, light emitters 110a, 110b and 110c, may be mounted in different positions on the cleaning robot 1.

For example, the second light emitter 110b and the light receiver 120 can be installed in the same position on the front side of the robot cleaner 1. The first light emitter 110a can be mounted on the left side of the second light emitter 110b, while the third light emitter 110c can be installed on the right side of the second light emitter 110b. An obstacle detection controller (not shown) or a control device (not shown) can determine the distance between the obstacle detection module (not shown) and the obstacle, the position of the obstacle, the height of the obstacle and the shape of the obstacle in the same way as in the case described above, in which there are many emitters 110a, 110b, and 110c of light are installed in the same position.

When the plurality of light emitters 110a, 110b and 110c are installed in different positions, the detection area of the obstacle detection module can be expanded.

In FIG. 15A is a side view illustrating an arrangement in which a second wide-angle lens is mounted vertically to allow an obstacle detection module to detect a falling point, according to an exemplary embodiment. In FIG. 15B is a view illustrating an arrangement in which a fourth wide-angle lens is mounted vertically to allow an obstacle detection module to detect a point of incidence, according to an exemplary embodiment.

As shown in FIG. 15A, the second wide-angle lens 110b is mounted vertically. For example, the second wide-angle lens 110b extends vertically from the floor. According to this arrangement, the planar light emanating from the second wide-angle lens 110b is emitted in the forward direction in the x-z plane.

The light emitter 110 may have a slot (not shown). This slot may emit thin flat light.

As shown in FIG. 15B, the fourth wide angle lens 110d is mounted vertically. For example, the fourth wide angle lens 110d extends vertically from the floor. According to this arrangement, the planar light emanating from the fourth wide-angle lens 110d is emitted in the x-z plane.

The light emitter 110 may have a slot (not shown). This slot may emit thin flat light.

In FIG. 16A shows a state in which an obstacle detection module emits flat light when there is no point of incidence, according to an exemplary embodiment. In FIG. 16B is a view illustrating a plane light image received by the image sensor after reflecting from the floor when there is no incidence point, according to an exemplary embodiment.

As shown in FIG. 16A, the obstacle detection module 100 of the robot cleaner 1 is installed inside the robot cleaner 1. In order to determine the point of incidence, the obstacle detection module 100 may include one of a first to fourth wide angle lenses (not shown). Wide-angle lenses are tilted vertically.

Of course, the obstacle detection module 100 is not limited to the configuration described above. The obstacle detection module 100 may have various configurations provided that it emits light in the forward direction in the x-z plane.

The flat light emitted by the obstacle detection module 100 may propagate toward the floor in the forward direction with respect to the obstacle detection module 100. Gender is indicated by a “9”. The flat light emitted by the obstacle detection module 100 may reach a zone on the floor 9 between a point P located near the front side of the robot cleaner 1 and a point Q remote from the front side of the robot cleaner 1. In this case, the light zone of the floor 9 in front the obstacle detection module 100 may be a forwardly extending area while having a linear shape. Flat light propagating towards the floor 9 is reflected from the floor 9 and then transmitted to the obstacle detection module 100.

In FIG. 16B shows an image of reflected light reflected from the floor 9 and detected in the optical sensor 123. Since the light is emitted by the light emitter (not shown) in the forward direction in the xz plane, the reflected light is recorded in the optical sensor 123 in the form of a line extending in a direction remote from center O ′.

Here, the proximal point P ′ denotes the floor point P located directly in front of the robot cleaner (not shown), while the far point Q ′ denotes the farthest floor point Q that can be detected by the robot cleaner (not shown).

An obstacle detection controller or control device analyzes the images based on the digital image signals into which the images were converted to determine if there is a point of incidence in front of the obstacle detection module 100. From the images recorded in the optical sensor 123, the obstacle detection controller or control device recognizes reflected light continuously reflected between the nearest point and the farthest point in front of the obstacle detection module 100 to determine if there is a falling point. For example, an obstacle detection controller or control device may recognize that there is reflected light continuously reflected between a proximal point P ′ and a distant point Q ′ in front of the cleaning robot based on images recorded in the image sensor. In addition, the obstacle detection controller or control device can determine the distance from the cleaning robot to the furthest point Q and can determine that there is no point of incidence in the floor area extending to the farthest point Q.

In FIG. 17A shows a state in which an obstacle detection module emits flat light when there is a point of incidence, according to an exemplary embodiment. In FIG. 17B is a view showing a planar light image received by the image sensor after reflection from the floor when there is a point of incidence, according to an exemplary embodiment.

As shown in FIG. 17A, the obstacle detection module 100 of the robot cleaner 1 is installed inside the robot cleaner 1. In order to determine the point of incidence, the obstacle detection module 100 includes one of a first to fourth broadband lens (not shown). The broadband line is tilted vertically. Of course, the obstacle detection module 100 is not limited to the configuration described above. The obstacle detection module 100 may have various configurations provided that it emits light in the forward direction in the x-z plane.

The flat light emitted by the obstacle detection module 100 may propagate toward the floor in a forward direction with respect to the obstacle detection module 100. Gender is indicated by a “9”. The flat light emitted by the obstacle detection module 100 may reach a zone on the floor 9 between a point P located near the front side of the robot cleaner 1 and a point S remote from the front side of the robot cleaner 1. In this case, the light zone of the floor 9 in front the obstacle detection module 100 may be a forwardly extending area while having a linear shape. Flat light propagating towards the floor 9 is reflected from the floor 9 and then transmitted to the obstacle detection module 100.

In FIG. 17B is an image of the reflected light reflected from the floor 9 and detected by the optical sensor 123. Since the light is emitted by the light emitter (not shown) in the forward direction in the xz plane, the reflected light is detected in the optical sensor 123 in the form of a line extending in a direction remote from the center O ′.

As shown in FIG. 17B, the image recorded by the optical sensor 123 may have a linear shape extending between points P ′ and S ′. Here, the point P ′ refers to the nearest point P of the floor 9 located in front of the cleaning robot (not shown), while the point S ′ refers to the falling point S located in front of the cleaning robot (not shown).

An obstacle detection controller or control device analyzes the images based on the digital image signals into which the images were converted to determine if there is a point of incidence in front of the obstacle detection module 100.

From the images recorded in the optical sensor 123, the obstacle detection controller or control device recognizes reflected light continuously reflected between the nearest point and the farthest point in front of the obstacle detection module 100 to determine if there is a falling point.

For example, an obstacle detection controller or control device may recognize that there is reflected light continuously reflected between a proximal point P ′ and a distant point Q ′ in front of the cleaning robot based on images recorded in the image sensor.

In addition, the obstacle detection controller or control device can calculate the distance between the cleaning robot (not shown) and the point of incidence.

As follows from the above description, it may be possible to generate uniformly distributed flat light using an obstacle detection module according to a typical embodiment, and thus provide improved accuracy in detecting obstacles. Using flat light, it may be possible to detect obstacles around the obstacle detection module. Accordingly, you can refuse to install multiple sensors or a separate servomechanism. In this regard, an increase in efficiency in terms of economy and structure can be achieved. The robot cleaner, which is equipped with an obstacle detection module, can accurately detect obstacles around it and, therefore, can move efficiently.

The robot cleaner that is equipped with an obstacle detection module can efficiently control the obstacle detection module in accordance with the position of the robot cleaner. Although few typical embodiments have been described, those skilled in the art will appreciate that changes can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.

Claims (15)

1. A robot cleaner that includes a housing, a drive device for driving the housing, an obstacle detection module for detecting obstacles around the housing, and a control device for controlling the drive device based on the results obtained by the obstacle detection module, the obstacle detection module comprising :
at least one light emitter comprising a light source, a wide-angle lens for refracting or reflecting light incident on it from the light source, for scattering incident light in the form of a plane light, and a light source excitation device causing the light source to emit light; and
a light receiver comprising a reflecting mirror for reflecting reflected light reflected by the obstacle, an optical lens spaced apart from the reflecting mirror by a predetermined distance to allow reflected light to pass through the optical lens, an image sensor for receiving reflected light coming out of the optical lens, and for generating a signal images from the reflected light exiting from the optical lens, and an image processing circuit for receiving an image signal and for converting the received image signal to an insulating picture signal as a digital image signal. 2. The robot cleaner according to claim 1, wherein the obstacle detection module further comprises an obstacle detection controller for generating optical control signals for controlling on / off of the light source and for generating obstacle detection information based on the digital image signal. 3. The robot cleaner according to claim 1, wherein the control device generates optical control signals for controlling on / off of the light source, generates obstacle detection information based on a digital image signal, or generates a control signal of the drive device based on the detection information obstacles. 4. The robot cleaner according to claim 2, wherein the information on detecting obstacles comprises at least one of a distance from a body to an obstacle, an obstacle position, an obstacle height, an obstacle shape and a falling point. 5. The robot cleaner according to claim 2, wherein the optical control signal for controlling the light source shutdown is generated when the robot rises above the floor. 6. The robot cleaner according to claim 2, in which an optical control signal for controlling the turning on of the light source is generated when the robot starts moving, and an optical control signal for controlling turning off the light source is generated when the robot completes the movement. 7. An obstacle detection module installed in the cleaning robot and comprising:
at least one light emitter comprising a light source, a wide-angle lens for refracting or reflecting light incident from the light source, for scattering incident light in the form of a plane light, and a light source exciting device causing the light source to emit light; and
a light detector comprising a reflecting mirror for reflecting light reflected by the obstacle to generate reflected light, an optical lens spaced apart from the reflecting mirror by a predetermined distance to allow reflected light to pass through the optical lens, an image sensor for receiving reflected light coming out of the optical lens, for generating an image signal from the reflected light exiting from the optical lens, and an image processing circuit for receiving an image signal and for converting the received signal image in the image signal as a digital image signal. 8. The obstacle detection module of claim 7, wherein the light emitter further comprises a slot located in front of the wide-angle lens to adjust the thickness of the plane light. 9. The obstacle detection module according to claim 7, wherein the optical lens is located between the reflective mirror and the image sensor, and the image emitter is located in front of the image sensor. 10. The obstacle detection module according to claim 7, wherein at least one of the light emitters is a plurality of light emitters located in different positions on the robot cleaner and located at the same level from the floor. 11. The obstacle detection module according to claim 7, wherein the reflective mirror is a conical reflective mirror arranged so that the apex of the conical reflective mirror faces the image sensor. 12. The obstacle detection module according to claim 7, in which the reflecting mirror has a conical structure formed by a conical surface having a side surface portion extending from the bottom surface of the conical structure to a certain height and having a concave shape, and a side surface portion extending from a given height to the top of the conical structure and having a convex shape. 13. The obstacle detection module of claim 7, wherein a filter is applied to the surface of the reflective mirror or to the surface of the optical lens to allow light having a wavelength of plane light to pass through the optical lens. 14. The obstacle detection module according to claim 7, in which at least one light emitter is a plurality of light emitters located in different positions on the robot cleaner or at different levels from the floor. 15. The obstacle detection module according to claim 7, in which at least one light emitter is a plurality of light emitters located in the same position on the robot cleaner and at different levels from the floor.

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