KR102143385B1 - Fencing sense module and robot having the same - Google Patents

Abstract

The cleaning robot according to an embodiment includes a main body, a driving unit driving the main body, an obstacle detecting module detecting an obstacle around the main body, and a control unit controlling the driving unit based on a detection result of the obstacle detecting module. In the robot, the obstacle detection module comprises: at least one light-emitting unit having a light source, a wide-angle lens that refracts or reflects light incident from the light source and diffuses it into plane light, and a light source driver that emits light; And a reflection mirror that generates reflected light by reflecting the plane light reflected by the obstacle again, an optical lens disposed so as to be spaced apart from the reflection mirror by a predetermined distance to pass the reflected light, and electricity by receiving the reflected light passing through the optical lens. And a light-receiving unit having an optical sensor that generates an electrical image signal, and a signal processing circuit that receives the electrical image signal and converts it into a digital electrical image signal. When the obstacle detection module according to the present invention is used, a uniform plane light can be formed, so that the accuracy of obstacle detection can be improved, and a plurality of sensors can be installed because the plane light can be used to detect obstacles in the vicinity. There is no need to install a separate servo mechanism, which improves economical and structural efficiency.

Description

Obstacle detection module and cleaning robot equipped with it {FENCING SENSE MODULE AND ROBOT HAVING THE SAME}

The present invention relates to an obstacle detection module capable of sensing surrounding obstacles and a cleaning robot having the same.

In general, an obstacle detection sensor irradiates light or ultrasonic waves, detects light or ultrasonic waves reflected from the obstacle, and determines the presence and distance of an obstacle based on the time difference, phase difference, or intensity difference of the detected signal or reflects it. It is also used to determine the distance using the angle.

Recently, a method of detecting an obstacle using a point light source has been applied. However, in the case of using a point light source, there is a problem in that a plurality of light-emitting units must be installed, and even if a plurality of light-emitting units are installed, a region that cannot be detected exists. In addition, in order to overcome this problem, when the point light source sensor is rotated, a separate servo mechanism is required and a certain amount of scanning time is required, thereby reducing efficiency.

The present invention provides an obstacle detection module capable of detecting obstacles around an obstacle by forming a uniform plane light using a wide-angle lens, and a cleaning robot having the same.

The cleaning robot according to an embodiment of the present invention includes a main body, a driving unit driving the main body, an obstacle detecting module detecting an obstacle around the main body, and a control unit controlling the driving unit based on a detection result of the obstacle detecting module. In the cleaning robot comprising, the obstacle detection module, at least one light-emitting unit having a light source, a wide-angle lens that refracts or reflects light incident from the light source and diffuses it into plane light, and a light source driver that emits the light source ; And a reflection mirror that generates reflected light by reflecting the plane light reflected by the obstacle again, an optical lens disposed so as to be spaced apart from the reflection mirror by a predetermined distance to pass the reflected light, and electricity by receiving the reflected light passing through the optical lens. And a light-receiving unit having an optical sensor that generates an electrical image signal, and a signal processing circuit that receives the electrical image signal and converts it into a digital electrical image signal.

The obstacle detection module further includes an obstacle detection control unit that generates an optical control signal for controlling on and off of the light source, or generates obstacle detection information based on the image signal.

The control unit includes generating a driving control signal based on the obstacle detection information.

The controller includes generating an optical control signal for controlling on and off of the light source, generating obstacle detection information based on the image signal, or generating a driving control signal based on the obstacle detection information. .

The obstacle detection information includes at least one of a distance between the body and an obstacle, a position of the obstacle, a height of the obstacle, a shape of the obstacle, and a fall point.

Generating the light control signal includes generating a light control signal for turning off the light source when the cleaning robot cleaner is lifted from the ground.

Generating the light control signal includes generating a light control signal for turning off the light source when the sensor window of the cleaning robot cleaner is removed.

Generating the optical control signal generates an optical control signal that turns on the light source when the cleaning robot cleaner starts driving, and generates an optical control signal that turns off the light source when the cleaning robot cleaner completes driving. Includes that.

The cleaning robot according to an embodiment of the present invention includes a main body, a driving unit driving the main body, an obstacle detecting module detecting an obstacle around the main body, and a control unit controlling the driving unit based on a detection result of the obstacle detecting module. In the cleaning robot comprising, the obstacle detection module, at least one light-emitting unit having a light source and a wide-angle lens for diffusing the light incident from the light source to the plane light; And a light receiving unit including an optical sensor that receives the plane light reflected by the obstacle and generates an electric image signal.

An obstacle detection module according to an embodiment of the present invention is an obstacle detection module installed in a cleaning robot, comprising: a light source, a wide-angle lens that refracts or reflects light incident from the light source to diffuse it into plane light, and emits light. At least one light-emitting unit having a light source driving unit to be configured; And a reflection mirror that generates reflected light by reflecting the plane light reflected by the obstacle again, an optical lens disposed so as to be spaced apart from the reflection mirror by a predetermined distance to pass the reflected light, and electricity by receiving the reflected light passing through the optical lens. And a light-receiving unit having an optical sensor that generates an electrical image signal, and a signal processing circuit that receives the electrical image signal and converts it into a digital electrical image signal.

The light emitting unit further includes a slit positioned in front of the wide-angle lens and capable of adjusting a thickness of the plane light.

The optical lens is disposed between the reflective mirror and the optical sensor, and the light emitting unit is disposed in front of the optical sensor.

The at least one light-emitting unit includes a plurality of light-emitting units having different heights from the ground or a position disposed in the cleaning robot.

The plurality of light-emitting units include simultaneously or sequentially diffusing planar light.

The plurality of light emitting units are composed of a first light emitting unit to a third light emitting unit disposed in the cleaning robot, the first light emitting unit is installed in front of a light receiving unit installed in front of the cleaning robot, and the second light emitting unit The first light-emitting part is installed to be spaced apart from the left by a predetermined distance, and the third light-emitting part is installed to be spaced apart from the first light-emitting part by a predetermined distance to the right.

The plurality of light emitting units are composed of a first light emitting unit to a fourth light emitting unit disposed in the cleaning robot, and the first light emitting unit and the second light emitting unit are spaced apart by a predetermined distance to the left from the light receiving unit installed in front of the cleaning robot. And installed, and the third light emitting unit and the fourth light emitting unit are installed to be spaced apart from the light receiving unit installed in front of the cleaning robot by a predetermined distance to the right.

The reflective mirror includes a conical reflective mirror disposed such that a vertex faces the optical sensor.

The reflective mirror includes a concave curved shape with an inclined surface formed from the bottom of the cone to a predetermined height, and a convex curved shape from the predetermined height to the vertex.

The optical sensor, the optical lens, or the surface of the reflective mirror includes a filter that passes the wavelength of the planar light.

It further comprises an obstacle detection controller for generating an optical control signal for controlling the on and off of the light source, or for generating obstacle detection information based on the image signal.

The obstacle detection information includes any one of a distance between the main body and an obstacle, a position of the obstacle, a height of the obstacle, a shape of the obstacle, and a fall point.

A wide-angle lens according to an embodiment of the present invention is a wide-angle lens made of a transparent member capable of passing light introduced from a light source, wherein the first diffusion surface refracts light introduced from the light source and diffuses it inside the wide-angle lens. ; A second diffusion surface for generating plane light by refracting or reflecting the light refracted through the first diffusion surface; And an insertion groove formed in the shape of an intaglio on a surface opposite to the second diffusion surface and into which the light source is inserted and fixed.

And a third diffusion surface configured to generate planar light by refracting light refracted from the first diffusion surface or light reflected from the second diffusion surface.

The second diffusion surface may be formed by engraving a “U” or “V” shape on one surface of the wide-angle lens.

The second diffusion surface includes a first boundary surface in a straight line form perpendicular to the front and a second boundary surface in a curved shape forming a predetermined angle with the first boundary surface, and the first boundary surface is the The light refracted through the first diffusion surface is refracted to generate planar light, and the second boundary surface reflects the light refracted through the first diffusion surface toward the third diffusion surface.

It includes controlling the diffusion range of the plane light according to the predetermined angle or the curvature of the curve.

A wave pattern having a pointed floor is further formed on the surface of the second diffusion surface.

The second diffusion surface is formed in a conical shape of an intaglio on one surface of the wide-angle lens, and a central axis of the insertion groove is formed to coincide with a central axis of the second diffusion surface.

The second diffusion surface or the third diffusion surface may have a convex shape for reducing the thickness of the planar light.

When the obstacle detection module according to the present invention is used, a uniform plane light can be formed, so that the accuracy of obstacle detection can be improved, and a plurality of sensors can be installed because the plane light can be used to detect obstacles in the vicinity. There is no need to install a separate servo mechanism, which improves economical and structural efficiency.

In addition, the cleaning robot equipped with the obstacle detection module can efficiently travel by accurately detecting surrounding obstacles.

In addition, the cleaning robot including the obstacle detection module may efficiently control the obstacle detection module according to the state of the cleaning robot.

1 is a conceptual diagram of a cleaning robot including an obstacle detection module according to an embodiment of the present invention.
2A is a block diagram illustrating a control flow of a cleaning robot including an obstacle detection module according to an embodiment of the present invention.
2B is a perspective view of a cleaning robot including an obstacle detection module according to an embodiment of the present invention.
2C is a rear view of a cleaning robot including an obstacle detection module according to an embodiment of the present invention.
2D is a perspective view of an obstacle detection module according to an embodiment of the present invention.
3A is a block diagram illustrating a control flow of an obstacle detection module according to an embodiment of the present invention.
3B is a diagram illustrating an example in which the obstacle detection module according to an embodiment of the present invention generates plane light.
3C is a diagram illustrating another example in which the obstacle detection module according to an embodiment of the present invention generates plane light.
4A is a view showing the appearance of an obstacle detection module according to an embodiment of the present invention.
4B is a view showing a field of view of a cleaning robot when two light emitting units and light receiving units included in the obstacle detection module according to an embodiment of the present invention are mounted at different positions.
4C is a diagram illustrating a field of view of a cleaning robot when the obstacle detection module according to an embodiment of the present invention includes three light emitting units.
4D is a diagram illustrating a field of view of a cleaning robot when an obstacle detection module according to an embodiment of the present invention includes four light emitting units.
5A is a diagram illustrating an example of a light receiving unit included in an obstacle detection module according to an embodiment of the present invention and an image obtained thereby.
5B is a diagram illustrating a first example of a reflective mirror included in an example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention and an image obtained thereby.
5C is a diagram illustrating a second example of a reflective mirror included in an example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention and an image obtained thereby.
5D is a diagram illustrating a third example of a reflection mirror included in an example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention and an image obtained by the reflection mirror.
5E is a diagram illustrating a fourth example of a reflective mirror included in an example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention and an image obtained thereby.
FIG. 5F is a diagram illustrating a fifth example of a reflective mirror included in an example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention and an image obtained thereby.
6A is a view showing another example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention.
6B is a diagram illustrating area F of FIG. 6A.
6C is a view showing a cross section in the direction GG′ of FIG. 6A.
6D is a view showing a field of view of a cleaning robot including another example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention.
6E is a graph for explaining that a cleaning robot including another example of a light receiving unit of an obstacle detecting module according to an embodiment of the present invention determines a distance to an obstacle.
7A is a diagram illustrating a first wide-angle lens included in an obstacle detection module according to an embodiment of the present invention.
FIG. 7B is a diagram illustrating diffusion of plane light passing through a first wide-angle lens included in an obstacle detection module according to an embodiment of the present invention.
7C is a diagram illustrating a state in which a first wide-angle lens included in the obstacle detection module according to an embodiment of the present invention is installed in the obstacle detection module.
7D is a diagram illustrating a second wide-angle lens included in the obstacle detection module according to an embodiment of the present invention.
7E is a diagram illustrating diffusion of plane light passing through a second wide-angle lens included in an obstacle detection module according to an embodiment of the present invention.
7F is a diagram illustrating a third wide-angle lens included in the obstacle detection module according to an embodiment of the present invention.
7G is a diagram illustrating diffusion of plane light passing through a third wide-angle lens included in an obstacle detection module according to an embodiment of the present invention.
8A is an exploded perspective view illustrating a fourth wide-angle lens included in an obstacle detection module according to an embodiment of the present invention.
8B is a perspective view illustrating a fourth wide-angle lens included in the obstacle detection module according to an embodiment of the present invention.
8C is a diagram illustrating diffusion of plane light passing through a fourth wide-angle lens included in an obstacle detection module according to an embodiment of the present invention.
8D is a diagram illustrating a state in which a fourth wide-angle lens included in the obstacle detection module according to an embodiment of the present invention is installed in the obstacle detection module.
9A is a diagram illustrating a slit capable of adjusting the thickness of plane light when using first to third wide-angle lenses included in the obstacle detection module according to an embodiment of the present invention.
9B is a diagram illustrating a slit capable of adjusting a thickness of a plane light when a fourth wide-angle lens included in an obstacle detection module according to an embodiment of the present invention is used.
10A is a diagram illustrating a result of detecting an obstacle when the size of a slit included in the obstacle detection module is increased according to an embodiment of the present invention.
10B is a diagram illustrating a result of detecting an obstacle when the size of a slit included in the obstacle detection module is reduced according to an embodiment of the present invention.
11 is a diagram showing a relationship between each component of an obstacle detection module and an obstacle in order to calculate a distance to an obstacle.
12A is a plan view illustrating an obstacle detection module and an obstacle according to an embodiment of the present invention.
12B is a side view illustrating an obstacle detection module and an obstacle according to an embodiment of the present invention.
12C is a diagram illustrating an image received by an optical sensor of an obstacle detection module according to an embodiment of the present invention.
13A is a plan view illustrating a plurality of light emitting units and an obstacle when a plurality of light emitting units included in the obstacle detection module according to an exemplary embodiment are installed at different heights.
13B is a side view illustrating a plurality of light emitting units and an obstacle when a plurality of light emitting units included in the obstacle detection module according to an embodiment of the present invention are installed at different heights.
FIG. 13C is a diagram illustrating an image in which reflected light reflected from an obstacle is received by an optical sensor after being irradiated from a plurality of light emitting units when a plurality of light emitting units included in the obstacle detection module according to an embodiment of the present invention are installed at different heights to be.
14 is a plan view illustrating a plurality of light emitting units and an obstacle when a plurality of light emitting units included in the obstacle detection module according to an exemplary embodiment are installed at different positions.
15A is a side view of an obstacle detection module in which a second wide-angle lens is vertically disposed to detect a fall point according to an embodiment of the present invention.
15B is a view showing a side view in which a fourth wide-angle lens is vertically disposed in order to detect a fall point by the obstacle detection module according to an embodiment of the present invention.
16A is a diagram illustrating a state in which an obstacle detection module according to an embodiment of the present invention irradiates plane light when there is no fall point.
16B is a diagram illustrating an image received by an optical sensor of an obstacle detection module according to an embodiment of the present invention of reflected light reflected from the ground when there is no fall point.
17A is a diagram illustrating a state in which an obstacle detection module according to an embodiment of the present invention irradiates plane light when there is a fall point.
17B is a diagram illustrating an image in which the optical sensor of the obstacle detection sensor according to an embodiment of the present invention receives reflected light reflected from the ground when there is a fall point.

The embodiments described in the present specification and the configurations shown in the drawings are only preferred examples of the disclosed invention, and there may be various modifications that may replace the embodiments and drawings of the present specification at the time of filing of the present application.

1 is a conceptual diagram of a cleaning robot including an obstacle detection module according to an embodiment of the present invention.

As shown in FIG. 1, the cleaning robot 1 is a device that automatically cleans the cleaning area by inhaling foreign substances such as dust from the floor while moving the area to be cleaned without the user's manipulation. The cleaning robot 1 detects obstacles or walls located in the cleaning area through various sensors, and controls the traveling path and cleaning operation of the cleaning robot 1 using the detection result.

In particular, the cleaning robot 1 irradiates a plane light while traveling indoors and detects obstacles present at a location to which the plane light is irradiated. As will be described later, plane light refers to light with a thin thickness in which light emitted from a light source travels in various directions in the same plane.

As described above, the cleaning robot 1 in which an obstacle detection module (not shown) for detecting an obstacle is installed may detect an omni-direction or a wide area of a fan shape. In addition, the cleaning robot 1 may determine a distance to an obstacle, a position of the obstacle, a height of the obstacle, a shape of the obstacle, and a fall point based on a detection result of the obstacle detection module (not shown). Based on this, the cleaning robot 1 may perform cleaning by determining a cleaning area.

2A is a block diagram showing a control flow of a cleaning robot including an obstacle detection module according to an embodiment of the present invention, and FIG. 2B is a perspective view of a cleaning robot including an obstacle detection module according to an embodiment of the present invention. 2C is a rear view of a cleaning robot including an obstacle detection module according to an embodiment of the present invention, and FIG. 2D is a perspective view of an obstacle detection module according to an embodiment of the present invention.

2A to 2D, the cleaning robot 1 has an exterior formed by the body 20, and the cleaning robot 1 moves the cleaning unit 30 and the cleaning robot 1 to clean the cleaning space. The driving unit 40 that makes the cleaning robot 1, the input/output unit 12 that receives the operation command for the cleaning robot 1 from the user and displays the operation information of the cleaning robot 1, the location of the cleaning robot 1 in the cleaning space Position detection unit 13 to detect, obstacle detection unit 14 to detect obstacles located in the cleaning space, lift detection unit 15 to detect that the cleaning robot 1 is lifted from the floor of the cleaning space, cleaning The motion detection unit 16 for detecting the movement of the robot 1, the driving unit 17 for driving the traveling unit 40 and the cleaning unit 30, a storage unit 18 for storing various data, and a cleaning robot ( A power supply unit 19 for supplying power to 1), and a control unit 11 for controlling respective components constituting the cleaning robot 1 are included.

The cleaning unit 30 includes a main brush 30 for sweeping dust existing on the floor and guiding it to the suction port, and side brushes 32a and 32b for cleaning adjacent portions of the wall and corner portions.

The main brush 31 may be mounted in the opening 33 formed under the main body 20, and cleans the dust accumulated on the floor on which the main body 20 is placed. In this case, the opening 33 may be formed in, for example, a portion inclined toward the rear R in the central region under the main body 20, and serves as a dust inlet through which dust is introduced. The main brush 31 may include a roller 31a and a brush 31b embedded in the outer surface of the roller 31a.

The roller 31a serves to rotate the brush 31b, and the brush 31b may stir the dust accumulated on the floor as the roller 31a rotates to induce the dust to flow into the opening 33. In this case, the roller 31a may be formed of a solid rigid body, and the brush 31b may be formed of various materials having elasticity, but is not limited thereto.

Although not shown in the drawing, the cleaning unit 30 is provided with a blowing device (not shown) that generates suction force inside the opening 33, and a dust collecting device (not shown) collects dust that has flowed into the dust inlet by the blowing device (not shown). City) can be moved.

The traveling unit 40 rotates according to the traveling direction of the cleaning robot 1 and the traveling wheels 41 and 42 that drive the cleaning robot body 20 according to the traveling control signal, so that the main body 20 can maintain a stable posture. It includes a caster 43 to allow.

Two driving wheels 41 and 42 may be disposed symmetrically to each other on the left and right edges of the central area under the main body 20, for example. These traveling wheels 41 and 42 enable moving operations such as forward, backward, and rotational driving during the cleaning of the cleaning robot 1 through the control of the driving circuit.

Casters 43 may be installed at the front edge of the lower body 20 based on the driving direction.

The drive wheels 41 and 42 and the caster 43 may be configured as one assembly and mounted on the main body 20 or may be separated from the main body 20.

The input/output unit 12 is provided on the upper surface of the cleaning robot main body 02, and a plurality of operation buttons 81 that receive an operation command of a user related to the cleaning robot 1, such as an operation or stop of the cleaning robot 1, and a driving mode ), and a display panel 82 that displays operation information of the cleaning robot 1, such as whether or not the cleaning robot 1 is in operation and a driving mode. The operation button 81 may employ a membrane switch, and the display panel 82 may employ a liquid crystal display (LCD) panel or a light emitting diode (LED) panel. I can.

The position detection unit 13 may include an upper camera module 70 that acquires an image above the cleaning robot 1, that is, an image of the ceiling of the cleaning space.

For example, the cleaning robot 1 travels in a cleaning area when traveling in an arbitrary direction without a predetermined route, that is, without a map. In this case, the location detection unit 13 is the upper camera module 70 By taking an upper image of the cleaning robot 1 through ), it is possible to generate the location information of the cleaning robot 1.

The obstacle detection unit 14 includes an obstacle detection module 100 that detects an obstacle by irradiating a plane light toward the front or side of the cleaning robot 1 and detecting reflected light reflected from the obstacle.

According to FIG. 2D, the obstacle detection module 100 is mounted in the driving direction of the cleaning robot 1, that is, on the front side. However, when the plurality of obstacle detection modules 100 are installed in the cleaning robot 1, they may be installed at different locations.

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

The lift detection unit 15 may include a departure sensor module (not shown) that detects separation of the driving wheels 41 and 42. Specifically, when the cleaning robot 1 is separated from the floor of the cleaning space, the driving wheels 41 and 42 are separated from their original positions, and the separation sensor module detects separation of the driving wheels 41 and 42. As will be described later, when the lift detection unit 15 detects that the cleaning robot 1 is lifted, the cleaning robot 1 turns off a light source (not shown) included in an obstacle detection module (not shown) to be described later.

The motion detection unit 16 may include an acceleration sensor (not shown), a gyro sensor (not shown), etc. that detects the translational movement and rotation of the cleaning robot 1, and generates driving information of the cleaning robot 1 do. As will be described later, the light source driver included in the obstacle detection module operates based on the above-described driving information. For example, the light source driver to be described later may turn on the light source when receiving a driving signal from the motion detection unit 16 and turn off the light source when receiving a stop signal.

The storage unit 18 includes a nonvolatile memory (not shown) such as a magnetic disk or a solid state disk that permanently stores a program for controlling the operation of the cleaning robot 1 and control data. A volatile memory (not shown) such as D-RAM and S-RAM that stores temporary data generated in the process of controlling the operation of the cleaning robot 1 may be included.

The power supply unit 19 includes a battery 50 that supplies driving power to each of the components constituting the cleaning robot 1.

At this time, the battery 50 may be, for example, a rechargeable secondary battery, and when the main body 20 completes the cleaning process and is coupled to a docking station (not shown), power is supplied from the docking station (not shown). It can be supplied and charged.

The control unit 11 serves to control the driving based on the detection result of the obstacle detection module 100 of the cleaning robot 1. For example, the control unit 11 sets a travel path based on obstacle detection information, which is information about the surrounding environment of the cleaning robot 1, and performs a driving or cleaning operation of the cleaning robot 1 according to the set travel path. It is possible to generate a driving control signal to be controlled.

At this time, the obstacle detection information may include the distance between the body and the obstacle, the position of the obstacle, the height of the obstacle, the shape of the obstacle, and the fall point, and is transmitted from the obstacle detection module 100 or received from the control unit 11. You can create it yourself.

In the above, the configuration of the cleaning robot 1 has been described. Hereinafter, an obstacle detection module included in the cleaning robot will be described.

3A is a block diagram illustrating a control flow of an obstacle detection module according to an embodiment of the present invention.

Referring to FIG. 3A, the obstacle detection module 100 receives at least one light-emitting unit 110 that diffuses and emits light emitted from the light source 112 into plane light, and receives the plane light reflected by the obstacle to be electrically It may include a light receiving unit 120 and an obstacle detection control unit 130 for generating an image signal.

The light emitting unit 110 may include a light source 112 and a light source driver 113 that drives the light source 112.

The light source 112 serves to emit light, and may be, for example, a laser diode (LD) or an LED. Light may include infrared rays, visible rays, and the like. In addition, the light source 112 may generate light in the form of a beam traveling in one direction.

The light source driver 113 emits the light source 112 according to the light control signal of the obstacle detection control unit 130, and feeds back the intensity of the irradiated light to the obstacle detection control unit 130 using a photodiode (not shown). I can.

The light receiving unit 120 includes an optical device 121 for changing a path of reflected light reflected by an obstacle, an optical sensor 123 for generating an electrical image signal by receiving reflected light whose path has been changed by the optical device 121, and It may include a signal processing circuit 124 that receives the electrical image signal and converts it into a digital signal. However, when the optical sensor 123 includes a function of converting an electrical image signal into a digital signal, the light receiving unit 120 may not include a separate signal processing circuit 124.

The optical device 121 changes the path of the reflected light so that the reflected light reflected by the obstacle is directed toward the optical sensor 123 to be described later. As such an optical mechanism 121, any of a mirror, a lens, a total reflection prism, etc. capable of changing the path of light can be employed.

For example, when a mirror is employed as the optical device 121, the optical device 121 can cause the reflected light to be directed toward the optical sensor by reflecting the reflected light reflected by the obstacle again. Further, when a lens is employed as the optical device 121, the optical device 121 can refract the reflected light reflected by an obstacle so that the reflected light is directed toward the optical sensor. Further, in the case of employing a total reflection prism as the optical device 121, the optical device 121 can reflect or refract the reflected reflected light by a problem so that the reflected light is directed toward the optical sensor.

In addition, the surface of the optical device 121 or the optical sensor 123 of the light receiving unit 120 may be coated with a filter that passes only the wavelength of the plane light. In this case, light other than the reflected light generated by reflecting the plane light irradiated from the light emitting unit 110 to the obstacle may be removed.

The optical sensor 123 receives reflected light reflected by an obstacle and generates an analog or digital signal. For example, the optical sensor 123 may include an image sensor such as a photodiode sensor that detects the amount of reflected light, a complementary metal oxide semiconductor (MOS) image sensor, or a charge-coupled device (CCD) image sensor that acquires an image of the reflected light. Can be adopted.

After being irradiated by the light-emitting unit 110, the reflected light reflected by the obstacle and returned is converted into an analog or digital signal by the optical sensor 123 through the optical device 121.

In addition, when an image sensor is employed as the optical sensor 123, an optical lens (not shown) is disposed between the optical device 121 and the optical sensor 123 so as to be spaced apart by a predetermined distance from the optical device 121 to pass the reflected light. Poem) may be further included. Specifically, the optical lens (not shown) may cause an image to be formed on the optical sensor 123 by condensing reflected light whose path has been changed by the optical device 121. Further, such an optical lens (not shown) may be a convex lens.

The signal processing circuit 124 may convert an analog signal received from the optical sensor 123 into a digital signal and convert a format of the signal. The signal processing circuit 124 may include an A/D converter (not shown) that converts an analog signal into a digital signal.

For example, when the above-described image sensor is employed as the optical sensor 123, the signal processing circuit 124 may convert the format of the image acquired by the image sensor according to the device. The signal processing circuit 124 can convert into a specific format such as JPEG or MPEG according to the characteristics and requirements of the device (eg, a cleaning robot).

The obstacle detection controller 130 may generate an optical control signal for controlling on and off of the light source, and generate obstacle detection information based on the image signal. For example, the obstacle detection information may include a distance between the body and the obstacle, the position of the obstacle, the height of the obstacle, the shape of the obstacle, and a fall point.

In addition, the obstacle detection control unit 130 modulates the desired frequency, duty ratio and intensity based on the intensity of light transmitted from the photo detector (not shown), and transmits a control signal to the light source driver 113, thereby It makes it possible to emit light with a ratio and intensity. For example, based on the detection result of a photo detector (not shown), the obstacle detection control unit 130 may control the intensity of light through control such as pulse width modulation (PWM).

The obstacle detection control unit 130 does not have to be a single module physically combined with the light emitting unit 110 and the light receiving unit 120, but other devices in which the obstacle detection module 100 is mounted, for example, a mobile cleaning robot or cleaning A control unit such as a CPU or MCU provided in a robot or the like may also be the obstacle detection control unit 130.

The obstacle detection module 100 may each of the light sources 112 generate planar light or may generate planar light using a plurality of light sources 112.

Hereinafter, a method of generating plane light by the obstacle detection module 100 will be described.

3B is a diagram illustrating an example in which the obstacle detection module according to an embodiment of the present invention generates flat light, and FIG. 3C is another work in which the obstacle detection module according to an embodiment of the present invention generates flat light. It is a diagram showing an example.

Referring to FIG. 3B in which the light emitting unit 110 generates flat light from a single light source 112, the obstacle detection module 100 reflects the light irradiated from the light source 112 through a mirror or refracts it through a lens. By doing so, it is possible to generate flat light in a fan shape. For example, by using a mirror having a conical shape that reflects light so that the incident light is widely diffused, or using a wide-angle lens that refracts light so that the incident light is widely diffused, the light emitting unit 110 is Can be created.

On the other hand, referring to FIG. 3C in which plane light is generated using a plurality of light sources 112, several light sources 112 are densely arranged in front of the cleaning robot 1, and several light sources are irradiated by several light sources. The light in the form of a beam of strands may overlap each other to form a plane light.

Hereinafter, as illustrated in FIG. 3B, the obstacle detection module 100 refracts light irradiated from the light source 112 by using a wide-angle lens to generate flat light in the shape of a fan or semicircle.

4A is a view showing the appearance of an obstacle detection module according to an embodiment of the present invention.

When one light-emitting part 110 and one light-receiving part 120 are integrally configured, the light-emitting part 110 and the light-receiving part 120 may be disposed on the pedestal 100b, as shown in FIG. 4B. The unit 110 may be provided in front of the light receiving unit 120. In addition, the light-emitting unit 110 may be located inside the light-emitting unit housing 100a, and the light-receiving unit 120 may be coupled to a pillar 100c supporting the light-receiving unit 120 by a coupling member 100e.

However, the configuration shown in FIG. 4A is only an example of the obstacle detection module 100 and is not limited to FIG. 4A. That is, the light emitting unit 110 may be provided under the pedestal 100b, the light receiving unit 120 may be provided on the pedestal 100b, and the light emitting unit 110 and the light receiving unit 120 may be located at the same position. May be.

However, when the obstacle detection module 100 is mounted on the cleaning robot 1, it is important to make the size as small as possible. Therefore, the height of the obstacle detection module can be lowered by arranging the light emitting unit 110 in front of the light receiving unit 120. In this case, the height of the light receiving unit 120 may be disposed higher than the light emitting unit 110. Accordingly, even if the light emitting unit 110 is disposed in front of the light receiving unit 120, the reflected plane light hitting an obstacle and returning may be completely transmitted to the light receiving unit 120 without being covered by the light emitting unit 110.

One light-emitting unit and one light-receiving unit constituting the obstacle detection module are not limited to being integrally formed, and the light-emitting unit and the light-receiving unit may be separately provided, and may include a plurality of light-emitting units or a plurality of light-receiving units. In other words, it is also possible to arrange the light-emitting unit and the light-receiving unit independently from each other at different positions

4B is a view showing a field of view of a cleaning robot when two light emitting units and light receiving units included in the obstacle detection module according to an embodiment of the present invention are mounted at different positions.

Referring to FIG. 4B, the obstacle detection module 100 may include two light-emitting parts 110a and 110b and one light-receiving part 120 positioned at different positions.

In addition, the two light-emitting units 110a and 110b may include a plurality of light-emitting units having different heights from the ground or positions disposed in the cleaning robot 1.

In this case, the light emitting units 110a and 110b may be arranged with different heights, or the light emitting units 110a and 110b itself may be tilted to detect obstacles of various heights. If the light-emitting units 110a and 110b and the light-receiving unit 120 are not arranged in a line on the same vertical line but at different positions, obstacles of various heights can be detected without increasing the height of the optical module.

4C is a diagram illustrating a field of view of a cleaning robot when the obstacle detection module according to an embodiment of the present invention includes three light emitting units.

Referring to FIG. 4C, the obstacle detection module 100 may include three light emitting units 110a, 110b, and 110c disposed at different positions in the cleaning robot 1. When three light emitting units 110a, 110b, and 110c capable of diffusing the plane light of 120 degrees are used, the same effect as using only one light emitting unit capable of diffusing the plane light of 220 degrees can be obtained.

In this case, the first light emitting part 110a may be installed in front of the light receiving part installed in front of the cleaning robot 1 and disposed to diffuse the plane light toward the front. In addition, the second light-emitting unit 110b is installed to be spaced apart from the first light-emitting unit 110a by a predetermined distance to the left, and is arranged to diffuse the plane light while forming a predetermined angle from the front of the cleaning robot 1 Can be. In addition, the third light-emitting unit 110c is installed to be spaced apart from the first light-emitting unit 110a by a predetermined distance to the right, and is arranged to diffuse the plane light while forming a predetermined angle from the front of the cleaning robot 1 Can be.

In this case, the first light-emitting part 110a, the second light-emitting part 110b, and the third light-emitting part 110c may overlap to some extent in a region for diffusing the planar light. In addition, in consideration of the locational characteristics in which the first light emitting units 110a to the third light emitting units 110c are installed in the cleaning robot 1, the cleaning robot 1 will be arranged in a form that minimizes an area that cannot be detected. I can.

4D is a diagram illustrating a field of view of a cleaning robot when an obstacle detection module according to an embodiment of the present invention includes four light emitting units.

Referring to FIG. 4D, four light emitting units 110a, 110b, 110c, and 110d disposed at different positions in the cleaning robot 1 are shown. When using four light-emitting units 110a, 110b, 110c, and 110d capable of diffusing the plane light of 120 degrees, the light-emitting unit 110 capable of diffusing the plane light of 220 degrees is used in a wider area than only one light-emitting part 110 is used. The effect of diffusing the plane light can be obtained.

In this case, the first light-emitting unit 110a and the second light-emitting unit 110b are spaced apart from the light-receiving unit 120 installed in front of the cleaning robot 1 by a predetermined distance to the left, and are installed at a predetermined angle. Can be placed as In addition, the third light-emitting unit 110c and the fourth light-emitting unit 110d are installed at a predetermined distance to the right from the light-receiving unit 120 installed in front of the cleaning robot 1 and are arranged in pairs at a predetermined angle. Can be.

At this time, the first light-emitting unit 110a and the second light-emitting unit 110b can diffuse the plane light to the front and left of the cleaning robot 1, respectively, and the third light-emitting unit 110c and the fourth light-emitting unit 110b 110d) may diffuse the plane light to the front and the right side of the cleaning robot 1, respectively. In addition, the first to second light emitting portions 110a to 110d may overlap to some extent in a region through which planar light is diffused. In addition, in consideration of the locational characteristics in which the first light emitting units 110a to the fourth light emitting units 110d are installed in the cleaning robot 1, the cleaning robot 1 will be arranged in a form that minimizes an area that cannot be detected. I can.

As described above, according to the obstacle detection module 100, it is possible to detect obstacles around the cleaning robot 1 by uniformly generating plane light.

In addition, the cleaning robot 1 of the present invention having the obstacle detection module 100 detects nearby obstacles and uses it for driving control, thereby enabling more efficient cleaning and driving.

Hereinafter, the light receiving unit will be described in detail.

For better understanding, it is assumed that the light receiving unit adopts a reflection mirror that reflects the reflected light reflected by an obstacle toward the optical sensor (123 in FIG. 3A) as an optical device (121 in FIG. 3A) for changing the path of the reflected light. .

In addition, the light receiving unit will be described by dividing an example of a light receiving unit using an image sensor and another example of a light receiving unit using a photodiode, and first, a light receiving unit using an image sensor will be described.

5A is a diagram illustrating an example of a light receiving unit included in an obstacle detection module according to an embodiment of the present invention and an image obtained thereby.

As shown in (a) of FIG. 5A, the light receiving unit 120a is routed by the reflection mirror 121a and the reflection mirror 121a to change the path of the reflected light so that the reflected light reflected from the obstacle faces the image sensor 123a. And an optical lens 122b for condensing the changed reflected light, and an image sensor 123a for receiving the reflected light collected by the optical lens 122b.

The reflection mirror 121a may employ a conic mirror in order to change the path of reflected light incident from various directions toward the image sensor 123a. In addition, the reflective mirror 121a may be installed above the image sensor 123a, and may be disposed vertically downward so that a vertex of the conical reflecting mirror 121a faces the image sensor 123a. In addition, although not shown in the drawing, a conical reflecting mirror 121a is installed under the image sensor 123a, and the image sensor 123a has a vertex of the conical reflecting mirror 121a at the image sensor 123a. It may be arranged vertically upward to face with. However, the shape of the reflection mirror 121a is not limited to a conical shape.

In addition, such a reflective mirror 121a employs a metal made of aluminum (Al) or plated with chromium (Cr) on a plastic material to reflect the reflected light reflected from an obstacle to the associative sensor 123a without distortion. (121a) The reflectance of the surface can be improved.

When the conical reflecting mirror 121a is employed as described above, the image sensor 123a may acquire an image as illustrated in (b) of FIG. 5A. Specifically, at the center of the image, the reflected light is blocked by the cleaning robot body so that an image related to the obstacle is not obtained, and an image related to the obstacle is obtained from a location distant from the center of the image by a predetermined distance in the radial direction. In addition, the image of the obstacle located close to the cleaning robot body and low from the cleaning floor is located near the center of the entire image, and the image of the obstacle located far from the cleaning robot body and located high from the cleaning floor is circumferentially of the entire image. It is located close to In other words, as an obstacle closer to the cleaning robot, the image of the obstacle is located closer to the center of the image acquired by the image sensor 123a, and as the obstacle farther from the cleaning robot, the image sensor 123a of the image of the obstacle is acquired. It is located far from the center of an image.

Hereinafter, a reflective mirror 121a having various conical shapes will be illustrated, and an example of a field of view of the cleaning robot and an obstacle image acquired by the image sensor 123a by each reflective mirror will be described.

5B is a diagram illustrating a first example of a reflective mirror included in an example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention and an image obtained thereby.

Referring to FIG. 5B, the reflection mirror 121a-1 has a general conical shape as shown in FIG. 5B(a).

A cross section of the reflecting mirror 121a-2 having a general conical shape in the A-A′ direction is the same as a right triangle shape as shown in (b) of FIG. 5C.

As described above, the cleaning robot 1 using the reflecting mirror 121a-1 having a conical shape has a field of view in a sector shape as shown in (c) of FIG. 5B. Specifically, the cleaning robot 1 is approximately 100 degrees to 150 degrees in both left and right directions with respect to the front where the light receiving unit 120a including the reflecting mirror 121a-1 is located, in other words, approximately based on the cleaning robot 1 It can have a viewing angle between 200 and 300 degrees. Since the main body of the cleaning robot 1 blocks the view of the light receiving unit 121a, it cannot have a viewing angle of 360 degrees. The viewing angle of the cleaning robot 1 may vary depending on the position of the light receiving unit 121a. For example, when the light-receiving part 121a protrudes from the main body of the cleaning robot 1, a wide viewing angle can be secured, and when the light-receiving part 121a is located inside the cleaning robot 1, the viewing angle is narrowed.

In addition, the cleaning robot 1 can secure a certain viewing distance d. The viewing distance d of the cleaning robot 1 may vary depending on the resolution of the image sensor 123a, the material of the reflective mirror 121a, the shape of the reflective mirror 121a, that is, the angle of the inclined plane forming a cone. .

The image sensor 123a included in the cleaning robot 1 using the reflective mirror 121a-1 may acquire a fan-shaped image as shown in (d) of FIG. 5B. Specifically, as shown in (d) of FIG. 5B, an image in a similar form to the field of view of the cleaning robot 1 can be obtained, and an obstacle image brightly formed at a position corresponding to the position of the obstacle can be obtained. have. For example, as shown in (c) of FIG. 5B, when an obstacle is located on the left side of the cleaning robot 1 at a slight angle, the image sensor 123a is biased to the left side at a slight angle from the front of the cleaning robot 1 It is possible to acquire an obstacle image (OI) in the shape of a bright arc at the location. As will be described later, the cleaning robot 1 may determine the presence and location of the obstacle O based on the position of the acquired obstacle image OI.

5C is a diagram illustrating a second example of a reflective mirror included in an example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention and an image obtained thereby.

Referring to FIG. 5C, the reflective mirror 121a-2 has a shape in which a cone is cut vertically with respect to the bottom surface as shown in (a) of FIG. 5C (hereinafter, referred to as "vertically cut cone"). Have.

A cross section in the direction B-B′ of the reflective mirror 121a-2 having the shape of a cone cut vertically is the same as the shape of a right triangle as shown in (b) of FIG. 5C.

The cleaning robot 1 using the reflective mirror 121a-2 having a vertically cut conical shape has a viewing range of a semicircular shape as shown in (c) of FIG. 5C.

Specifically, the cleaning robot 1 has a viewing angle of approximately 90 degrees in both left and right directions with respect to the front where the light receiving unit 120a is located, that is, approximately 180 degrees with respect to the cleaning robot 1. This is because the reflected light is incident only on the inclined surface of the cone and the reflected light is not incident on the rear surface of the reflective mirror 121a-2.

In addition, the cleaning robot 1 has a certain viewing distance (d), and as described above, it forms a cone, that is, the resolution of the image sensor 123a, the material of the reflection mirror 121a, and the shape of the reflection mirror 121a. It may vary depending on the angle of the slope.

The image sensor 123a included in the cleaning robot 1 using the reflective mirror 121a-2 may acquire an image in a semicircle shape as shown in (d) of FIG. 5C.

Specifically, as shown in (d) of FIG. 5C, an image similar to the field of view of the cleaning robot 1 can be obtained, and an obstacle image brightly formed at a position corresponding to the position of the obstacle can be obtained. have. For example, as shown in (c) of FIG. 5B, when an obstacle is located on the left side of the cleaning robot 1 at a slight angle, the image sensor 123a is biased to the left side at a slight angle from the front of the cleaning robot 1 It is possible to acquire an obstacle image (OI) in the shape of a bright arc at the location.

5D is a diagram illustrating a third example of a reflection mirror included in an example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention and an image obtained by the reflection mirror.

Referring to FIG. 5D, the reflection mirror 121a-3 according to the third example has a shape in which a cone is cut horizontally with the bottom surface as shown in (a) of FIG. 5D (hereinafter referred to as "a horizontally cut cone"). Have.)

A cross section in the C-C′ direction of the reflecting mirror 121a-3 having the shape of a cone cut horizontally is the same as a trapezoidal shape as shown in (b) of FIG. 5D.

The cleaning robot 1 using the reflecting mirror 121a-3 having a conical shape cut horizontally has a view range in the form of a cut donut as shown in (c) of FIG. 5D. That is, a very close distance from the cleaning robot 1 is not included in the field of view of the cleaning robot 1.

Specifically, the cleaning robot 1 is about 100 to 150 degrees in both left and right directions with respect to the front where the light receiving unit 120a is located, that is, a viewing angle between about 200 degrees and 300 degrees based on the cleaning robot 1 Can have. Since the main body of the cleaning robot 1 blocks the view of the light receiving unit 121a, it cannot have a 360-degree view.

In addition, the cleaning robot 1 has a certain viewing distance range. That is, the cleaning robot 1 has a viewing distance range between the viewing distance d1 by the inclined plane of the cone and the viewing distance d2 by the inclined plane of the cut cone. In other words, it has a field of view from the first distance d1 to the second distance d2 from the cleaning robot 1. This is because the reflected light is incident on the inclined surface of the reflecting mirror 121a-3, but the reflected light is not incident on the cut-off surface of the reflecting mirror 121a-3. In addition, such a viewing distance may vary depending on the resolution of the image sensor 123a, the material of the reflective mirror 121a, the shape of the reflective mirror 121a, that is, the angle of the beveled surface forming the cone, and the location where the cone is cut.

The image sensor 123a included in the cleaning robot 1 using the reflective mirror 121a-3 may acquire an image in the shape of a cut donut as illustrated in (d) of FIG. 53.

5E is a diagram illustrating a fourth example of a reflective mirror included in an example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention and an image obtained thereby.

Referring to FIG. 5E, the reflection mirror 121a-4 according to the fourth example has a convex shape (hereinafter referred to as "convex cone") as shown in FIG. 5E(a).

A cross section in the D-D′ direction of the reflecting mirror 121a-3 having a convex conical shape is the same as a triangular shape in which an inclined plane is convex, as shown in (b) of FIG. 5E.

The cleaning robot 1 using the reflective mirror 121a-4 having a convex conical shape as described above has a field of view in a sector shape as shown in (c) of FIG. 5E. Specifically, the cleaning robot 1 is approximately 100 degrees to 150 degrees in both left and right directions with respect to the front where the light receiving unit 120a including the reflective mirrors 121a-4 is located, that is, roughly based on the cleaning robot 1 It can have a viewing angle between 200 and 300 degrees. Since the main body of the cleaning robot 1 blocks the view of the light receiving unit 121a, it cannot have a viewing angle of 360 degrees.

In addition, the cleaning robot 1 has a constant viewing distance d. For the same reason that the convex mirror has a wider field of view than a general flat mirror, the reflecting mirror 121a-4 having a convex conical shape has a longer field of view than the reflecting mirror having a general conical shape (121a-1 in FIG. 5B). It has a distance (d).

The image sensor 123a included in the cleaning robot 1 using the reflective mirror 121a-4 can acquire an image in a sector shape as shown in (d) of FIG. 5E, and has a convex cone shape as described above. The reflective mirror 121a-4 of has a wider viewing range than that of the general conical reflecting mirror (121a-1 in FIG. 5B), so the image acquired by the convex conical reflecting mirror 121a-4 is general Compared to the image acquired by the conical reflecting mirror (121a-1 in FIG. 5B), obstacle information for a wider range of cleaning spaces is included.

5F is a diagram illustrating a fifth example of a reflection mirror included in an example of a light receiving unit according to an embodiment of the present invention and an image obtained by the reflection mirror.

Referring to FIG. 5F showing the reflection mirror 121a-5, the reflection mirror 121a-5 has a convex inclined surface from the apex of the cone to a predetermined height as shown in FIG. 5F(a), From the predetermined height to the bottom of the cone, the inclined surface of the cone has a concave shape.

The cross section of the reflection mirror 121a-5 in the E-E′ direction is as shown in FIG. 5F(b).

The cleaning robot 1 including the reflective mirror 121a-5 may have a viewing angle of approximately 200 to 300 degrees based on the cleaning robot 1 as shown in FIG. 5F(c). Since the main body of the cleaning robot 1 blocks the view of the light receiving unit 121a, it cannot have a 360-degree view.

In addition, the cleaning robot 1 may have a certain viewing distance d as shown in (c) of FIG. 5F.

The image sensor 123a included in the cleaning robot 1 using the reflective mirror 121a-5 may acquire a fan-shaped image as shown in (d) of FIG. 5F.

In the above, an example of a light receiving unit using an image sensor has been described. Hereinafter, another example of a light receiving unit using a photodiode will be described.

6A is a view showing another example of the light receiving unit of the obstacle detection module according to an embodiment of the present invention, FIG. 6B is a view showing area A of FIG. 6A, and FIG. 6C is a cross-sectional view of BB` of FIG. 6A 6D is a view showing a field of view of a cleaning robot including another example of a light receiving unit of an obstacle detection module according to an embodiment of the present invention.

6A to 6D, a reflective mirror 121b and a reflective mirror 121b for changing a path of reflected light reflected by an obstacle are formed in a plurality of reflective areas 121b-1, 121b-2, 121b-3, and 121b. It includes a plurality of blocking layers 122b divided by -4 and 121b-5, and a plurality of photodiodes 123b provided corresponding to each of the reflective regions divided by the blocking layer 122b.

The reflection mirror 121b may employ a conic mirror in order to change the path of reflected light incident from various directions. 6A to 6D illustrate a mirror having a conical shape with respect to the reflective mirror 121b, but limited thereto may have various shapes as shown in FIGS. 5B to 5F.

The blocking film 122b divides the reflection mirror 121b into a plurality of reflection areas. In addition, the field of view v123b of the cleaning robot 1 is divided into a plurality of field of view areas v120b-1, v120b-2, v120b-3, v120b-4, v120b-5 by the blocking film 122b, and the blocking film ( 122b) blocks reflected light incident from one of the plurality of viewing areas to a reflection area not corresponding to the corresponding viewing area. For example, the blocking layer 122b allows the reflected light reflected by the obstacle O in the first viewing area v120b-1 of FIG. 6C to enter the first reflective area 121b-1 of FIG. 6A. , The incident from the second viewing area v120b-2 to the fifth viewing area 123-5 to the first reflective area 121b-1 is blocked.

As shown in FIG. 6B, the blocking film 122b may have a trapezoidal shape so as to correspond to the inclined plane of the reflective mirror 121b, and a material that absorbs light well in order to block reflected light incident from other viewing areas is used. Can be adopted.

The plurality of photodiodes 123b-1, 123b-2, 123b-3, 123b-4, 123b-5: 123b are each reflective area 121b-1, 121b-2, 121b-3, 121b-4, 121b It is provided corresponding to -5) and detects reflected light reflected from each of the reflective areas 121b-1, 121b-2, 121b-3, 121b-4, and 121b-5. For example, the first photodiode 123b-1 is reflected by an obstacle located in the first viewing area v120b-1, and the path is changed in the first reflection area 121b-1 of the reflective mirror 121b. The amount of changed reflected light is detected.

When the cleaning robot 1 determines the direction of the obstacle, the cleaning robot 1 can determine the direction of the obstacle based on the photodiode 123b detecting reflected light among the plurality of photodiodes 123b. have.

For example, as shown in FIG. 6E, the cleaning robot 1 emits plane light, and the plane light emitted by the cleaning robot 1 is an obstacle O located in the first viewing area v120-1. Is reflected by The reflected light reflected by the obstacle O is incident toward the reflection mirror 121b of the light receiving unit 120b.

At this time, the reflected light is directed not only toward the first reflective area 121b-1 corresponding to the first viewing area v120-1, but also toward the second reflective area 121b-2 to the fifth reflective area 121b-5. Enter. However, the reflected light incident toward the second reflective area 121b-2 to the fifth reflective area 121b-5 is blocked by the blocking layer 122b, and the reflected light incident toward the first reflective area 121b-1 Only is reflected by the reflecting mirror 121b and is incident on the first photodiode 123b-1. As a result, only the first photodiode 123b-1 can detect the reflected light reflected by the obstacle O positioned in the first viewing area v120-1.

In addition, when the first photodiode 123b-1 detects the reflected light, the cleaning robot 1 may determine that the obstacle O exists in the first viewing area v120b-1.

When the cleaning robot 1 determines the distance to the obstacle, the distance to the obstacle is determined based on the amount of light detected by the photodiode 123b of the cleaning robot 1.

6E is a graph for explaining that a cleaning robot including another example of a light receiving unit of an obstacle detecting module according to an embodiment of the present invention determines a distance to an obstacle.

The output I of the photodiode 123b according to the distance d of the obstacle is as shown in FIG. 6E. Specifically, for a distance shorter than a certain focal length, the output of the photodiode 123b gradually increases as the distance increases, and for a distance longer than the focal length, the output of the photodiode 123b gradually decreases as the distance increases. do.

This is due to the characteristics of the obstacle detection module using light. The light emitting unit emits light by focusing at a certain distance in order to improve sensitivity to obstacles located at a certain distance, and the light receiving unit is reflected by an obstacle located at a certain distance. The maximum output value is output for the light. Accordingly, the photodiode 123b outputs a maximum output value when the obstacle is located at the focal length, and when the obstacle is closer than the focal length or farther than the focal length, the output value of the photodiode 123b decreases. As described above, due to the characteristics of the obstacle detection module using light, the photodiode 123b is disposed behind the cleaning robot 1 by a focal length, so that a distance shorter than the focal length can be ignored.

The cleaning robot 1 may determine the distance d to the obstacle by using the output I of the photodiode 123b according to the distance d of the obstacle as illustrated in FIG. 6E. For example, if the output of the photodiode 123b is the first output value I1, the cleaning robot 1 may determine the distance to the obstacle as the first distance d1, and the output of the photodiode 123b is If the second output value I2, the cleaning robot 1 can determine the distance to the obstacle as the second distance d2, and if the output of the photodiode 123b is the third output value, the distance to the obstacle is the third distance. It can be judged as (d3).

In summary, a cleaning robot including a light receiving unit using a photodiode can determine the direction of an obstacle based on a photodiode that detects reflected light among a plurality of photodiodes, and determine the distance to the obstacle based on the output value of the photodiode. have.

In the above, the light receiving unit of the obstacle detection module has been described.

Hereinafter, the light emitting unit of the obstacle detection module will be described.

7A is a view showing a first example of a wide-angle lens included in an obstacle detection module according to an embodiment of the present invention, and FIG. 7B is a first example of a wide-angle lens included in the obstacle detection module according to an embodiment of the present invention. It is a diagram showing the diffusion of plane light passing through one example.

Referring to FIGS. 7A and 7B, the first wide-angle lens 111a may be formed of a transparent member capable of passing light introduced from a light source (not shown).

The first wide-angle lens 111a refracts the light introduced from the light source and transmits the refracted light through the first diffusion surface u1 and the first diffusion surface u1 that diffuses inside the first wide-angle lens 111a. The wide-angle lens 111a is formed in an intaglio shape on the opposite side of the second diffusion surface u2 and the second diffusion surface u2 to generate plane light by refracting to the outside, and is inserted into and fixed to the light source ( u3) may be included.

For example, the first wide-angle lens 111a includes diffusing planar light in a range of 120 degrees. In this case, the second diffusion surface u2 of the first wide-angle lens 111a may be provided in a convex shape in order to reduce the thickness of the diffused plane light.

When describing the light path in the first wide-angle lens 111a, first, light emitted from the light source is refracted through the first diffusion surface u1 of the first wide-angle lens 111a, and the refracted light is first It diffuses inside the one wide-angle lens 111a.

The light diffused in various directions from the first diffusion surface u1 passes through the second diffusion surface u2 and changes into planar light that is diffused in various directions.

The first wide-angle lens 111a may have the shape shown in FIG. 7A, but is not limited thereto.

7C is a diagram illustrating a state in which a first wide-angle lens included in the obstacle detection module according to an embodiment of the present invention is installed in the obstacle detection module.

Referring to FIG. 7C, the light source 112 of the light emitting unit 110 emits light in a direction horizontal to the ground.

Further, the first wide-angle lens 111a may refract or reflect light emitted from the light source 112 to diffuse the generated planar light forward. The plane light may be irradiated in a direction parallel from the ground or in a direction inclined from the ground.

As a result, the obstacle detection module may detect an obstacle positioned higher or lower than an obstacle positioned on the ground.

The plane light is reflected by the obstacle, and the reflected plane light is transmitted to the reflection mirror 121 and may be reflected again.

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

7D is a view showing a second wide-angle lens included in the obstacle detection module according to an embodiment of the present invention, and FIG. 7E is a view showing a second wide-angle lens included in the obstacle detection module according to an embodiment of the present invention. It is a diagram showing the diffusion of one plane light.

Referring to FIGS. 7D and 7E, the second wide-angle lens 111b may be made of a transparent member capable of passing light introduced from the light source 112, and the second wide-angle lens 111b is a light source 112 The light emitted from may be refracted or reflected to generate planar lights L1 and L2.

The second wide-angle lens 111b refracts light introduced from a light source and diffuses the light refracted through the first diffusion surface u1 and the first diffusion surface u1 inside the second wide-angle lens 111b. By refracting to the outside of the wide-angle lens or by refracting light reflected from the second diffusion surface (u2), the first diffusion surface (u1), or from the second diffusion surface (u2) reflecting the inside of the second wide-angle lens A third diffusion surface u3 for generating planar light, and an insertion groove u4 formed in an intaglio shape on a surface opposite to the second diffusion surface u2 and into which a light source is inserted and fixed may be included.

For example, the planar light may include a first planar light L1 and a second planar light L2. The first planar light L1 is a plane light generated by refracting the light refracted from the first diffusion surface u1 again at the second diffusion surface u2, and the second planar light L2 is a first diffusion surface ( It refers to the plane light generated by reflecting the light refracted at u1) from the second diffusion surface u2.

The second diffusion surface u2 may refract or reflect light to generate a first plane light L1 and a second plane light L2.

In addition, the second diffusion surface u2 includes one formed by intaglio in a “U” or “V” shape on any one surface of the second wide-angle lens 111b.

In addition, the second diffusion surface (u2) is formed in the central portion, the first boundary surface (u20) in a straight line perpendicular to the front, and the second boundary surface (in a curved shape) forming a predetermined angle with the first boundary surface (u20). u22) may be included.

The first interface u20 refracts the light refracted through the first diffusion surface u2 to generate planar light, and the second interface u22 provides the light refracted through the first diffusion surface u2 to a third It can be reflected toward the diffusion surface u3.

In this case, the diffusion range of the plane light may be adjusted according to a predetermined angle or curvature of a curve.

In addition, the second diffusion surface u2 or the third diffusion surface u3 may have a convex shape that reduces the thickness of the plane light.

Insertion groove (u4) may be formed in the center of the opposite side of the second diffusion (u2) in the shape of an intaglio, and the first diffusion portion (u1) is an additional intaglio shape on the inner surface of the insertion groove (u4) Can be formed as

When describing the light path in the second wide-angle lens 111b, first, the light emitted from the light source 112 is refracted while passing through the first diffusion surface u1 of the second wide-angle lens 111b, It diffuses into the inside of the lens 111b.

Some of the light diffused into the second wide-angle lens 111b may be refracted while passing through the second diffusion surface u2 to be emitted to the outside of the second wide-angle lens 111b. The light at this time is referred to as the first planar light L1.

In the case of passing through the second diffusion surface u2, since light is incident from a dense medium to a small medium, the refraction angle becomes larger than the incidence angle and refraction occurs. As a result, the light is diffused in various directions as it is refracted.

In addition, some of the first planar light L1 passes through the second diffusion surface u2 of the second wide-angle lens 111b, enters the second wide-angle lens 111b, and then enters the second wide-angle lens 111b again. ), it is refracted twice to become the first planar light L1, and as the first planar light L1 is generated, the plane light irradiation area of the light emitting unit 110 is widened.

The rest of the light diffused into the second wide-angle lens 111b may be reflected from the second diffusion surface u2 into the second wide-angle lens 111b.

That is, when light incident on the second wide-angle lens 111b reaches the surface of the second diffusion unit u2, which is an interface of a material lower than the refractive index of the second wide-angle lens 111b, a total reflection phenomenon may occur and be reflected.

In order to generate such total reflection, the incident angle of light needs to be greater than or equal to the critical angle, and the refractive index of the material and the shape of the second wide-angle lens 111b need to be adjusted so that the incident angle of light is greater than or equal to the critical angle.

The light reflected from the second diffusion surface u2 into the second wide-angle lens 111b may be refracted while passing through the third diffusion surface u3 to be emitted to the outside of the second wide-angle lens 111b. The light at this time is referred to as the second planar light L2.

For example, the plane light is parallel from the ground and may be diffused by a predetermined angle based on the front (x-axis direction) of the second wide-angle lens 111b.

In this case, the predetermined angle may be 110 degrees left and right based on the front (x-axis direction) of the second wide-angle lens 111b, and the plane light may be diffused and irradiated by 220 degrees, but is not limited thereto.

Hereinafter, description will be made on the basis that the sum of the angles scattered from the left and right relative to the front (x-axis direction) of the second wide-angle lens 111b is 220 degrees.

7F is a view showing a third wide-angle lens included in the obstacle detection module according to an embodiment of the present invention, and FIG. 7G is a view showing a third wide-angle lens included in the obstacle detection module according to an embodiment of the present invention. It is a diagram showing the diffusion of one plane light.

Referring to FIGS. 7F and 7G, the third wide-angle lens 111c may be formed of a transparent member capable of passing light introduced from a light source (not shown), and the third wide-angle lens 111c is a light source 112 ) May be refracted or reflected to generate planar light (L1, L2).

The third wide-angle lens 111c refracts light introduced from a light source and diffuses the light refracted through the first diffusion surface u1 and the first diffusion surface u1 inside the third wide-angle lens 111c. Refracted from the second diffusion surface u2 and the first diffusion surface u1, which refracts the wide-angle lens 111c to the outside or reflects the inside of the third wide-angle lens 111c, or is refracted from the second diffusion surface u2. A third diffusion surface u3 that refracts the reflected light to generate planar light, and an insertion groove u4 formed in an intaglio shape on the opposite surface of the second diffusion surface u2 and into which the light source is inserted and fixed. Can include.

The third wide-angle lens 111c is similar to the second wide-angle lens, but the surface of the second diffusion surface may further have a sharp wave pattern. Due to such a wave pattern, the third wide-angle lens 111c can widen the diffusion range of the plane light.

8A is an exploded perspective view showing a fourth wide-angle lens included in the obstacle detection module according to an embodiment of the present invention, and FIG. 8B is an exploded perspective view illustrating a fourth wide-angle lens included in the obstacle detection module according to an embodiment of the present invention. FIG. 8C is a diagram illustrating diffusion of plane light passing through a fourth wide-angle lens included in an obstacle detection module according to an embodiment of the present invention, and FIG. 8D is an obstacle according to an embodiment of the present invention. It is a diagram showing a state in which the fourth wide-angle lens included in the detection module is installed in the obstacle detection module.

8A to 8D, the fourth wide-angle lens 111d may generate planar light by reflecting light emitted from the light source 112.

The fourth wide-angle lens 111d may be made of a transparent member capable of passing light introduced from the light source 112, and the fourth wide-angle lens 111d refracts or reflects the light emitted from the light source to generate flat light. Can be generated.

The fourth wide-angle lens 111d refracts light introduced from a light source and diffuses the light refracted through the first diffusion surface u1 and the first diffusion surface u1 in the fourth wide-angle lens 111d. A second diffusion surface u2 that reflects inside the wide-angle lens, a third diffusion surface u3 that refracts light reflected from the second diffusion surface u2 to generate planar light, and a second diffusion surface u2 It is formed in the shape of an intaglio on the opposite side of and may include an insertion groove (u4) into which a light source is inserted and fixed.

The second diffusion surface u2 may be formed in a conical shape of an intaglio on any one surface of the fourth wide-angle lens 111d.

The second diffusion surface u2 of the fourth wide-angle lens 111d may be an interface between a medium having a refractive index different from that of the fourth wide-angle lens 111d and the fourth wide-angle lens 111d.

For example, the medium may be air having a refractive index of 1 or a material having a refractive index less than that of the fourth wide-angle lens 111d.

Such a material may be formed to be combined with the fourth wide-angle lens 111d.

In addition, the third diffusion surface u3 is a side surface of the fourth wide-angle lens 111d, and may have a convex shape that refracts light reflected from the second diffusion surface u2 to further reduce the thickness of the planar light.

In addition, the central axis of the insertion groove u4 may be formed to coincide with the central axis of the second diffusion surface u2. The insertion groove (u4) may be formed in the shape of an intaglio at the center of the opposite surface of the second diffusion surface (u2). The insertion groove u4 may be formed in the fourth wide-angle lens 111d, but may be formed separately and coupled to the fourth wide-angle lens 111d.

When the light path of the fourth wide-angle lens 111d is described, light emitted from the light source 112 is refracted while passing through the first diffusion surface u1 of the fourth wide-angle lens 111d. The light that has passed through the first diffusion surface u1 is reflected from the second diffusion surface u2 and then refracts while passing through the third diffusion surface u3 formed on the side surface of the fourth wide-angle lens 111d. At this time, while passing through the third diffusion surface u3, it changes into a planar light form, and may be irradiated in an omni-direction of 360 degrees.

Meanwhile, the principle that light is reflected from the second diffusion surface u2 of the fourth wide-angle lens 111d is based on the total reflection principle.

That is, when light incident on the fourth wide-angle lens 111d reaches the surface of the second diffusion surface u2, which is an interface of a material lower than the refractive index of the fourth wide-angle lens 111d, a total reflection phenomenon may occur and be reflected.

In order to generate such total reflection, the incident angle of light needs to be greater than or equal to the critical angle, and the refractive index of the material and the height and radius of the second conical diffusion surface u2 need to be adjusted so that the incident angle of light is greater than or equal to the critical angle.

In addition, Snell's law is applied to the principle that light is refracted from the side of the fourth wide-angle lens 111d.

Referring to FIG. 8D, the light source 112 of the light emitting unit 110 emits light in a direction perpendicular to the ground.

In addition, the fourth wide-angle lens 111d may reflect light emitted from the light source 112 and then diffuse the generated planar light in omni-direction. The plane light may be irradiated in a direction parallel from the ground or in a direction inclined from the ground.

As a result, the obstacle detection module may detect an obstacle positioned higher or lower than an obstacle positioned on the ground.

The plane light is reflected by the obstacle, and the reflected light is transmitted to the reflection mirror 121 and reflected again.

The optical lens 122 passes the reflected light LR reflected back from the reflection mirror 121 while refracting, and the light that has passed through the optical lens 122 may be transmitted to the optical sensor 123.

FIG. 9A is a view showing a slit capable of adjusting the thickness of plane light when the first to third wide-angle lenses included in the obstacle detection module according to an embodiment of the present invention are used, and FIG. 9B is an embodiment of the present invention. A diagram illustrating a slit capable of adjusting a thickness of a plane light when a fourth wide-angle lens included in an obstacle detection module according to an embodiment is used.

Referring to FIG. 9A, at least one slit 114 having a narrow gap vertically formed in front of the first to third wide-angle lenses 111a to 111c may be positioned. The plane light irradiated from the first to third wide-angle lenses 111a to 111c passes through the slit 114 and is parallel to the ground and may be generated as plane light having a thinner thickness. Plane light having a desired thickness can be generated by adjusting the size k of the gap formed in the slit 114.

Referring to FIG. 9B, at least one slit 114 having a narrow gap vertically formed in front of the fourth wide-angle lens 111d may be positioned. Planar light irradiated from the fourth wide-angle lens 111d may be generated as planar light parallel to the ground and having a thinner thickness while passing through the slit 114. Plane light having a desired thickness can be generated by adjusting the size k of the gap formed in the slit 114.

10A is a view showing a result of detecting an obstacle when the size of a slit included in the obstacle detection module according to an embodiment of the present invention is increased, and FIG. 10B is a diagram illustrating a result of detecting an obstacle according to an embodiment of the present invention. A diagram showing the result of detecting an obstacle when the size of the included slit is reduced.

Referring to FIGS. 10A and 10B, FIG. 10A shows the result of detecting an obstacle by the obstacle detection module 100 when the size k of the gap of the slit 114 is increased. That is, it can be seen that the thickness of the light scattered from the light emitting unit 110 is thick. 10B shows a result of the obstacle detection module 100 detecting an obstacle when the size k of the gap of the slit 114 is reduced. That is, it can be seen that the thickness of the light scattered from the light emitting unit 110 is thin.

11 is a diagram showing a relationship between each component of an obstacle detection module and an obstacle in order to calculate a distance to an obstacle.

First, the angle θi formed by the incident light and the reflected light when the plane light irradiated from the light emitting unit 110 is reflected by the obstacle and returns is summarized using [Equation 1] below.

[Equation 1]

In addition, the distance di between the obstacle detection module 100 and the obstacle 2 may be obtained using θi and [Equation 2] below.

[Equation 2]

12A is a plan view showing an obstacle detection module and an obstacle according to an embodiment of the present invention, FIG. 12B is a side view showing an obstacle detection module and an obstacle according to an embodiment of the present invention, and FIG. A diagram showing an image received by an optical sensor of an obstacle detection module according to an embodiment.

Hereinafter, the light emitting unit 110 includes all cases in which the first wide-angle lens 111a to the fourth wide-angle lens 111d are used.

Referring to FIG. 12A, there are an x-axis parallel to the ground and a direction toward the front of the obstacle detection module 100, and a y-axis parallel to the ground and perpendicular to the x-axis. In addition, a first area that can be detected by the obstacle detection module exists on a plane consisting of the x-axis and y-axis.

The first area is a circle with a center of O and a radius of R, and when two radii OA and OB are drawn, the first area consists of these two radii and an arc determined by two points A and B, and the central angle AOB for arc AB is θ. Refers to an area similar to In this case, the radius R may be an infinitely long distance.

In this case, when the second wide-angle lens 111b is used, the value of θ may be 220 degrees, and when the fourth wide-angle lens 111b is used, the value of θ may have a larger value. The value of θ is not limited thereto and may have other values.

In addition, in the first area, a first obstacle 5 and a second obstacle 6 located at different distances and angles from the origin O are present. The obstacles present in the first area are not limited to the first obstacle 5 and the second obstacle 6 and may be one or more. Hereinafter, it is assumed that the first obstacle 5 and the second obstacle 6 exist.

The first obstacle 5 is within a range of an angle of 1β to 1α in a counterclockwise direction with respect to the x-axis, and is located at a distance of g1 from the origin O. The second obstacle 6 is within a range of an angle of 2α to 2β in a clockwise direction with respect to the x-axis, and is located at a distance of g2 from the origin O.

Here, 1α is the angle between the x-axis and the distal point (1a) of the first obstacle that is farthest from the x-axis, and 1β is between the x-axis and the distal point (1b) of the first obstacle that is closest to the x-axis. Means the angle of.

In addition, 2α is the angle between the end point (2a) of the second obstacle closest to the x-axis and the x-axis, and 2β is the end point (2b) of the second obstacle farthest from the x-axis and the x-axis. Means angle.

Referring to FIG. 12B, the plane light irradiated from the light emitting unit 110 goes straight forward of the light emitting unit 110 and is reflected by obstacles at different distances from the obstacle detection module 100 and transmitted to the light receiving unit 120. Can be seen.

For example, in the following description, the reflective mirror 121 is a conical mirror.

As the distance from the obstacle detection module 100 is closer, the reflected light reflected from the obstacle reaches a location where the distance is closer from the vertex of the reflection mirror 121. In addition, as the reflected light reflected from the obstacle reaches a distance closer to the vertex of the reflective mirror 121, the reflected light passing through the optical lens 122 is recorded closer to the center of the optical sensor 123.

That is, the closer the distance from the obstacle detection module 100 is, the closer to the center of the optical sensor 123 is recorded.

Referring to FIG. 12C, images of the first obstacle 5 and the second obstacle 6 recorded on the optical sensor 123 can be viewed. After being irradiated by the light emitting unit 110, the reflected light reflected by the obstacle and returned is recorded as an image by the optical sensor 123 through the reflection mirror 121 and the optical lens 122.

The first obstacle 5 is within a range of an angle of 1β to 1α to the left of the x-axis, and is recorded at a distance of g1' from the origin O'. That is, when the first obstacle 5 draws two radii O'1a' and O'1b' in a circle whose center is O'and radius g1' in the optical sensor 123, these two radii and two points 1a It is recorded in a shape similar to the arc (5') determined by', 1b'.

The second obstacle 6 is within a range of an angle of 2α to 2β to the right of the x-axis, and is recorded at a distance of g2' from the origin O'. That is, when the second obstacle 6 draws two radii O'2a' and O'2b' in a circle having a center of O'and a radius of g2' in the optical sensor 123, these two radii and two points 2a It is recorded in a shape similar to the arc (6') determined by', 2b'.

The electrical image signal converted by the optical sensor 123 is converted into a digital image signal by the signal processing circuit 124 and then transmitted to an obstacle detection control unit (not shown) or a control unit (not shown).

The obstacle detection control unit or the control unit may determine the distance between the obstacle detection module 100 and the obstacles 5 and 6 and the position of the obstacle by analyzing the image converted into a digital image signal.

13A is a plan view showing a plurality of light emitting units and an obstacle when a plurality of light emitting units included in the obstacle detection module according to an embodiment of the present invention are installed at different heights, and FIG. 13B is a plan view illustrating a plurality of light emitting units and an obstacle according to an embodiment of the present invention. A side view illustrating a plurality of light emitting units and an obstacle when a plurality of light emitting units included in the obstacle detection module are installed at different heights. FIG. 13C is a diagram illustrating an image in which reflected light reflected from an obstacle is received by an optical sensor after being irradiated from a plurality of light emitting units when a plurality of light emitting units included in the obstacle detection module according to an embodiment of the present invention are installed at different heights to be.

Hereinafter, the light emitting unit 110 includes all cases in which the first wide-angle lens 111a to the fourth wide-angle lens 111d are used.

Referring to FIG. 13A, the obstacle has a first area already described in FIG. 12A. And, an obstacle 2 exists in the first area. There may be one or more obstacles present in the first area. Hereinafter, it will be described as a premise that only one obstacle 2 exists.

In addition, the obstacle detection module (not shown) includes three light-emitting units 110a, 110b, and 110c and one light-receiving unit 120. Each of the three light emitting units 110a, 110b, and 110c irradiates plane light at different heights from the ground. In addition, the three light emitting units 110a, 110b, and 110c may go straight horizontally with the surface of the plane light irradiated from the three light emitting units 110a, 110b, and 110c, or may go straight at an angle with the surface. In addition, the three light emitting units 110a, 110b, and 110c may be located at the same place on the cleaning robot 1 or at different places.

For example, the light-emitting units 110a, 110b, and 110c shown in FIG. 13A are located at the same place on the cleaning robot 1, and each irradiates plane light at different heights from the ground.

However, the number of light emitting units 110 is not limited thereto, and may be one or more. In addition, a location in which the plurality of light emitting units 110a, 110b, and 110c are located in the cleaning robot 1 is not limited.

The light receiving unit 120 may simultaneously or sequentially receive reflected lights irradiated from the plurality of light emitting units 110a, 110b, and 110c and reflected by the obstacle 2.

Referring to FIG. 13B, the plane light irradiated from the three light emitting units 110a, 110b, and 110c goes straight forward of the light emitting units 110a, 110b, and 110c and reflected by the obstacle 2, and then the light receiving unit 120 ).

For example, in the following description, the reflective mirror 121 is a conical mirror.

In this case, as the height reflected from the obstacle is lower from the ground, the reflected light reflected from the obstacle 2 reaches a position closer to the distance from the vertex of the reflection mirror 121. In addition, as the reflected light reflected from the obstacle 2 reaches a distance closer to the vertex of the reflective mirror 121, the reflected light passing through the optical lens 122 is recorded closer to the center of the optical sensor 123. That is, the lower the height reflected from the obstacle is from the ground, the closer to the center of the optical sensor 123 is recorded.

Referring to FIG. 13C, an image of the obstacle 2 recorded on the optical sensor 123 can be viewed. After being irradiated from the three light-emitting units 110a, 110b, and 110c, the reflected light reflected by the obstacle 2 is recorded as an image by the optical sensor 123 through the reflection mirror 121 and the optical lens 122.

When there are a plurality of light emitting units 110a, 110b, 110c, any one may be designated as the reference light emitting unit. The reference light emitting unit is a light emitting unit that serves as a reference for determining a distance between the obstacle detection module 100 and the obstacle. Hereinafter, a description will be made based on the fact that the second light-emitting part 110b is set as the reference light-emitting part 110b.

The plane light irradiated from the second light emitting unit 110b is reflected at a height of 2e of the obstacle 2. By the plane light irradiated from the second light-emitting unit 110b, the obstacle 2 is within the range of an angle of 1β to 1α in a counterclockwise direction with respect to the x-axis, and recorded at a distance of g1' from the origin (O). do. That is, when the obstacle 2 draws two radii O'1a' and O'1b' in a circle whose center is O'and radius g1' in the optical sensor 123, these two radii and two points 1a', It is recorded in a shape similar to the arc (2') specified by 1b'.

It is reflected at a height of 1e from the plane light obstruction 2 irradiated from the first light emitting part 110a. In addition, the plane light irradiated from the first light emitting unit 110a is recorded in a shape similar to the arc 4'at a farther place than g1' from the center O'in the optical sensor 123.

The plane light irradiated from the third light emitting part 110a is reflected from the obstacle 2 at a height of 3e. In addition, the plane light irradiated from the third light emitting unit 110a is recorded in a shape similar to the arc 3'at a location closer than g1' from the center O'in the optical sensor 123.

The electrical image signal converted by the optical sensor 123 is converted into a digital image signal by the signal processing circuit 124 and then transmitted to an obstacle detection control unit (not shown) or a control unit (not shown).

The obstacle detection control unit or the control unit may 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 by analyzing the image converted into a digital image signal.

In addition, the obstacle detection control unit or the control unit includes three arcs (2', 3', 4') recorded in the optical sensor 123 and three light emitting units (110a, 110b, 110c) installed in the obstacle detection module 100. The height of the obstacle 2 can be determined by using the heights 1e, 2e, 3e, and the like.

14 is a plan view illustrating a plurality of light emitting units and an obstacle when a plurality of light emitting units included in the obstacle detection module according to an exemplary embodiment are installed at different positions.

Referring to FIG. 14, a plurality of light emitting units 110a, 110b, and 110c may be installed at different positions in the cleaning robot 1.

For example, the second light-emitting unit 110b and the light-receiving unit 120 may be installed in the same position in front of the cleaning robot 1. Also, the first light emitting part 110a may be installed on the left side of the second light emitting part 110b, and the third light emitting part 110c may be installed on the right side of the second light emitting part 110b.

The obstacle detection control unit (not shown) or the control unit (not shown) is the distance between the obstacle detection module (not shown) and the obstacle in a manner similar to that of installing the plurality of light emitting units 110a, 110b, and 110c mentioned above at the same location. , The position of the obstacle, the height of the obstacle, and the shape of the obstacle can be determined.

When the plurality of light emitting units 110a, 110b, and 110c are installed at different locations, the detection area of the obstacle detection module 100 may be further widened.

15A is a side view of an obstacle detection module according to an embodiment of the present invention in which a second wide-angle lens is vertically disposed to detect a fall point, and FIG. 15B is a diagram illustrating an obstacle detection module according to an embodiment of the present invention. It is a view showing a side view in which a fourth wide-angle lens is vertically arranged to detect a fall point.

Referring to FIG. 15A, the second wide-angle lens 110b is disposed vertically. For example, it is arranged in a long vertical direction from the ground. When arranged in this manner, the plane light irradiated from the second wide-angle lens 110b is irradiated toward the front on the x-z plane.

A slit (not shown) may be installed in the light emitting unit 110, and the slit may allow the plane light to be irradiated with a thin thickness.

Referring to FIG. 15B, the fourth wide-angle lens 110d is disposed vertically. For example, it is arranged vertically from the ground. When arranged in this way, the plane light irradiated from the fourth wide-angle lens 110d is irradiated on the x-z plane.

A slit (not shown) may be installed in the light emitting unit 110, and the slit may allow the plane light to be irradiated with a thin thickness.

FIG. 16A is a diagram illustrating a state in which the obstacle detection module according to an embodiment of the present invention irradiates plane light when there is no fall point, and FIG. 16B is a view showing reflected light reflected from the ground when there is no fall point. A diagram showing an image received by an optical sensor of an obstacle detection module according to an example.

Referring to FIG. 16A, the cleaning robot 1 includes an obstacle detection module 100 therein. In order to determine the fall point, the obstacle detection module 100 may include a first wide-angle lens (not shown) to a fourth wide-angle lens (not shown) inclined vertically.

However, the present invention is not limited thereto, and the obstacle detection module 100 may include any component capable of emitting light toward the front on the x-z plane.

In this case, the plane light irradiated by the obstacle detection module 100 may proceed to the ground 9 in front of the obstacle detection module 100. Based on the center (O) of the obstacle detection module 100, the plane light irradiated from the obstacle detection module 100 can reach from the near point (P) in front of the cleaning robot (1) to the far point (Q). have. In this case, the area where the light reaches the ground 9 in front of the obstacle detection module 100 may be an area in a straight line form.

The plane light traveling to the ground 9 is reflected from the ground 9 and transmitted to the obstacle detection module 100.

Referring to FIG. 16B, an image in which reflected light reflected from the ground is recorded on the optical sensor 123 can be viewed. Since the light emitting part (not shown) emits light forward on the x-z plane, it is recorded in the optical sensor 123 in a straight line away from the center O'.

Here, the near point (P') means the ground (P) in front of the cleaning robot (not shown), and the far point (Q') is the farthest point (not shown) that can be detected by the cleaning robot (not shown). It could be Q).

The obstacle detection control unit or the control unit may determine whether a fall area exists in front of the obstacle detection module 100 by analyzing an image converted into a digital image signal. The obstacle detection control unit or the control unit may recognize continuous reflected light from the closest point in front to the farthest point from the image recorded in the optical sensor, and determine whether a fall point exists based on this.

For example, the obstacle detection control unit or the control unit may recognize that there is a continuous reflected light from an image recorded on the optical sensor from a near point P'to a far point Q'in front of the cleaning robot. In addition, the distance to the far point Q is determined, and it can be determined that there is no fall point to the far point Q.

17A is a diagram illustrating a state in which the obstacle detection module according to an embodiment of the present invention irradiates plane light when there is a fall point, and FIG. 17B is a view showing the reflected light reflected from the ground when there is a fall point. A diagram illustrating an image received by an optical sensor of an obstacle detection sensor according to an embodiment.

Referring to FIG. 17A, the cleaning robot 1 includes an obstacle detection module 100 therein. In order to determine the fall point, the obstacle detection module 100 may include a first wide-angle lens (not shown) to a fourth wide-angle lens (not shown) inclined vertically. However, the present invention is not limited thereto, and the obstacle detection module 100 may include any component capable of emitting light toward the front on the x-z plane.

In this case, the light scattered by the obstacle detection module 100 may travel to the ground 9 in front of the obstacle detection module 100. Based on the center (O) of the obstacle detection module 100, the plane light irradiated from the obstacle detection module 100 can reach from the near point (P) in front of the cleaning robot (1) to the fall point (S). have. In this case, the area where the light reaches the ground 9 in front of the obstacle detection module 100 may be an area in a straight line form.

The plane light traveling to the ground 9 is reflected from the ground 9 and transmitted to the obstacle detection module 100.

Referring to FIG. 17B, an image in which reflected light reflected from the ground is recorded on the optical sensor 123 can be seen. Since the light emitting part (not shown) emits light forward on the x-z plane, it is recorded in the optical sensor 123 in a straight line away from the center O'.

In FIG. 17B, a straight line in the form of a straight line leading from P'to S'recorded on the optical sensor 123 can be seen. Point P'means the closest point P among the ground 9 in front of the cleaning robot (not shown), and the point S'means the fall point S in front of the cleaning robot (not shown).

The obstacle detection control unit or the control unit may determine whether a fall point exists in front of the obstacle detection module 100 by analyzing an image converted into a digital image signal.

The obstacle detection control unit or the control unit may recognize reflected light from the closest point in front to the farthest point in succession from the image recorded in the optical sensor, and determine whether a fall point exists based on this.

For example, the obstacle detection control unit or the control unit may recognize that there is a continuous reflected light from an image recorded in the optical sensor from a near point P'to a far point S'in front of the cleaning robot. In addition, it is possible to determine the distance to the far point S and determine that the fall point exists at the far point S.

In addition, the obstacle detection control unit or the control unit may calculate a distance between the cleaning robot (not shown) and the fall point.

In the above, one embodiment of the disclosed invention has been illustrated and described, but the disclosed invention is not limited to the specific embodiment described above, and common knowledge in the technical field to which the disclosed invention belongs without departing from the gist of the invention claimed in the claims. Of course, various modifications may be made by a person having them, and these modifications cannot be interpreted differently from the disclosed invention.

1: cleaning robot 100: obstacle detection module
110: light emitting unit 111: wide-angle lens
112: light source 113: light source driver
120: light receiving unit 121: reflection mirror
122: optical lens 123: optical sensor
124: signal processing circuit 130: obstacle detection control unit

Claims (28)

A cleaning robot comprising a main body, a driving unit driving the main body, an obstacle detecting module detecting an obstacle around the main body, and a control unit controlling the driving unit based on a detection result of the obstacle detecting module,
The obstacle detection module,
At least one light-emitting unit having a light source, a wide-angle lens that refracts or reflects light incident from the light source and diffuses it into planar light, and a light source driver that emits light; And
A reflection mirror that reflects the reflected light reflected by the obstacle, an optical lens disposed to be spaced apart from the reflection mirror by a predetermined distance to pass the reflected light, an optical sensor that receives the reflected light passing through the optical lens and generates an image signal, And a light receiving unit having a signal processing circuit for receiving the image signal and converting it into a digital electrical image signal,
The wide-angle lens refracts the light incident from the light source and diffuses the light in the same plane inside the wide-angle lens, and the light refracted through the first diffusion plane is refracted out of the wide-angle lens in the same plane. A cleaning robot comprising: a second diffusion surface for generating plane light traveling in various directions in the same plane by performing or total reflection; and an insertion groove formed on the first diffusion surface to receive the light source. The method of claim 1,
The obstacle detection module,
Generate a light control signal for controlling the on and off of the light source, or
A cleaning robot further comprising an obstacle detection control unit that generates obstacle detection information based on the image signal. The method of claim 2,
The control unit,
A cleaning robot that generates a drive control signal based on the obstacle detection information. The method of claim 1,
The control unit,
Generate a light control signal for controlling the on and off of the light source, or
Generates obstacle detection information based on the video signal, or
A cleaning robot that generates a drive control signal based on the obstacle detection information. The method according to any one of claims 2 to 4,
The obstacle detection information,
A cleaning robot comprising at least one of a distance between the main body and an obstacle, a position of the obstacle, a height of the obstacle, a shape of the obstacle, and a fall point. The method according to claim 2 or 4,
The control unit,
When the cleaning robot cleaner is lifted from the ground, the cleaning robot generates an optical control signal to turn off the light source. The method according to claim 2 or 4,
The control unit,
The cleaning robot generates an optical control signal that turns on the light source when the cleaning robot cleaner starts driving, and generates an optical control signal that turns off the light source when the cleaning robot cleaner completes driving. A cleaning robot comprising a main body, a driving unit driving the main body, an obstacle detecting module detecting an obstacle around the main body, and a control unit controlling the driving unit based on a detection result of the obstacle detecting module,
The obstacle detection module,
At least one light-emitting unit having a light source and a wide-angle lens that diffuses light incident from the light source into plane light; And
It includes a light receiving unit including an optical sensor for generating an image signal by receiving the reflected light reflected by the obstacle,
The wide-angle lens refracts the light incident from the light source and diffuses the light in the same plane inside the wide-angle lens, and the light refracted through the first diffusion plane is refracted out of the wide-angle lens in the same plane. A cleaning robot comprising: a second diffusion surface for generating plane light traveling in various directions in the same plane by performing or total reflection; and an insertion groove formed on the first diffusion surface to receive the light source. In the obstacle detection module installed in the cleaning robot,
At least one light-emitting unit having a light source, a wide-angle lens that refracts or reflects light incident from the light source and diffuses it into planar light, and a light source driver that emits light; And
A reflection mirror that generates reflected light by reflecting the plane light reflected by the obstacle again, an optical lens disposed to be spaced apart from the reflection mirror by a predetermined distance to pass the reflected light, and receiving the reflected light passing through the optical lens to be electrically An optical sensor generating an image signal, and a light receiving unit having a signal processing circuit for receiving the electrical image signal and converting it into a digital image signal,
The wide-angle lens refracts the light incident from the light source and diffuses the light in the same plane inside the wide-angle lens, and the light refracted through the first diffusion plane is refracted out of the wide-angle lens in the same plane. An obstacle detection module including a second diffusion surface for generating planar light traveling in various directions in the same plane by performing or total reflection, and an insertion groove formed on the first diffusion surface and received by the light source. The method of claim 9,
The light emitting unit,
An obstacle detection module positioned in front of the wide-angle lens and further comprising a slit capable of adjusting a thickness of the plane light. The method of claim 9,
An obstacle detection module in which the optical lens is disposed between the reflective mirror and the optical sensor, and the light emitting part is disposed in front of the optical sensor. The method of claim 9,
An obstacle detection module including a plurality of light emitting units having different heights from the ground or a position disposed in the cleaning robot. The method of claim 12,
An obstacle detection module including the plurality of light emitting units simultaneously or sequentially diffusing planar light. The method of claim 12,
The plurality of light emitting units,
It consists of a first light-emitting unit, a second light-emitting unit, and a third light-emitting unit disposed in the cleaning robot,
The first light emitting part is installed in front of the light receiving part installed in front of the cleaning robot,
The second light emitting part is installed to be spaced apart from the first light emitting part by a predetermined distance to the left,
The third light emitting unit is an obstacle detection module that is spaced apart from the first light emitting unit by a predetermined distance to the right. The method of claim 12,
The plurality of light emitting units,
Consisting of a first light-emitting unit, a second light-emitting unit, a third light-emitting unit, and a fourth light-emitting unit disposed in the cleaning robot,
The first light emitting part and the second light emitting part are installed spaced apart from the light receiving part installed in front of the cleaning robot by a predetermined distance to the left,
The third light emitting unit and the fourth light emitting unit are installed to be spaced apart from the light receiving unit installed in front of the cleaning robot by a predetermined distance to the right. The method of claim 9,
The reflective mirror is an obstacle detection module comprising a conical reflective mirror disposed so that the vertex faces the optical sensor. The method of claim 9,
The reflection mirror,
From the bottom of the cone to a predetermined height, the slope is formed in a concave curved shape,
Obstacle detection module comprising the inclined surface formed in a convex curved shape from the predetermined height to the vertex. The method of claim 9,
An obstacle detection module comprising coating a band pass filter to pass the wavelength of the plane light on the surface of the optical lens or the reflective mirror. The method of claim 9,
Generate a light control signal for controlling the on and off of the light source, or
An obstacle detection module further comprising an obstacle detection control unit for generating obstacle detection information based on the image signal. The method of claim 19,
The obstacle detection information,
An obstacle detection module comprising any one of a distance between the cleaning robot and an obstacle, a position of the obstacle, a height of the obstacle, a shape of the obstacle, and a fall point. delete delete delete delete delete delete delete delete

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