Obstacle sensing module and cleaning robot including the same

摘要

Disclosed herein are an obstacle sensing module and a cleaning robot including the same. The cleaning robot includes a body, a driver to drive the body, an obstacle sensing module to sense an obstacle present around the body, and a control unit to control the driver, based on sensed results of the obstacle sensing module. The obstacle sensing module includes at least one light emitter including a light source, and a wide-angle lens to refract or reflect light from the light source so as to diffuse the incident light in the form of planar light, and a light receiver including a reflection mirror to again reflect reflection light reflected by the obstacle so as to generate reflection light, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, and an image sensor, and an image processing circuit.

主权项

1. A cleaning robot comprising a body, a driver to drive the body, an obstacle sensing module to sense an obstacle present around the body, and a control unit to control the driver, based on sensed results of the obstacle sensing module, wherein the obstacle sensing module comprises:
at least one light emitter comprising a light source, a wide-angle lens to refract or reflect light incident from the light source to diffuse the incident light in the form of planar light, and a light source driver to drive the light source to emit light; and a light receiver comprising a reflection mirror to reflect reflection light reflected by the obstacle, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, an image sensor to receive the reflection light emerging from the optical lens and to generate an image signal from the reflection light emerging from the optical lens, and an image processing circuit to receive the image signal, and to convert the received image signal into an electrical image signal in the form of a digital image signal.