APPRATUS OF DETECTING DROP, THRESHOLD AND FLOOR-TYPE FOR CLEANING ROBOT AND DETECTING METHOD USING THE SAME

摘要

PURPOSE: A sensor for sensing falling, a threshold, and a floor material of a robot cleaner and a sensing method using the same are provided to sense hilly sections such as a stepping board or a threshold at a predetermined height using the difference in quantity of incident light in two infrared receiving units. CONSTITUTION: A sensor for sensing falling, a threshold, and a floor material of a robot cleaner comprises a light irradiation unit(100), a first light-receiving unit(210), a second light-receiving unit(220), a light-receiving control unit(400), a comparison unit(500), and a calculation unit(600). The light irradiation unit irradiates infrared rays to the bottom at a predetermined incident angle. The first and second light-receiving units measure the quantity of incident infrared rays which are reflected from the bottom. The light-receiving control unit converts the quantity of incident infrared rays into A/D. The comparison unit circulates the difference between the A/D conversion value which is detected from the first light-receiving unit and the A/D conversion value which is detected from the second light-receiving unit. The calculation unit determines a distance from the bottom using the difference of the A/D conversion value. [Reference numerals] (100) Light irradiation unit; (210) First light-receiving unit; (220) Second light-receiving unit; (300) Light-irradiation control unit; (400) Light-receiving control unit; (500) Comparison unit; (600) Calculation unit; (700) Control unit