Robot
A robot cleaner comprises a cleaner body provided with a control unit; a first sensing unit which protrudes from the upper surface of the cleaner body, and emits laser at surroundings of the cleaner body to detect obstacles located around the cleaner body; a second sensing unit which is inclined relative to side surfaces and an upper surface of an upper edge portion of the cleaner body, and captures images in both lateral and upward directions of the cleaner body; a third sensing unit which is disposed on a front surface of the cleaner body, transmits ultrasonic waves to the surroundings in front of the cleaner body, and then uses the reflected ultrasonic waves to detect obstacles located in front of the cleaner body; and a fourth sensing unit which is disposed on the front surface of the cleaner body, and captures images in front of the cleaner body.
1 . A robot comprising:
a body including a control unit for controlling autonomous driving;
a first sensor protruding from an upper surface of the body to irradiate a laser to surroundings of the body so as to detect obstacles located at the surroundings of the body;
a second sensor positioned on an upper edge portion of the body to be inclined with respect to a side surface and an upper surface of the body, to capture sensor data in a lateral direction and an upward direction of the body;
a third sensor positioned on a front surface of the body to detect obstacles located at surroundings in front of the body using ultrasonic waves reflected after being emitted to the surroundings in front of the body; and
a fourth sensor positioned on the front surface of the body to capture sensor data about a front of the body,
wherein the second sensor is provided at a position lower than a position of the first sensor based on a vertical direction of the body,
wherein the second sensor includes a window disposed to cover the second sensor, and the window includes a filter through which an infrared region is selectively transmitted,
wherein the second sensor includes a first camera and a second camera positioned on respective sides of the upper edge portion of the body in an inclined manner and disposed at a rear position of the body, to capture sensor data in respective lateral directions and the upward direction of the body,
wherein the control unit merges information measured by the first sensor and image information captured by the first camera and the second camera, to detect a current position of the robot in a traveling area,
wherein the control unit merges information measured by the first sensor, information measured by the third sensor, and image information captured by the fourth sensor, to detect obstacles located around the body,
wherein the first sensor is positioned behind the second sensor,
wherein the first sensor detects an obstacle located within a preset detection distance by irradiating a linear laser at intervals of a predetermined angle within a range of 360 degrees,
wherein the fourth sensor captures a depth image including distance information related to an object within a capturing area,
wherein an inclination of the second sensor is smaller than an external inclination of the body,
wherein the third sensor is provided at a position lower than a position of the fourth sensor based on a vertical direction of the body,
wherein the robot comprises a plurality of the third sensor provided at symmetrical positions in a left and right direction based on a front center line of the body,
wherein the third sensor has a detection distance of a predetermined range and forms an ultrasonic detection area, and
wherein the fourth sensor is positioned such that the fourth sensor has an optical axis that is inclined downward toward the front of the body, and has an image capturing range including a space extending from a ground area up to a highest area of the body.
2 . The robot of claim 1 , wherein the first camera and the second camera are disposed at symmetrical positions in a left and right direction based on a front center line of the body.
3 . A robot comprising:
a body including a control unit for controlling autonomous driving;
a laser sensor protruding from an upper surface of the body and to irradiate a laser to surroundings of the body so as to detect obstacles located at the surroundings of the body;
a capturing camera positioned on an upper edge portion of the body to be inclined with respect to a side surface and an upper surface of the body and disposed at a rear position of the body, to capture sensor data in a lateral direction and an upward direction of the body;
an ultrasonic sensor positioned on a front surface of the body to detect obstacles at surroundings in front of the body using ultrasonic waves reflected after being emitted to the surroundings in front of the body; and
an optical sensor positioned on the front surface of the body to capture image data of the front of the body,
wherein the control unit merges at least a portion of information measured by the laser sensor, information measured by the ultrasonic sensor, and the image data captured by the optical sensor to detect obstacles located at the surroundings of the body,
wherein the capturing camera includes a window disposed to cover the capturing camera, and the window includes a filter through which an infrared region is selectively transmitted,
wherein the control unit merges information measured by the laser sensor and image information captured by the capturing camera, to detect a current position of the robot in a traveling area,
wherein the laser sensor is positioned behind the second sensor,
wherein the laser sensor detects an obstacle located within a preset detection distance by irradiating a linear laser at intervals of a predetermined angle within a range of 360 degrees,
wherein the optical sensor captures a depth image including distance information related to an object within a capturing area,
wherein an inclination of the capturing camera is smaller than an external inclination of the body.
4 . The robot of claim 1 , further comprising a wheel coupled to the body, the wheel rotating to cause the body to travel autonomously while performing a cleaning function.
5 . The robot of claim 1 , wherein a first inclination angle of the second sensor is less than a second inclination angle of an external surface of the body where the first sensor is received.
6 . The robot of claim 1 , wherein the first sensor irradiates the laser along a horizontal plane so as to detect obstacles located at the surroundings of the body along the horizontal plane, and the second sensor captures the sensor data above the horizontal plane.
7 . The robot of claim 1 , wherein the first sensor irradiates the laser along a horizontal plane so as to detect obstacles located at the surroundings of the body along the horizontal plane, and the fourth sensor captures the sensor data about a space in the front of the body from a ground surface to above the horizontal plane.
8 . The robot of claim 1 , wherein the third sensor detects ultrasonic waves reflected from a region in the front of the body, and the second sensor captures the sensor data above the region in the front of the body.