A vacuum cleaner with a distance sensing sensor.

Abstract

The subject of the invention is a robotic vacuum cleaner (1); a body (2), on the front surface of the body (3) An optical sensor (6) is positioned to cover the front surface of the body. a movable buffer (4) positioned on the buffer, the optical sensor in question (6) in such a way as to align and provide a viewing angle to the optical sensor including a window opening (5) located on the fuselage; at least one in the field of view of the optical sensor (6) that is in communication with the optical sensor (6). Distance and / or optical density and / or from 10 multi-pixel or single-pixel images. Reading reflection data, detecting changes in the data, identifying the greatest change the position of the pixel / pixels where it occurred, on which side of the buffer (4) of the impact It includes a control unit (7) that matches it.

Description

1 TARIFF A vacuum cleaner with a distance sensing sensor. Technical Area The present invention is a self-propelled system for the automatic cleaning of floor surfaces. It relates to a cleaning device, specifically a robot vacuum cleaner. State of the Art Mobile robots used in current technology operate by navigating within an environment. A mobile robot, The mobile robot includes a bumper that makes contact with obstacles it encounters during its travels. The mobile robot changes its behavior when it detects that the bumper has come into contact with an obstacle in the environment. It can change its behavior. For example, the mobile robot can retreat from an obstacle or act in another way. It can change its course. In some mobile robots, the bumper, when the bumper comes into contact with an obstacle, 15 It includes mechanical switches that provide a dual indication of whether or not it is working. A bumper for a mobile robot used in the known state of the art, the bumper It can detect contact with obstacles in an environment by using sensors that sense movement. For example, each sensor is movable so that it moves along with the bumper relative to the chassis. mounted in such a way that it will be fixed to a plate and chassis that is mounted accordingly. It could be a capacitive sensor with another plate. Depending on the movement of the bumper. The movement of one plate relative to another is determined by the capacitive sensor's distance between the plates. This causes it to produce an electrical signal of proportional magnitude or value. Thus, the electrical signal changes within a range of values ​​depending on the movement of the buffer. A 25 The controller controls characteristics such as the location, magnitude, and duration of the force applied to the buffer. It interprets the electrical signals produced by the sensors to determine this. Here, contact with bumpers used in mobile robots, the forces acting on them, and the bumpers themselves. Various systems for detecting displacement are described. 2 Patent document EP3366183B1, which is included in the prior art, describes the movement. a body and bumper that can withstand the force applied to the body, and the bumper's resistance to that force. It contains multiple sensors that it moves with, and these magnetic sensors have two parts. a robot vacuum cleaner that produces a proportional electrical signal as a result of changing its function It explains. 5 Brief Description of the Invention The aim of the invention is to measure the robot's distance from obstacles with high accuracy. by enabling more precise detection of obstacles and barriers The goal is to create a robot vacuum cleaner that improves sensing performance. 10 Another aim of the invention is to create a robot vacuum cleaner using high-precision optical sensors. reducing the mechanical and electronic components used for obstacle detection And thus the durability and reliability of the robot vacuum cleaner's internal structure have been increased. It is the fact that. Another purpose of the invention is to detect the moment the robot's vacuum cleaner comes into contact with obstacles and the contact itself. By defining its characteristics, the robot's vacuum cleaner's navigation behavior can be updated. is to ensure. Another purpose of the invention is to allow the robot vacuum cleaner to be viewed from both the sides and the front. by identifying the obstacles he / she encounters and preventing him / her from getting stuck between those obstacles, The goal is to improve its performance. This increases the robot vacuum cleaner's energy efficiency and 20 This ensures a long lifespan. Of the shapes in question; Figure 1: Images obtained from the optical sensor including the surface and the obstructing object. pixel value changes Figure 2: 25 in the images obtained from the optical sensor including the surface and the obstructing object. pixel value changes Figure 3: The optic in a static state where the tampon is not subjected to any movement. image containing data provided by the sensor 3 Figure 4: The moment the bumper (4) moves to the right after the impact image containing data of optical sensor (6) Figure 5: The moment the bumper (4) moves to the left after the impact image containing data of optical sensor (6) Figure 6: Data of the optical sensor (6) on the front surface of the bumper (4) during impact 5 image containing Figure 7: Front top perspective view of the robot vacuum cleaner. Figure 8: Front perspective view of the robot vacuum cleaner. Figure 9: Top perspective view of the robot vacuum cleaner. The reference numbers for the elements in question are as follows: 1. Robot vacuum cleaner 2. Body 3. Front surface 4. Tampon 15 5. Window 6. Optical sensor 7. Control unit Detailed Description of the Invention 20 The subject of the invention is a robotic vacuum cleaner (1), a body (2), and a front surface (3) of the body. an optical sensor (6) positioned to cover the front surface of the body a movable buffer (4) positioned on the buffer, the optical sensor in question (6) so that it will match and provide a viewing angle to the optical sensor 25 a window opening (5) located on the body and optical It includes a control unit (7) that communicates with the sensor. The robot vacuum cleaner (1) Optical sensor (5) located in the middle part of (3) the front surface, object and obstacle It performs the sensing task. This optical sensor (5) is located on the buffer (4). Various measurements depending on the direction of movement of the robot vacuum cleaner (1) with the area window (5) 30 It provides data. It is positioned to correspond to the optical sensor (6) on the buffer (4). 4 This window (5) is positioned without disturbing the wide field of view of the optical sensor (6). It enables accurate perception. However, the buffer (4) in question As a result of the bumper (4) moving during collision with obstacles, the optical sensor (6) Changes in field of view depend on the severity and direction of the impact. This creates differences in perception. 5 In one application of the invention, the robot vacuum cleaner (1) has a body (2), on the front surface of the body (3) an optical sensor (6) positioned to cover the front surface of the body a buffer (4) positioned and able to move upon impact, buffer (4) on it, aligning with the optical sensor (6) and with the optical sensor's line of sight 10 a window opening (5) positioned to provide an angle on the fuselage positioned and in communication with the optical sensor, the optical sensor's (6) vision distance and / or optical density of at least one multi-pixel or single-pixel in the field reading data from an image containing reflection data, from the data detecting the change, the position of the pixels where the change is most pronounced, the impact of 15 It includes a control unit (7) that matches which side of the buffer (4) it is on. Reading multiple multi-pixel or single-pixel image data, and time and Distance measurement can be done more quickly and accurately. Furthermore, this allows for optical improvements. Problems with the data read may occur in cases such as dust accumulation on the sensor (6). Multiple distance and / or optical 20 to block and obtain accurate results Accurate measurement is ensured by verifying the measurement with density and / or reflectance data. It can be accomplished. In one application of the invention, the robot vacuum cleaner (1) is in the field of view of the optical sensor (6). examining an image with few or many pixels, or a single pixel, from the decrease in pixels / pixels Detecting that the distances between the obstacle and the buffer were reduced, identifying this as a collision 25 interpreter, the position of the pixel(s) where the distance value drops the most, a control unit (7) that matches which side of the bumper (4) the collision is on includes. The impact side can be determined by the arrangement of pixels where the drop occurs. For example, the right... If the distance between pixels close to the side decreases, it understands that the collision is coming from the right. It includes a control unit (7). In one application of the invention; each pixel in the data received from the optical sensor (6) is buffered (4) It represents the distance information of a specific region in relation to an obstacle. The invention is a 5 In its application, the robot vacuum cleaner (1) is in communication with the optical sensor (6) and is low By looking at the groups of pixels where the distance values ​​are concentrated, optical sensor (6) data an analyzer and determines which part of the bumper (4) the impact came from. It includes a control unit (7). In another application of the invention, the control unit (7) is used to determine which 10 of the bumper (4) will be hit. reflection and / or optical density data to determine where it originated from It uses the robot vacuum cleaner (1); at least one of the optical sensors (6) in the field of view of the robot vacuum cleaner (1). Reflection and / or optical density obtained from a pixelated or single-pixel image. According to the arrangement of pixels where the increase in data occurs, the barrier and buffer (4) collision Analyzing the information that the distance between the areas where it occurred was decreasing, and 15 a control unit (7) that detects from which part of the bumper (4) the impact came. It includes. In this way, the control unit (7) reflects and / or optical density. from the data to the optical sensor thanks to the buffer (4) that moves as a result of hitting the obstacle. optical of a window opening (5) positioned to provide a field of view can decide whether the sensor (5) has changed its field of view 20 Figures 1 to 6 illustrate an application of the invention, the optical sensor (6) vision It represents multi-pixel image data in the field. These images are 8x8. This corresponds to a pixelated depth map. The values ​​in each pixel are: It represents the distance in millimeters. Dark colored pixel values ​​in the figures. The values ​​for near distance are represented by light-colored pixel values, while the values ​​for far distance are represented by light-colored pixel values. 25 Pixel values ​​below 250 mm are dark, and values ​​above 250 mm are light. These values ​​are given to describe the invention; the invention is shown as follows. It is not limited by values. 6 In one application of the invention, the robot vacuum cleaner (1) has a distance from Figure 1 to Figure 6. as it appears in any of them; among the distance data received from the optical sensor (6) detects distance changes, identifies the area where low distance values ​​cluster. and includes a control unit (7) that determines direction according to distance differences. As seen in any of Figures 1 to 6, 5 in a particular part of the buffer (4) Distance values ​​are lower compared to other regions. For example, in Figure 4, the bottom left... In the region (pixel locations: columns 0 and 1), low distance values ​​are associated with lighter tones. It has been shown that these low distance values ​​indicate that a collision or an object will hit the buffer (4) This indicates that it is close to this area. In one application of the invention, the control unit (7) is located where low distance values ​​are concentrated. Looking at the pixel groups, on which side of the buffer (4) the impact occurs (right, left, bottom or (top) determines the direction of the distance drops, and in which direction the impact occurs. It plays a critical role in determining whether it occurred. For example, near the right side of the bumper. In case of impact, the distances of the pixels on the right decrease, the same decrease occurs on the left of the buffer (4), This also applies to impacts occurring on the bottom or top side. Figure 4, bottom right 15 Low distance values ​​in the region indicate that the collision came from the right; as shown in Figure 5. However, in the lower left region, the collision occurred from the left with low distance values. It is understood. In one application of the invention, the control unit (7) receives the data from the optical sensor (6) It monitors temporally. The bumper (4) is 20 at the distances when it hits an obstacle. Sudden drops occur. The control unit (7) monitors each pixel's changing time. It determines the moment of impact by monitoring distance values. For example, in the lower left corner of Figure 2... The sudden drop in distance values ​​indicates that the collision occurred on this side. Similarly... In the figure, when looking at any of figures 1 through 6, low distance values ​​are observed. The area where it occurs helps determine the direction and area of ​​the impact. 25 The control unit (7) analyzes the data received from the optical sensor (6) of the robot vacuum cleaner (1) Helps the person understand the direction of the impact and which side of the obstacle they are hitting. In which pixel groups do distance reductions occur in the optical sensor (6) data? 7 If concentrated, the control unit (7) detects that a collision or obstacle is approaching that area. perceptions. In one application of the invention, Figures 1 and 2, columns 0 and 7 represent buffer movement. It shows the pixels whose change we detect. In addition, from this optical sensor (6) In the resulting images, pixel values ​​show the surface and the obstructing object. 5 The color tones shown in the figure represent perception in different impact scenarios. It represents the change in their distances. Dark areas represent the optical sensor (6) areas where the field of view is impaired and measurement accuracy is reduced after the impact When showing, the lighter colored areas are the areas where the optical sensor (6) detects more clearly. It shows. 10 In one application of the invention, Figure 3 shows that the buffer (4) is subjected to any movement. This shows the data provided by the optical sensor (6) in a static state, where it does not remain. In this case, the optical sensor (6) has a wide field of view and detects obstacles accurately. It can detect. The color scale seen on the graphic is detected by the optical sensor (6) 15 that their distances are equal at every point and there is no deterioration on the buffer (4) This shows that the degradation in the field of view does not cause distance reductions. This corresponds to the groups of pixels where the concentration is high. In this steady state, the optical sensor (6), It measures the distance to obstacles with high accuracy and is unaffected by any external factors. No distortion occurs in perception. 20 In one application of the invention, Figure 4 shows the bumper (4) moving to the right after impact. It presents the data of its optical sensor (6) at the moment it moves. This movement during this time the field of vision on the right side of the bumper (4) is seen by the optical sensor (6) A significant impairment in perception is observed. This impairment in the field of vision is 25 This corresponds to pixel groups where the distance reductions are concentrated. Color distribution, There is a distortion in the perception of vision on the right side of the buffer (4) and the optical This shows that the sensor (6) has a more limited field of view in this area. This means that the optical sensor (6) detects obstacles on the right side with lower sensitivity and This indicates that the impact came to the right side of the robot vacuum cleaner (1). This data is 30 to the right. 8 The moving buffer (4) seriously affects the detection range of the optical sensor (6) It shows that it has an effect. In one application of the invention, Figure 5 shows the buffer (4) moving to the left after impact. It presents the data of its optical sensor (6) at the moment it moves. In this movement 5 detection of the field of view on the left side of the bumper (4) by the optical sensor (6) A noticeable distortion is occurring. This distortion in the field of vision occurs at a distance. This corresponds to groups of pixels where the drops are concentrated. On the graph, Detection is weak in the left part of the buffer (4) and the optical sensor (6) is in this area It is clearly seen that it has more difficulty detecting obstacles. The areas shown in dark color are 10 The optical sensor's (6) viewing angle and obstacle detection were impaired due to the direction of the impact. This indicates that its capacity has decreased. This movement is a sign to the left side of the robot vacuum cleaner (1). that it received an impact and that this area of ​​the bumper (4) restricted the optical sensor (6)’s view. It shows. In one application of the invention, Figure 6 shows the front surface of the bumper (4) during impact. This shows the movement. In this case, a movement occurs in the front part of the bumper (4). Impact is the situation that most affects the detection range of the optical sensor (6). Graphic The color distribution seen on it is the optical effect of an impact on the front of the bumper (4). This shows that the sensor (6) experienced serious degradation in detection in this area. This 20 The degradation in the field of view corresponds to groups of pixels where distance reductions are concentrated. The dark areas are the result of the impact on the front part of the bumper (4). after which the optical sensor (6) cannot detect obstacles or the measurement accuracy is significantly reduced. It is stated that the scale has dropped. This situation is reflected in the front part of the robot vacuum cleaner (1). The impact is the factor that most affects the optical sensor (6) field of view. 25 It shows. In one application of the invention, the optical sensor (6) is a ToF (time of flight) sensor. ToF Thanks to the window (5) on the sensor (6) on the bumper (4), the robot vacuum cleaner (1) It can detect the distance to obstacles with high accuracy. However, the buffer (4) 30 The movement and direction of impact at the moment of collision determine the viewing angle and detection of the ToF sensor (6). 9 It affects its capacity. The data shown in the figures indicate the direction from which the impact occurred. a detailed explanation of where the ToF sensor (6) is less effective and where it is less effective This shows the obstacles around the robot vacuum cleaner (1). While the detection performance is improved, the ToF sensor (6) after impact is also improved. Deterioration in the data can also be detected. 5 In one application of the invention, the optical sensor (6) receives the incoming data, distance from different angles By providing the data, it determines in which region the obstacle hit the buffer (4). The optical sensor (6) measures the distances from different regions on the buffer (4). By analyzing, it determines the direction and position of the collision. The control unit (7) determines this 10 By analyzing anomalies and changes in the data, we can determine at what point the collision occurred. It determines when it hits one corner of the buffer (4). For example, when it hits one corner of the buffer, the optical in that area The sensor (6) pixel data reports shorter distances than other regions. This difference Thanks to this, the control unit (7) determines on which side and in which direction the collision is taking place. can understand. 15 for identifying contact with the barrier and determining the nature of the contact. In response, the control unit (7) controls the robot vacuum cleaner to avoid obstacles in the environment. (1) can adjust its navigation behavior. The robot vacuum cleaner (1) can also detect overhead obstacles. Communication between the optical sensor (6) and the control unit (7) enables the robot (1) to navigate through obstacles and the ground. It reduces the possibility of getting stuck between the surface. The high optical sensors (6) Due to its sensitivity, buffers (4) using the optical sensors (6) described herein, 20 Number of moving components visible to the user of robot vacuum cleaner (1) can reduce. In addition, due to the high sensitivity of the optical sensors (6), the buffer (4) its displacement is accurately measured by the control unit (7) and thus the total amount of movement of the moving components, for example, mechanical switch-based This can be reduced compared to buffers and / or electromechanical sensor-based buffers. 25 Sensors detect forces along the buffer in a way that can improve the robot's operation. They are designed to react to varying degrees.

Claims

REQUESTS 1. A body (2), an optical sensor (6) located on the front surface (3) of the body, positioned to cover the front surface of the fuselage and withstand impact 5 a movable buffer (4), the optical sensor (6) on the buffer in a way that will align and provide a field of view to the optical sensor including a window opening (5) located on the fuselage (2) positioned and in communication with the optical sensor (6), the optical sensor (6) at least one multi-pixel or single-pixel distance in the field of view and / or 10 from the image containing optical density and / or reflection data reading the data, detecting changes in the data, identifying the greatest change the position of the pixel / pixels where the collision occurred, the buffer of the collision (4) a control unit (7) characterized by matching with the one on the side robot vacuum cleaner (1). 15 2. At least one multi-pixel or single-pixel image in the field of view of the optical sensor (6) examining the image, the decrease in pixels / numbers between the barrier and the buffer. detecting that distances are decreasing, interpreting this as a collision, distance The position of the pixel(s) where the value drops the most, the impact 20 with a control unit (7) that matches which side of the buffer (4) it is on. a robot vacuum cleaner that conforms to the characterized claim 1 (1).

3. At least one multi-pixel or single-pixel image in the field of view of the optical sensor (6) an increase in reflection and / or optical density data obtained from the image According to the arrangement of pixels, the collision of the barrier and buffer (4) occurs Analyzing the information that the distance between the regions is decreasing, and 25 a check that determines which area of ​​the bumper (4) the impact came from A robot vacuum cleaner (1) conforming to claim 1, characterized by unit (7).

4. Changes in distance values ​​when the bumper (4) hits an obstacle. a control unit that determines the moment of impact by monitoring the sudden changes that occur (7) 11 a robot that meets any of the above requirements, characterized by broom (1).

5. The optical sensor (6) is characterized by being a ToF (time of flight) sensor. a robot vacuum cleaner that meets any of the above requirements (1).

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