Optical sensing system and optical sensing method
By using optical sensing systems in the scanning robot, using dark and bright field light sources and calculation programs to accurately detect floor types, solving the problems of detection errors and inaccuracies in the prior art, and achieving higher detection accuracy and reliability.
Patent Information
- Application Number
- CN202410175141.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-10-09
- Filing Date
- 2024-02-07
- Publication Date
- 2025-04-11
AI Technical Summary
Existing sweeping robots are susceptible to non-surface factors when detecting floor types, resulting in erroneous detection, and optical detection methods are inaccurate when facing small-sized obstacles or floor boundaries.
An optical sensing system is adopted, including a bright field light source and a dark field light source, and a scattered light is received through an optical detection circuit, a dark field and bright field calculation program is performed, and the floor type is determined according to the first and second optical characteristics.
Accurate detection of floor types is achieved, avoiding the impact of small-sized obstacles and floor boundaries, and improving the accuracy and reliability of inspection.
Smart Images
Figure CN119804450A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to a system and a method, and in particular to an optical sensing system and an optical sensing method. Background Art
[0002] Existing cleaning robots are able to adjust suction power according to the type of floor to be cleaned. In order to determine the floor type, one or more sensors are provided on the cleaning brush of the cleaning robot to obtain friction force from feedback signals generated by the sensors. However, since the detected friction force is easily affected by certain non-surface related factors (such as brush entanglement), the floor type may be detected incorrectly.
[0003] In addition, in some cleaning robots, light sources with different directions are used to detect the floor type, thereby determining the floor type based on the reflected light received by the optical detector. However, this method of determining the floor type is not accurate because the optical detector may be confused when crossing the boundary between different types of floors or facing small obstacles (e.g., wires). Summary of the invention
[0004] The technical problem to be solved by the present application is to provide an optical sensing system and an optical sensing method to address the deficiencies in the prior art, which can accurately determine the type of floor to be detected and are not affected by small obstacles or floor boundaries.
[0005] In order to solve the above technical problems, one of the technical solutions adopted in this application is to provide
[0006] An optical sensing system, the optical sensing system comprising: a bright field light source; a dark field light source; an optical detection circuit; and a processing circuit, configured to execute a floor type detection procedure, including: controlling the dark field light source to provide dark field illumination to the floor in a target area; receiving scattered light of the dark field light source from the floor in the target area through the optical detection circuit; executing a dark field calculation procedure to obtain a first optical property of the target area based on the received scattered light of the dark field light source, and determining whether the first optical property meets a first surface condition; in response to determining that the first optical property of the floor in the target area does not meet the first surface condition, determining whether the floor in the target area meets the first surface condition; the floor type of the floor being a first type; in response to determining that the first optical characteristic of the floor in the target area satisfies the first surface condition, controlling the bright field light source to provide bright field illumination to the floor in the target area; receiving scattered light from the bright field light source of the floor in the target area through the optical detection circuit; executing a bright field calculation program to obtain a second optical characteristic of the target area based on the received scattered light of the bright field light source, and determining whether the second optical characteristic satisfies a second surface condition; and in response to determining that the second optical characteristic satisfies the second surface condition, determining that the floor type of the floor in the target area is a second type.
[0007] Optionally, the dark field light source and the bright field light source are located in a dark field and a bright field respectively, and the dark field and the bright field are defined by a field of view of the optical detection circuit located below the sweeper housing.
[0008] Optionally, the dark field calculation procedure includes: acquiring the light intensity of the scattered light of the dark field light source received by the optical detection circuit; and summing the light intensities obtained from the target area to obtain an overall intensity.
[0009] Optionally, the overall intensity of the target area is used as the first optical characteristic, and the step of determining whether the first optical characteristic satisfies the first surface condition includes: determining whether the overall intensity is greater than or equal to a first threshold; in response to determining that the overall intensity is greater than or equal to the first threshold, determining that the first optical characteristic satisfies the first surface condition; and in response to determining that the overall intensity is not greater than or equal to the first threshold, determining that the first optical characteristic does not satisfy the first surface condition.
[0010] Optionally, the bright field light source includes a line light source.
[0011] Optionally, the bright field calculation program includes: obtaining an optical profile of the floor in the target area according to the light intensity of the scattered light of the bright field light source received by the optical detection circuit.
[0012] Optionally, the optical profile of the floor in the target area is used as the second optical characteristic, and the step of determining whether the second optical characteristic satisfies the second surface condition includes: obtaining the difference between the optical profile of the target area and a reference optical profile; and determining whether the difference exceeds a second threshold; in response to determining that the difference exceeds the second threshold, determining that the second optical characteristic satisfies the second surface condition; and in response to determining that the difference does not exceed the second threshold, determining that the second optical characteristic does not satisfy the second surface condition.
[0013] Optionally, the floor type detection program further includes: in response to determining that the second optical characteristic does not satisfy the second surface condition, determining that the floor type is the first type.
[0014] Optionally, the first type comprises hard floors and the second type comprises carpets.
[0015] In order to solve the above technical problems, another technical solution adopted by the present application is to provide an optical sensing method, which includes: configuring a processing circuit to execute a floor type detection program, including: controlling a dark field light source to provide dark field illumination to the floor in a target area; receiving scattered light of the dark field light source from the floor in the target area through an optical detection circuit; executing a dark field calculation program to obtain a first optical property of the target area according to the received scattered light of the dark field light source, and determining whether the first optical property meets a first surface condition; in response to determining that the first optical property of the floor in the target area does not meet the first surface condition, determining that the target area The floor type of the floor in the target area is a first type; in response to determining that the first optical characteristic of the floor in the target area satisfies the first surface condition, controlling a bright field light source to provide bright field illumination to the floor in the target area; receiving scattered light from the bright field light source of the floor in the target area through the optical detection circuit; executing a bright field calculation program to obtain a second optical characteristic of the target area according to the received scattered light of the bright field light source, and determining whether the second optical characteristic satisfies a second surface condition; and in response to determining that the second optical characteristic satisfies the second surface condition, determining that the floor type of the floor in the target area is a second type.
[0016] Optionally, in the optical sensing method, the dark field light source and the bright field light source are located in a dark field and a bright field respectively, and the dark field and the bright field are defined by the field of view of the optical detection circuit located below the sweeper housing.
[0017] Optionally, in the optical sensing method, the dark field calculation procedure includes: acquiring the light intensity of the scattered light of the dark field light source; and summing the light intensity of the scattered light of the dark field light source to obtain an overall intensity.
[0018] Optionally, in the optical sensing method, the overall intensity of the target area is used as the first optical characteristic, and the step of determining whether the first optical characteristic satisfies the first surface condition includes: determining whether the overall intensity is greater than or equal to a first threshold; in response to determining that the overall intensity is greater than or equal to the first threshold, determining that the first optical characteristic satisfies the first surface condition; and in response to determining that the overall intensity is not greater than or equal to the first threshold, determining that the first optical characteristic does not satisfy the first surface condition.
[0019] Optionally, in the optical sensing method, the bright field light source includes a line light source.
[0020] Optionally, in the optical sensing method, the bright field calculation procedure includes: obtaining the optical profile of the floor in the target area according to the light intensity of the received scattered light of the bright field light source.
[0021] Optionally, in the optical sensing method, the optical profile of the floor in the target area is used as the second optical characteristic, and the step of determining whether the second optical characteristic satisfies the second surface condition includes: obtaining the difference between the optical profile of the target area and a reference optical profile; and determining whether the difference exceeds a second threshold; in response to determining that the difference exceeds the second threshold, determining that the second optical characteristic satisfies the second surface condition; and in response to determining that the difference does not exceed the second threshold, determining that the second optical characteristic does not satisfy the second surface condition.
[0022] Optionally, in the optical sensing method, the floor type detection procedure further includes: in response to determining that the second optical characteristic does not satisfy the second surface condition, determining that the floor type is the first type.
[0023] Optionally, in the optical sensing method, the first type includes hard floors and the second type includes carpets.
[0024] To further understand the features and technical contents of the present application, please refer to the following detailed description and drawings of the present application. However, the drawings provided are only for reference and illustration and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 is a schematic diagram of an autonomous robot including a cleaning system according to an embodiment of the present application.
[0026] Figure 2 FIG. 4 is a block diagram of a cleaning system according to an embodiment of the present application.
[0027] Figure 3 is a bottom view of an autonomous robot including a cleaning system according to an embodiment of the present application.
[0028] Figure 4 is along Figure 3 A schematic cross-sectional view taken along line segment IV-IV.
[0029] Figure 5 Flow chart of an optical sensing method according to an embodiment of the present application.
[0030] Fig. 6A and Figure 6B A schematic diagram of an image of a floor with tiles and an image acquired by an optical detection circuit according to an embodiment of the present application.
[0031] Fig. 7A and Figure 7B FIG. 1 is a schematic diagram of an image of a carpeted floor and an image captured by an optical detection circuit according to an embodiment of the present application.
[0032] Fig. 8A and Figure 8B FIG. 1 is a schematic diagram of a wooden floor image and an image acquired by an optical detection circuit according to an embodiment of the present application.
[0033] Fig. 9A and Fig. 9B The diagram is a schematic diagram showing how to obtain the center of gravity from a wooden floor and a carpet respectively by processing an image captured by an optical detection circuit according to an embodiment of the present application. DETAILED DESCRIPTION
[0034] The following is an explanation of the implementation methods of the "optical sensing system and optical sensing method" disclosed in the present application through specific examples. Those skilled in the art can understand the advantages and effects of the present application from the contents disclosed in this specification. The present application can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the concept of the present application. In addition, the drawings of the present application are only simple schematic illustrations and are not depicted in actual size. It is stated in advance. The following implementation methods will further explain the relevant technical content of the present application in detail, but the disclosed content is not intended to limit the scope of protection of the present application. In addition, the term "or" used in this article may include any one or more combinations of the associated listed items depending on the actual situation.
[0035] Figure 1 is a schematic diagram of an autonomous robot including a cleaning system according to an embodiment of the present application, Figure 2 is a block diagram of a cleaning system according to an embodiment of the present application. Figure 3 is a bottom view of an autonomous robot including a cleaning system according to an embodiment of the present application.
[0036] refer to Figures 1 to 3 As shown, one embodiment of the present application provides a cleaning system 100, which includes a cleaning device housing 1, an air extraction device 2, a cleaning tool 3, an optical sensor system 4, a storage device 5 and a controller 6. The cleaning system 100 may be a cleaning system having Figure 1 An autonomous robot with a cylindrical cleaner housing 1 is shown.
[0037] The air extraction device 2 may be disposed in the cleaner housing 1 and include a fan motor assembly 21 disposed in an air flow passage in the cleaner housing 1. Specifically, the fan motor assembly 21 may generate suction under the control of the controller 6, thereby sucking in air together with dust from the suction hole 21 formed near the bottom of the cleaner housing 1 on the floor.
[0038] The cleaning tool 3 may include one or more cleaning members driven by one or more motors controlled by the controller 6 and rotatably contacting the floor surface to agitate and extract debris.
[0039] The optical sensing system 4 is disposed at the bottom of the cleaner housing 1 , and includes an optical detection circuit 40 , a bright field light source 42 , a dark field light source 44 and a processing circuit 46 .
[0040] Figure 4 is along Figure 3 A schematic cross-sectional view taken along line segment IV-IV of FIG. Figure 4 As shown, the optical detection circuit 40 can be disposed at the bottom of the cleaner housing 1 and can be used to receive light reflected from the floor FL in the target area TA. The optical detection circuit 40 can be an optical sensor, such as an image sensor including a plurality of image sensor units (e.g., photodiodes), such as a complementary metal oxide semiconductor (CMOS) or a charge coupled device (CCD) sensor chip. The optical detection circuit 40 can also be configured to convert an optical signal into an electrical signal.
[0041] Specifically, the optical detection circuit 40 can be set on the platform 41 so as to be spaced a predetermined distance from the floor FL. The optical detection circuit 40 has a field of view (FOV), which is an observable area related to the predetermined distance. That is, the FOV is the maximum area that the optical detection circuit 40 can capture.
[0042] like Figure 4As shown, the space below the bottom of the cleaner housing 1 is divided into two spaces, i.e. bright field BF and dark field DF. The light source arranged in the bright field is called bright field illumination, which involves setting the directional light at an angle between 90 degree and 45 degree relative to the imaging surface (deviation from the horizontal). On the contrary, the light source arranged in the dark field DF is called dark field illumination, which involves setting the directional light at an angle between 0 degree and 45 degree from the horizontal. However, the application is not limited to this. In certain embodiments, the incident light incident at a very low angle (as low as 10-15 degree) relative to the floor FL surface can be used as dark field illumination, and the light source of the incident light incident at an angle between 90 degree and 10-15 degree can be used as bright field illumination.
[0043] More specifically, the bright field BF may be defined by the position of a light source having an optical path that can enter the optical detection circuit 40 from the field of view, while the dark field DF may be defined by the position of a light source having an optical path that cannot enter the optical detection circuit 40 from the field of view.
[0044] Therefore, the bright field light source 42 may include one or more light emitting devices, such as a light bulb or a light emitting diode, and the bright field light source 42 may be arranged in a bright field BF defined by the field of view of the optical detection circuit 40, and the field of view is located below the cleaner housing 1. In this embodiment, the bright field light source 42 may include a linear light source formed by one or more light emitting devices. It should be noted that the linear light source has a linear pattern, and the light emitted by the linear light source irradiates an object with multiple light spots to form a line, and such a pattern can be used for floor type detection below.
[0045] Similarly, the dark field light source 44 may also include one or more light emitting devices, such as bulbs or light emitting diodes, and may be disposed in a dark field BF defined by the field of view of the optical detection circuit 40 , and the field of view is located below the cleaner housing 1 .
[0046] It should also be noted that, under the control of the controller 6 , the brightfield light source 42 is arranged to provide brightfield illumination on the floor FL in the target area TA, and the darkfield light source 44 is arranged to provide darkfield illumination on the floor FL in the target area TA.
[0047] The processing circuit 46 is electrically connected to the optical detection circuit 40, the bright field light source 42, and the dark field light source 44. The processing circuit 46 can be, for example, a central processing unit (CPU), or other programmable general or special microprocessors, digital signal processors (DSPs), programmable controllers, application specific integrated circuits (ASICs), programmable logic devices (PLDs), graphics processing units (GPUs), other similar devices, or combinations of these devices. The processing circuit 46 can be configured to execute a floor type detection program, the details of which will be explained in conjunction with the following description.
[0048] The memory 5 may be configured to store images, program codes, software modules and other data. For example, the memory 5 may be any type of fixed or removable random access memory (RAM), read-only memory (ROM), flash memory, hard disk or other similar device, integrated circuit and combination thereof.
[0049] The controller 6 is electrically connected to the air extraction device 2, the cleaning tool 3, the optical sensing system 4 and the memory 5. The controller 6 may include, for example, a central processing unit (CPU), or other programmable general or special microprocessors, digital signal processors (DSPs), programmable controllers, application specific integrated circuits (ASICs), programmable controller logic devices (PLDs), graphics processing units (GPUs), other similar devices, or combinations of these devices. The controller 6 may execute program codes, software modules, instructions, etc. recorded in the memory 5 to implement the optical sensing method according to an embodiment of the present application.
[0050] In this embodiment, the cleaning system 100 further includes a drive system 7 disposed in the cleaner housing 1 and electrically connected to the controller 6. The drive system 7 includes a plurality of wheels 72 and a motor 71, and the motor 71 is configured to drive the plurality of wheels 72 to move or rotate the cleaner housing 1 (autonomous robot). It should be noted that the controller 6 can be configured to control the above components.
[0051] In addition, the cleaning system 100 further includes a communication circuit 8 disposed in the cleaner housing 1. The communication circuit 8 may be configured to be communicatively connected (e.g., wirelessly connected) to a user's mobile device 9. Therefore, information associated with the floor type of the floor FL to be cleaned (i.e., the floor FL located in the target area TA) and the magnitude of the suction force used by the suction device 2 may be transmitted between the controller 6 and the mobile device 9 via the communication circuit 8. In a particular embodiment, the communication circuit 8 may be a short-range or long-range wireless communication circuit that supports a plurality of wireless communication protocols, such as 3G, 4G, 5G networks, Bluetooth, WIFI, etc.
[0052] The mobile device 9 may be, for example, a computer, a laptop, or a smart phone. For some usage scenarios, a cleaner management application may be installed in the mobile device 9 and executed to provide a user with a user interface for controlling the cleaning system 100, including functions such as power on / off, setting a cleaning strategy that defines the cleaning frequency of a target area and / or a cleaning route.
[0053] Please refer to Figure 5 , Figure 5 Flow chart of an optical sensing method according to an embodiment of the present application. According to an idea of the present application, the optical sensing system and the optical sensing method according to the present embodiment can accurately determine the type of the floor to be detected without being affected by small obstacles or floor boundaries.
[0054] like Figure 5 As shown, in the optical sensing method provided by the present application, the processing circuit 46 is used to execute a floor type detection procedure, including the following steps:
[0055] Step S500: Control the dark field light source to provide dark field illumination to the ground of the target area.
[0056] For example, when the autonomous robot moves, the floor FL to be cleaned enters the field of view of the optical detection circuit 40 , and the processing circuit 46 turns on the dark field light source 44 and turns off the bright field light source 42 .
[0057] Step S501: receiving scattered light of a dark-field light source from a floor in a target area through an optical detection circuit.
[0058] Step S502: executing a dark field calculation program to obtain a first optical characteristic of the target area according to the received scattered light of the dark field light source.
[0059] In step S502, the processing circuit 46 may execute a dark field calculation program to obtain multiple light intensities of multiple scattered lights of the dark field light source 44, and statistically calculate all light intensities obtained from the target area TA, thereby obtaining a first optical characteristic indicating the surface condition of the floor in the target area TA.
[0060] Fig. 6A and Figure 6B A schematic diagram of an image of a floor with tiles and an image acquired by an optical detection circuit according to an embodiment of the present application.
[0061] In this embodiment, when the dark field light source 44 is turned on, a hard floor can be illuminated in a dark field, for example Fig. 6A At this time, the multiple scattered lights from the dark field light source 44 of the tiles in the target area TA can be captured by the optical detection circuit 40, and multiple light intensities can be obtained accordingly, such as Figure 6B The image shown. Figure 6B The overall intensity can be obtained by summing up the multiple light intensities obtained in the image, and is used as the first optical characteristic to indicate the surface condition of the floor FL in the target area TA.
[0062] Go to step S503: determine whether the first optical characteristic satisfies the first surface condition.
[0063] In step S503, when the overall intensity of the target area TA is used as the first optical characteristic at this time, it can be determined in step S503 whether the overall intensity is greater than or equal to the first threshold, thereby determining whether the first optical characteristic satisfies the first surface condition. For example, the first surface condition may be an optical condition showing that most of the dark field illumination is reflected from the floor in the target area without entering the optical detection circuit 40. Therefore, the first threshold corresponding to the first surface condition may be a predetermined light intensity having a relatively small value.
[0064] In response to determining in step S503 that the optical characteristic of the floor in the target area does not satisfy the first surface condition, the optical sensing method proceeds to step S504: determining that the floor type of the floor in the target area is the first type.
[0065] by Figure 6B As most hard floors (e.g., tiles) have relatively smooth and flat surfaces, dark field illumination on the floor FL may generate very little scattered light entering the optical detection circuit 40. A small amount of reflected light may cause Figure 6B The dark image shown, and thus the summed overall light intensity may be less than a first threshold.
[0066] Fig. 7A and Figure 7B FIG. 1 is a schematic diagram of an image of a carpeted floor and an image captured by an optical detection circuit according to an embodiment of the present application.
[0067] The floor covered with carpet has a relatively rough and hairy surface, and compared with the floor with tiles, the dark field illumination provided on the floor FL with carpet can generate more scattered reflected light. After the reflected light enters the optical detection circuit 40, the following can be obtained: Figure 7B The bright image shown, and the overall light intensity obtained from the summation thereof is greater than the first threshold.
[0068] Therefore, by comparing the first threshold with the overall light intensity statistically calculated from the optical characteristics of the floor in the target area TA, most types of flat smooth hard floors can be determined. Since the processing circuit 46 only utilizes dark field illumination and low complexity mathematical operations, high reporting rates and low power consumption can be achieved.
[0069] However, some types of hard floors may have a textured surface, so floor type detection may be confounded by considering only overall light intensity.
[0070] Fig. 8A and Figure 8B FIG. 1 is a schematic diagram of a wooden floor image and an image acquired by an optical detection circuit according to an embodiment of the present application.
[0071] refer to Fig. 8A and Figure 8B As shown, it is known that a wooden floor has a surface with a wood texture, so dark field lighting provided on such a floor FL may generate more scattered light than light scattered from a floor with tiles. When the reflected light enters the optical detection circuit 40, a bright image with a wood texture may be captured, such as Figure 8B As shown. Therefore, the overall light intensity obtained from the wooden floor may be greater than the first threshold, which is the same as the result obtained from the carpet. In this case, since the optical conditions of the wooden floor and the carpet are similar, the floor type may be detected incorrectly, so a determination mechanism is also required for the floor type detection procedure.
[0072] Therefore, when it is determined in step S503 that the optical properties of the floor in the target area meet the first surface condition, for example, the overall light intensity is greater than or equal to the first threshold, the optical sensing method can further proceed to step S505: controlling the bright field light source to provide bright field illumination to the floor in the target area.
[0073] In step S505 , the processing circuit 46 turns on the bright field light source 42 and turns off the dark field light source 44 .
[0074] Next, the optical sensing method proceeds to step S506: receiving scattered light of the bright field light source from the floor in the target area through the optical detection circuit.
[0075] Step S507: executing a bright field calculation program to obtain a second optical characteristic of the target area according to the received scattered light of the bright field light source.
[0076] In step S507 , according to the multiple light intensities of the multiple scattered lights of the bright field light source 42 received by the optical detection circuit 40 , the optical profile of the floor of the target area can be obtained in the bright field calculation program.
[0077] For example, when the bright field light source 42 is turned on and provides bright field illumination on the floor FL in the target area TA, the line light source having a line pattern is reflected by the floor FL, so that the optical detection circuit 40 can obtain an image by capturing the scattered light of the bright field light source 42, and a light pattern corresponding to the line pattern can appear in the obtained image.
[0078] Next, the optical profile can be obtained by processing the obtained image. Specifically, each column of pixels in the obtained image is processed to determine the center of gravity position of the light pattern in each column of pixels, and the center of gravity position is used as the optical profile of the floor FL in the target area TA.
[0079] Fig. 9A and Fig. 9B The diagram is a schematic diagram showing how to obtain the center of gravity from a wooden floor and a carpet respectively by processing an image captured by an optical detection circuit according to an embodiment of the present application.
[0080] refer to Fig. 9A and Fig. 9B , a linear light source is generally used to measure the distance between a sensor and an object based on the position of the center of gravity of a captured light pattern. In the present application, a linear light source is specifically used to measure the surface condition of a floor FL in a target area TA. Fig. 9A It can be seen that since the wooden floor is relatively flat, the center of gravity position obtained from the line pattern can be uniform. Fig. 9B In the example, because the carpet is rough and hairy, the center of gravity position obtained from the line pattern is variable and lacks smoothness or regularity.
[0081] Step S508: Determine whether the second optical characteristic satisfies the second surface condition.
[0082] In step S508, the optical profile obtained in step S507 may be compared with a reference optical profile. By experimentally providing bright field illumination on various types of hard floors, and then acquiring and counting the center of gravity positions, a reference optical profile may be established in advance. Therefore, the difference between the optical profile of the floor FL in the target area TA and the reference optical profile may be obtained and used to determine the floor type. For example, the position difference between the center of gravity position of each column of pixels in the optical profile and the center of gravity position of each column of pixels in the reference optical profile may be obtained, and the average of multiple position differences may be taken as the difference in step S508.
[0083] Then, it is determined whether the difference exceeds a second threshold. For example, the second threshold can be established in advance by experimentally testing various types of hard floors and carpets and obtaining their optical profiles.
[0084] In response to determining in step S508 that the second optical characteristic satisfies the second surface condition, for example, Fig. 9B As shown, if it is determined that the difference exceeds the second threshold, the optical sensing method enters step S509: determining that the floor type of the floor in the target area is the second type, for example, carpet.
[0085] In response to determining in step S508 that the second optical characteristic does not satisfy the second surface condition, for example, Fig. 9A As shown, if it is determined that the difference does not exceed the second threshold, the optical sensing method enters step S510: determining that the floor type of the floor in the target area is the first type. That is, a hard floor such as a wooden floor. It should be noted that the first type includes various types of hard floors, and the second type includes carpets or any other fabric material used to cover the floor.
[0086] In this way, the floor type can be accurately detected without being affected by the fact that the optical conditions of wooden floors and carpets are similar. In such a determination mechanism, when the autonomous robot crosses the boundary between different types of floors or faces a small-sized obstacle, the optical sensing system 4 will not be confused because the area to be detected (i.e., the floor FL of the target area TA) is located below the cleaner housing 1.
[0087] [Beneficial Effects of Embodiments]
[0088] In summary, the optical sensing system and optical sensing method provided by the present application can utilize dark field illumination and mathematical operations to determine most types of flat, smooth and hard floors, and can achieve low complexity, high reporting rate and low power consumption.
[0089] In addition, for certain types of floors, the floor type can be accurately detected using bright field lighting and optical profile processing without being affected by the fact that the optical conditions of different types of floors are similar, and the optical sensing system and optical sensing method provided by the present application will not be confused when the autonomous robot crosses the boundary between different types of floors or faces small obstacles.
[0090] The contents disclosed above are only preferred feasible embodiments of the present application and are not intended to limit the claims of the present application. Therefore, all equivalent technical changes made using the contents of the present application specification and drawings are included in the claims of the present application.
Claims
1. An optical sensing system, characterized in that: The optical sensing system comprises: Bright field light source; Dark field light source; optical detection circuit; and A processing circuit configured to perform a floor type detection procedure, comprising: controlling the dark-field light source to provide dark-field illumination to the floor in the target area; receiving scattered light from the dark-field light source from the floor in the target area via an optical detection circuit; executing a dark field calculation program to obtain a first optical property of the target area according to the received scattered light of the dark field light source, and determining whether the first optical property satisfies a first surface condition; In response to determining that the first optical characteristic of the floor in the target area does not satisfy the first surface condition, determining that the floor type of the floor in the target area is a first type; In response to determining that the first optical characteristic of the floor in the target area satisfies the first surface condition, controlling the bright field light source to provide bright field illumination to the floor in the target area; receiving, by the optical detection circuit, scattered light from the brightfield light source of the floor in the target area; executing a bright field calculation program to obtain a second optical property of the target area according to the received scattered light of the bright field light source, and determining whether the second optical property satisfies a second surface condition; and In response to determining that the second optical characteristic satisfies the second surface condition, it is determined that the floor type of the floor in the target area is a second type.
2. The optical sensing system according to claim 1, characterized in that: The dark field light source and the bright field light source are located in a dark field and a bright field, respectively, and the dark field and the bright field are defined by the field of view of the optical detection circuit located below the sweeper housing.
3. The optical sensing system according to claim 1, characterized in that: The dark field calculation procedure includes: acquiring the light intensity of the scattered light of the dark-field light source received by the optical detection circuit; and The light intensities obtained from the target area are summed to obtain an overall intensity.
4. The optical sensing system according to claim 3, characterized in that: The overall intensity of the target area is used as the first optical characteristic, and the step of determining whether the first optical characteristic satisfies the first surface condition comprises: determining whether the overall strength is greater than or equal to a first threshold; In response to determining that the overall intensity is greater than or equal to the first threshold, determining that the first optical characteristic satisfies the first surface condition; and In response to determining that the overall intensity is not greater than or equal to the first threshold, it is determined that the first optical characteristic does not satisfy the first surface condition.
5. The optical sensing system according to claim 1, characterized in that: The bright field light source includes a line light source.
6. The optical sensing system according to claim 5, characterized in that: The bright field calculation procedure includes: The optical profile of the floor in the target area is obtained according to the light intensity of the scattered light of the bright field light source received by the optical detection circuit.
7. The optical sensing system according to claim 6, characterized in that: The optical profile of the floor in the target area is used as the second optical characteristic, and the step of determining whether the second optical characteristic satisfies the second surface condition comprises: obtaining a difference between the optical profile of the target area and a reference optical profile; and determining whether the difference exceeds a second threshold; In response to determining that the difference exceeds a second threshold, determining that the second optical characteristic satisfies the second surface condition; and In response to determining that the difference does not exceed the second threshold, it is determined that the second optical characteristic does not satisfy the second surface condition.
8. The optical sensing system according to claim 7, characterized in that: The floor type detection procedure also includes: In response to determining that the second optical characteristic does not satisfy the second surface condition, the floor type is determined to be the first type.
9. The optical sensing system according to claim 1, characterized in that: The first type includes hard floors and the second type includes carpets.
10. An optical sensing method, characterized in that: The optical sensing method comprises: The processing circuit is configured to perform a floor type detection procedure including: controlling the dark field light source to provide dark field illumination to the floor in the target area; receiving scattered light from the dark-field light source from the floor in the target area via an optical detection circuit; executing a dark field calculation program to obtain a first optical property of the target area according to the received scattered light of the dark field light source, and determining whether the first optical property satisfies a first surface condition; In response to determining that the first optical characteristic of the floor in the target area does not satisfy the first surface condition, determining that the floor type of the floor in the target area is a first type; In response to determining that the first optical characteristic of the floor in the target area satisfies the first surface condition, controlling a bright field light source to provide bright field illumination to the floor in the target area; receiving, by the optical detection circuit, scattered light from the brightfield light source of the floor in the target area; executing a bright field calculation program to obtain a second optical property of the target area according to the received scattered light of the bright field light source, and determining whether the second optical property satisfies a second surface condition; and In response to determining that the second optical characteristic satisfies the second surface condition, it is determined that the floor type of the floor in the target area is a second type.
11. The optical sensing method according to claim 10, characterized in that: The dark field light source and the bright field light source are located in a dark field and a bright field, respectively, and the dark field and the bright field are defined by the field of view of the optical detection circuit located below the sweeper housing.
12. The optical sensing method according to claim 10, characterized in that: The dark field calculation procedure includes: Acquiring the light intensity of the scattered light of the dark-field light source; and The light intensities of the scattered light of the dark field light source are summed to obtain an overall intensity.
13. The optical sensing method according to claim 12, characterized in that: The overall intensity of the target area is used as the first optical characteristic, and the step of determining whether the first optical characteristic satisfies the first surface condition comprises: determining whether the overall strength is greater than or equal to a first threshold; In response to determining that the overall intensity is greater than or equal to the first threshold, determining that the first optical characteristic satisfies the first surface condition; and In response to determining that the overall intensity is not greater than or equal to the first threshold, it is determined that the first optical characteristic does not satisfy the first surface condition.
14. The optical sensing method according to claim 10, characterized in that: The bright field light source includes a line light source.
15. The optical sensing method according to claim 13, characterized in that: The bright field calculation procedure includes: An optical profile of the floor in the target area is obtained according to the light intensity of the scattered light received from the bright field light source.
16. The optical sensing method according to claim 15, characterized in that: The optical profile of the floor in the target area is used as the second optical characteristic, and the step of determining whether the second optical characteristic satisfies the second surface condition comprises: obtaining a difference between the optical profile of the target area and a reference optical profile; and determining whether the difference exceeds a second threshold; In response to determining that the difference exceeds a second threshold, determining that the second optical characteristic satisfies the second surface condition; and In response to determining that the difference does not exceed the second threshold, it is determined that the second optical characteristic does not satisfy the second surface condition.
17. The optical sensing method according to claim 16, characterized in that: The floor type detection procedure also includes: In response to determining that the second optical characteristic does not satisfy the second surface condition, the floor type is determined to be the first type.
18. The optical sensing method according to claim 10, characterized in that: The first type includes hard floors and the second type includes carpets.