Camera-Based Bumper Position Detection for Cleaning Robots
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Solution Overview
Problem
Existing cleaning devices, particularly cleaning robots, face challenges in efficiently and accurately detecting the deflection of their bumpers without the need for additional, costly shock sensors that require installation space.
Innovation Solution
A control unit uses a camera to capture image data of reference points on the bumper, determining its position and orientation relative to the cleaning device, eliminating the need for dedicated impact sensors by leveraging image analysis and mapping functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a dedicated impact sensor is installed to detect bumper deflection, then the reliability of obstacle detection is improved, but the device complexity and cost increase
Solution Approach 1:
The patent merges the obstacle detection function with the existing camera system by having the camera capture images of reference points on the bumper. This combines multiple functions (obstacle detection and bumper position monitoring) into a single sensor system, eliminating the need for a dedicated impact sensor while maintaining detection reliability
Solution Approach 2:
The camera system is given multiple functions: it serves both as an obstacle detection device and as a bumper position sensor. By making the camera multi-functional, the patent reduces the total number of sensors needed while maintaining the reliability of obstacle detection through the existing camera infrastructure
2Measurement precision
If a dedicated impact sensor is installed to detect bumper deflection, then the measurement precision of bumper position is improved, but the device complexity and space requirements increase
Solution Approach 1:
The patent uses visual copying by capturing images of reference points on the bumper with the camera. Instead of using a physical sensor to measure bumper position, the system creates a visual copy (image) of the reference points and analyzes their position in the image data to determine bumper deflection with high precision
Solution Approach 2:
The patent replaces the mechanical impact sensor system with an optical measurement system. By using the camera to capture and analyze images of reference points, the system substitutes mechanical sensing with optical field-based measurement, achieving high precision without the complexity of dedicated mechanical sensors
3Reliability
If the camera is concealed by the bumper to protect it, then the reliability of the camera is improved, but the camera's detection area is reduced
Solution Approach 1:
The patent implements a nested structure where the camera is positioned within the bumper assembly. The bumper housing contains the camera while providing protection, and reference points are placed on the bumper surface within the camera's detection area, allowing the camera to be both protected and functional
Solution Approach 2:
The patent applies local quality by placing reference points at specific locations on the bumper that are visible to the camera. The bumper structure is designed with specific regions (transparent or open areas) that allow camera access to reference points while other regions provide protection, optimizing both protection and detection area
Data Source
Figure 1a~1b
Figure 1c~2
Figure 3a~4
AI summary
A control unit (130) for determining position information regarding the position of a bumper (105) that is movably mounted on a cleaning device (100) is described. The control unit (130) is configured to use a camera (200) of the cleaning device (100) to acquire image data regarding one or more reference points (300) that are fixedly connected to the bumper (105) and to determine the position information regarding the position of the bumper (105) based on the image data.