Cleaning robot capable of detecting 2D depth information and operating method thereof
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Solution Overview
Problem
Conventional cleaning robots can only detect one-dimensional depth information and often bump into obstacles due to dead zones between different sensors, which can cause damage and shorten their service lifetime.
Innovation Solution
A cleaning robot equipped with a light source module that projects both a line pattern and a speckle pattern using diffractive optical elements, allowing a single image sensor to capture and process two-dimensional depth information, enabling the robot to detect obstacles and maintain a predetermined distance from walls without additional sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple different sensors are used to detect front distance and wall distance, then detection coverage is improved, but dead zones between sensors cause frequent bumping into obstacles
Solution Approach 1:
The patent combines multiple detection functions (front distance detection and wall distance detection) into a single image sensor by projecting different light patterns (line pattern for front distance, speckle pattern for wall distance). This merging eliminates the dead zones between separate sensors and ensures continuous detection coverage without bumping into obstacles.
Solution Approach 2:
The image sensor is designed to perform multiple functions: detecting front obstacles using line pattern projection and detecting wall distance using speckle pattern projection. This multi-functional approach allows a single sensor to replace multiple specialized sensors, eliminating detection gaps while maintaining comprehensive monitoring capability.
2Device complexity
If conventional sensors are used for obstacle detection, then simple detection is achieved, but the robot cannot identify the appearance of obstacles
Solution Approach 1:
The patent transitions from one-dimensional depth detection to two-dimensional depth detection by using image sensors to capture spatial distribution of reflected light patterns. This dimensional enhancement allows the system to not only measure distance but also identify obstacle appearance characteristics through the spatial arrangement of reflected light.
3Device complexity
If a single image sensor is used to detect both front and wall distance, then device complexity is reduced, but detection accuracy may be compromised
Solution Approach 1:
The patent segments the detection task by using different light patterns for different detection purposes: line pattern projection for front obstacle detection and speckle pattern projection for wall distance detection. This segmentation allows a single image sensor to accurately perform multiple detection functions by processing different optical patterns separately.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot effectively detects and avoids obstacles, including transparent ones, and maintains a consistent distance from walls, reducing bumping incidents and extending its service life by utilizing a single image sensor to capture and process both patterns.
Implementation Method 1
a light source module (11) used to provide a line pattern (T1) and a speckle pattern (T2)... a first diffractive optical element (113T1)... a second diffractive optical element (113T2)
Data Source
AI summary
There is provided a cleaning robot including a light source module, an image sensor and a processor. The light source module projects a line pattern and a speckle pattern toward a moving direction. The image sensor captures an image of the line pattern and an image of the speckle pattern. The processor calculates one-dimensional depth information according to the image of the line pattern and calculates two-dimensional depth information according to the image of the speckle pattern.