Cleaning Robot Sensor Layout to Eliminate Reflection Interference
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Solution Overview
Problem
Conventional cleaning robots are unable to accurately detect two-dimensional depth information and calculate wall distances efficiently, leading to frequent collisions with obstacles and potential damage.
Innovation Solution
The cleaning robot employs a light source module to project horizontal and vertical line patterns, which are captured by an image sensor. A processor then calculates depth information and identifies inclined states by analyzing the images of these patterns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional cleaning robots use multiple different sensors to detect front distance and wall distance, then they can obtain distance information, but the field of views between different sensors have dead zones that cannot detect any obstacle, causing frequent collisions
Solution Approach 1:
The patent combines multiple sensors (time of flight sensor, image sensor, and optional infrared sensor) into an integrated sensing system with a unified field of view. The time of flight sensor provides depth information while the image sensor captures visual data, and their fields of view are overlapped to eliminate dead zones. This merging allows the robot to detect obstacles comprehensively without gaps, resolving the contradiction between measurement precision and collision avoidance reliability.
2Measurement precision
If conventional cleaning robots use one-dimensional depth information detection, then they can detect distance, but they are unable to identify the appearance of the obstacles
Solution Approach 1:
The image sensor serves multiple functions simultaneously: it captures obstacle appearance information for identification, provides visual data for navigation, and works in conjunction with the time of flight sensor to enhance depth measurement. This multi-functionality allows the system to obtain both precise depth information and comprehensive obstacle appearance data without requiring separate dedicated sensors for each function.
3Device complexity
If the light source module is arranged at a position higher than the image sensor, then the structure is simplified, but reflection interference from the work surface affects the image quality
Solution Approach 1:
The patent employs an asymmetric vertical arrangement where the light source module is positioned below the image sensor rather than above it. This asymmetric configuration causes the projected light pattern to illuminate the work surface from a lower angle, directing reflections away from the image sensor's field of view. This asymmetric positioning eliminates reflection interference while maintaining structural simplicity, resolving the contradiction between device complexity and image quality.
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
This solution enables the cleaning robot to accurately detect two-dimensional depth information and maintain a consistent wall distance, reducing collisions and extending the robot's service life.
Implementation Method 1
The light source module is configured to project a horizontal line pattern toward the moving direction and perpendicular to the housing front edge. The image sensor is configured to acquire an image of the horizontal line pattern toward the moving direction
Implementation Method 2
The light source module is configured to project a vertical line pattern toward a moving direction. The image sensor is configured to acquire an image of the vertical line pattern toward the moving direction, wherein a first part of the vertical line pattern is projected on a work surface, and a second part of the vertical line pattern is projected on an obstacle surface
Data Source
AI summary
There is provided a cleaning robot including a light source module and an image sensor. The light source module projects a horizontal line pattern toward a moving direction. The image sensor captures, toward the moving direction, an image of the horizontal line pattern. The light source module is arranged below the image sensor so as to eliminate the interference from second reflection.