Cross-Pattern Optical Sensing for Mobile Robot Cliff Detection
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Solution Overview
Problem
Conventional obstacle sensors in mobile robots, such as ultrasonic and infrared sensors, lack reliability in detecting distances and floor conditions, particularly in recognizing cliffs or uneven surfaces, which can lead to inaccurate navigation and potential hazards during operation.
Innovation Solution
A mobile robot equipped with a pattern irradiation unit that emits a uniform cross-shaped optical pattern using a lens with convex cells, allowing for precise distance measurement and obstacle detection by analyzing the pattern's projection and image acquisition, enabling the robot to accurately recognize obstacles and adjust its path accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional sensors (ultrasonic, infrared) are used for obstacle detection, then the device complexity is low, but the measurement precision and reliability of distance and floor condition detection are insufficient
Solution Approach 1:
The patent replaces conventional ultrasonic and infrared sensors with an optical pattern-based detection system. A light source projects a pattern onto the floor, and a camera captures the distorted pattern to calculate distance and floor conditions optically, eliminating the need for traditional mechanical/acoustic sensors and achieving higher precision.
Solution Approach 2:
The system changes the detection parameter from direct sensor measurement to optical pattern analysis. By projecting a known pattern and analyzing its distortion through image processing, the system derives distance and floor condition information with superior precision compared to conventional sensor parameters.
2Reliability
If conventional sensors are used for obstacle detection, then the device complexity is low, but the reliability of detecting floor conditions such as cliffs is insufficient
Solution Approach 1:
The patent replaces unreliable conventional sensors with an optical pattern projection system that captures floor geometry through pattern distortion. This optical approach provides reliable cliff and floor condition detection by analyzing how the projected pattern deforms over different surface geometries.
Solution Approach 2:
The system adds a visual dimension to floor condition detection by projecting and capturing optical patterns. This dimensional approach allows the system to infer three-dimensional floor geometry and cliff conditions from two-dimensional image data, significantly improving detection reliability.
3Measurement precision
If a lens with convex cells is used to convert light into optical patterns, then the measurement precision of distance and obstacle detection is improved, but the manufacturing precision requirements of the lens increase
Solution Approach 1:
The lens is segmented into multiple convex cells arranged in specific patterns. Each convex cell acts as an independent optical element that projects light in specific directions to form the detection pattern. This segmentation allows the system to achieve high measurement precision through the collective action of multiple simpler elements rather than requiring one highly precise element.
Solution Approach 2:
Different regions of the lens have different convex cell configurations optimized for specific detection functions. The lens structure varies locally to achieve uniform optical pattern projection across different viewing angles, reducing the need for extremely high overall manufacturing precision while maintaining detection accuracy.
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 solution enhances the robot's ability to accurately detect obstacles and navigate safely by providing reliable distance measurements and floor condition recognition, preventing collisions and ensuring smooth operation on varied terrains.
Implementation Method 1
a lens to convert the light emitted from the light source into the optical pattern
Data Source
AI summary
Disclosed is a mobile robot including a main body and a pattern irradiation unit emitting a cross-shaped optical pattern including a horizontal line optical pattern and a vertical line optical pattern intersecting the horizontal line optical pattern. The pattern irradiation unit includes a light source and a lens converting light emitted from the light source into the cross-shaped optical pattern, the lens includes convex cells on an incidence surface upon which the emitted light is incident, the incidence surface is divided into a first area converting the light emitted from the light source into the horizontal line optical pattern and a second area converting the light emitted from the light source into the vertical line optical pattern, vertical convex cells extended in parallel in the vertical direction are formed in the first area, and horizontal convex cells extended in parallel in the horizontal direction are formed in the second area.