Lens assembly, obstacle detecting unit using the same, and moving robot having the same
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Solution Overview
Problem
Conventional mobile robots, such as robot cleaners, face challenges in detecting obstacles in all directions effectively due to blind spots and increased material and processing costs associated with multiple sensors or omni-directional camera systems.
Innovation Solution
A single lens assembly with a catadioptric lens and reflective mirror configuration that allows a single image sensor to detect obstacles in the front, upper, and lower areas by projecting planar light and processing reflected images, reducing the need for multiple sensors and improving data processing efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple position sensitive detectors (PSD) are used to detect obstacles in front and top areas, then obstacle detection coverage is improved, but material cost increases
Solution Approach 1:
The patent combines multiple detection functions (front area detection and upper side detection) into a single omni-directional camera system. The catadioptric lens integrates the functionality of multiple PSDs by using reflective mirrors to redirect light from different directions onto a single image sensor, thereby reducing the number of sensors needed while maintaining comprehensive obstacle detection coverage.
Solution Approach 2:
The omni-directional camera system serves multiple detection purposes simultaneously. A single image sensor with catadioptric lens configuration can detect obstacles in the front area, upper side, and lower side by capturing reflected light from different angles, making the system universal for detecting obstacles across multiple spatial zones that previously required separate dedicated sensors.
2Reliability
If two omni-directional camera systems are used to detect both upper and lower sides, then obstacle detection coverage is improved, but material cost and data processing requirements increase
Solution Approach 1:
The patent merges the detection capabilities of two separate omni-directional camera systems into a single system. By strategically positioning reflective mirrors within one camera system, light from upper side obstacles and lower side obstacles is redirected to different regions of the same image sensor, enabling comprehensive detection without requiring dual camera systems.
Solution Approach 2:
The patent utilizes the spatial dimension of the image sensor by dividing it into different detection regions. The reflective mirrors direct light from different spatial zones (upper side, lower side, front area) to specific regions on the image sensor, effectively using the two-dimensional sensor surface to capture three-dimensional spatial information from multiple directions simultaneously.
3Quantity of substance
If conventional omni-directional camera system is used, then material cost is reduced, but detection of both upper and lower sides simultaneously is not achieved
Solution Approach 1:
The patent segments the image sensor into multiple functional detection regions, each responsible for capturing obstacles from different spatial directions. The reflective mirrors are configured to direct light from specific areas (upper side, lower side, front) to corresponding segments of the image sensor, enabling simultaneous multi-area detection within a single camera system.
Solution Approach 2:
The reflective mirrors act as intermediaries between the physical obstacle and the image sensor. These mirrors redirect light paths from obstacles in the upper side, lower side, and front area to the image sensor, enabling the single camera system to detect obstacles from multiple directions that would otherwise require multiple separate camera systems.
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 comprehensive obstacle detection around the robot while reducing manufacturing costs and processing complexity, allowing for autonomous navigation and efficient cleaning operations.
Implementation Method 1
a catadioptric lens which receives light incident from an angle range between about 60 degrees upwardly from the horizontal plane and changes a path of the light
Implementation Method 2
a reflective mirror which reflects light incident from a front area and a lower side of the front area
Implementation Method 3
a reflective mirror which reflects light incident from a front area and a lower side of the front area
Data Source
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AI summary
An obstacle detecting unit includes a reflective mirror formed to reflect light which is incident from a front area and a lower portion of the front area below a central portion of the reflective mirror; a catadioptric lens disposed coaxially with the reflective mirror in an upper portion of the reflective mirror, the catadioptric lens on which light incident from the front area and an upper portion of the front area; and an image forming module disposed coaxially with the reflective mirror below the reflective mirror, the image forming module on which the light reflected by the reflective mirror is incident, wherein a through hole is formed in the central portion of the reflective mirror, and the light coming out of the catadioptric lens passes through the through hole and then is incident on the image forming module.