Mobile robot and method for controlling and detecting inclination using pattern light
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Solution Overview
Problem
Existing mobile robots face challenges in accurately detecting obstacles due to indirect distance measurement methods, which can lead to errors on uneven surfaces and difficulties in identifying stereoscopic shapes, especially when encountering high obstacles or cliffs, resulting in potential sticking or incorrect navigation.
Innovation Solution
The mobile robot employs a dual pattern emission system with a first pattern emission unit emitting light downward and a second unit emitting light upward, combined with an image acquisition unit, to detect obstacles and compensate for tilt, allowing for precise obstacle detection and navigation by analyzing optical patterns and using tilt sensors for correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single light source emitting light at a uniform angle is used, then the device structure is simple, but the range of detection of obstacles is limited and stereoscopic shapes of high obstacles cannot be identified
Solution Approach 1:
The single light source is divided into multiple light sources (first light source and second light source) with different emission angles. The first light source emits light at a first angle and the second light source emits light at a second angle, allowing detection of obstacles at different heights and stereoscopic shapes while maintaining manageable system complexity through modular segmentation.
2Productivity
If the mobile robot moves up on a threshold or obstacle, then the robot can access new areas, but the main body becomes inclined causing mistaken determination of obstacles or cliffs and the robot gets stuck
Solution Approach 1:
The system adds a tilt detection dimension by incorporating a tilt sensor that measures the inclination angle of the main body. This additional dimensional information allows the system to distinguish between actual obstacles/cliffs and apparent obstacles caused by robot inclination, preventing false determinations and getting stuck while enabling the robot to navigate thresholds and access new cleaning areas.
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 approach enhances the robot's ability to accurately detect and bypass obstacles, preventing sticking and improving navigation on uneven surfaces by providing a more precise measurement of obstacle distance and shape, thereby expanding the area that can be cleaned effectively.
Implementation Method 1
a first pattern emission unit emitting light downward and a second unit emitting light upward, combined with an image acquisition unit, to detect obstacles and compensate for tilt
Implementation Method 2
using tilt sensors for correction
Data Source
AI summary
A mobile robot of the present disclosure emits a first patterned light downward and forward from a main body on a floor of an area to be cleaned and a second patterned light upward and forward from the main body, determines an obstacle based on an image of each emitted patterned light which is incident on the obstacle, and senses a tilt of the main body to compensate for the tilt. In this manner, an obstacle may be determined accurately, and after the tilt compensation, redetermination is made as to whether it is possible to pass through, so as to enable the mobile robot to pass through or bypass the obstacle. Accordingly, the mobile robot may reach a wider area to be cleaned, thereby extending the area that may be cleaned, and enabling fast determination and operation for effective traveling, such that the mobile robot may escape from an obstacle without being limited thereby.