Mobile Robot Patterned-Light Escape Control for Stuck Obstacles
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Solution Overview
Problem
Existing mobile robots face inaccuracies in obstacle detection due to uneven surfaces and limitations in detecting stereoscopic shapes, leading to potential getting stuck in areas with multiple obstacles, which can drain the battery and limit the cleaning area.
Innovation Solution
The mobile robot employs a dual pattern emission unit emitting first and second patterned lights downward and upward, respectively, combined with an image acquisition unit to detect obstacles, allowing for precise identification of shapes and distances, and a controller to determine escape paths when stuck.
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 complexity is reduced, but the obstacle detection range and stereoscopic shape identification capability are limited
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 the system to detect obstacles of various heights and stereoscopic shapes while maintaining manageable device complexity through modular segmentation.
Solution Approach 2:
The patent introduces a new dimension in light emission by using light sources at different angles (first angle and second angle) rather than a single uniform angle. This angular dimensionality enables the detection system to capture stereoscopic information and identify three-dimensional shapes of obstacles, transforming a two-dimensional detection limitation into a three-dimensional detection capability.
2Reliability
If the mobile robot repeatedly detects and bypasses obstacles in a confined area, then obstacle avoidance capability is improved, but battery consumption increases
Solution Approach 1:
The mobile robot performs preliminary detection of the confined area using the multi-angle light sources and image acquisition unit before attempting to bypass obstacles. By pre-identifying the spatial relationships and stereoscopic shapes of obstacles, the robot can plan an efficient escape path in advance, avoiding repeated detection cycles and reducing battery consumption while maintaining reliable obstacle avoidance.
Solution Approach 2:
The system uses feedback from the image acquisition unit to continuously monitor the robot's position relative to obstacles. The controller processes this feedback information to determine when the robot is stuck and calculates an optimal escape path, creating a closed-loop control system that adjusts navigation decisions based on real-time detection data, thereby reducing unnecessary movement and energy waste.
3Reliability
If the mobile robot avoids entire regions with obstacles, then the risk of getting stuck is reduced, but the cleaning area range is narrowed
Solution Approach 1:
Instead of avoiding entire regions with obstacles, the patent applies local quality by using multi-angle light sources to detect specific obstacle characteristics (heights, stereoscopic shapes, positions) in localized areas. The controller processes this detailed local information to determine precise escape paths through or around specific obstacles, allowing the robot to clean within obstacle regions rather than avoiding them entirely, thus expanding the effective cleaning area while maintaining reliability.
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 enhances obstacle detection accuracy, prevents battery drainage, and allows the robot to effectively navigate through complex environments by setting escape paths when stuck, thereby expanding the cleaning area.
Implementation Method 1
a light emitting unit emitting light in a cross pattern, and a camera unit acquiring a forward image of a cleaner
Data Source
AI summary
A mobile robot of the present disclosure includes a first pattern emission unit configured to emit a first patterned light downward and forward from the main body on a floor of an area to be cleaned; and an image acquisition unit configured to acquire an image of first patterned light emitted by the first pattern emission unit and is incident on an obstacle, so as to determine an obstacle based on a pattern detected from the acquired image. Accordingly, based on the information on the nearby obstacles, by determining whether the mobile robot is in a stuck state where traveling of the mobile robot is limited by a plurality of obstacles, and by setting up an escape for traveling, traveling state of the mobile robot and obstacles may be determined rapidly and a corresponding operation may be performed, thereby enabling effective traveling to escape from the stuck state.