Mobile Robot Mat-Type Obstacle Detection Using 3D Depth Camera
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Solution Overview
Problem
Conventional mobile robots cannot distinguish between climbable and non-climbable mat-type obstacles, leading to potential damage and errors in cleaning, as they rely solely on obstacle height and cannot differentiate between carpets and foot mats.
Innovation Solution
A mobile robot equipped with a three-dimensional depth camera that analyzes images and calculates planar areas to determine whether to climb or avoid mat-type obstacles, using predetermined height and shape criteria to differentiate between climbable and non-climbable surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional optical sensors are used to detect obstacles, then the robot can detect the distance and terrain, but it cannot distinguish between climbable and non-climbable mat-type obstacles
Solution Approach 1:
The patent transitions from 2D optical sensor detection to 3D depth camera detection, adding the depth dimension to obstacle measurement. This enables the robot to perceive not only the presence and distance of obstacles but also their three-dimensional characteristics including height, width, and shape, which are critical for distinguishing between climbable carpets and non-climbable foot mats
Solution Approach 2:
The patent changes the detection parameters from simple distance measurement to comprehensive three-dimensional parameter measurement (height, width, depth, shape). By capturing multiple geometric parameters simultaneously, the system can analyze the obstacle's physical characteristics and determine whether it is a climbable mat-type obstacle or not
2Productivity
If the robot climbs all detected obstacles, then cleaning coverage is maximized, but the robot may be damaged by non-climbable obstacles like foot mats
Solution Approach 1:
The patent performs preliminary identification and classification of obstacles before the robot attempts to climb them. By using the depth camera to detect and analyze obstacle characteristics in advance, the system determines whether an obstacle is climbable (carpet) or non-climbable (foot mat), allowing the robot to plan its navigation path accordingly and avoid damage while maintaining cleaning efficiency
3Reliability
If the robot avoids all mat-type obstacles, then robot damage is prevented, but carpets that should be cleaned are missed
Solution Approach 1:
The patent applies different navigation strategies to different types of mat-type obstacles based on their local characteristics. By analyzing the specific geometric properties (height, width, shape) of each detected obstacle, the system determines whether it is a climbable carpet or non-climbable foot mat, then applies the appropriate action (climb or avoid), thereby optimizing both safety and cleaning coverage
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
Enables accurate determination of climbable obstacles, minimizing robot damage and ensuring effective cleaning by avoiding non-climbable surfaces and preferentially cleaning carpets, thus enhancing operational safety and efficiency.
Implementation Method 1
A mobile robot equipped with a three-dimensional depth camera that analyzes images and calculates planar areas
Data Source
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AI summary
Disclosed is a mobile robot including a driver configured to move a main body, an image obtainer configured to obtain an image of the surroundings and far and near distances between the main body and an obstacle, and a controller configured to analyze the image and the far and near distances obtained by the image obtainer and to determine whether an obstacle is present near the main body. The controller determines whether the obstacle is a mat-type obstacle. Upon determining that the obstacle is a mat-type obstacle, the controller calculates the planar area of the mat-type obstacle, and determines a climbing operation or an avoidance operation of the main body based on the planar area of *?*the mat-type obstacle.