Mobile Robot Optical Sensor Exposure Control for Tile Gap Detection
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Solution Overview
Problem
Conventional cleaning robots require multiple sensors for obstacle avoidance, positioning, and object recognition, leading to increased complexity and power consumption.
Innovation Solution
A mobile robot using a single optical sensor with different light sources (laser diodes and LEDs) to perform obstacle avoidance, VSLAM, and object recognition by capturing image frames under different lighting conditions, reducing computation and power consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple sensors are used for obstacle avoidance, positioning, and object recognition, then detection accuracy and reliability are improved, but device complexity and power consumption increase
Solution Approach 1:
The patent makes the optical sensor perform multiple functions by switching between different light sources. The same optical sensor captures images for obstacle avoidance using laser diode illumination and for positioning/object recognition using LED illumination, eliminating the need for separate sensors for each function.
Solution Approach 2:
The patent combines multiple sensing functions into a single optical sensor system. By merging obstacle detection, positioning, and object recognition capabilities into one sensor that operates under different lighting conditions, the system reduces component count while maintaining comprehensive detection capabilities.
2Measurement precision
If multiple sensors are used for different detecting functions, then measurement precision is improved, but use of energy increases
Solution Approach 1:
The optical sensor serves multiple detection purposes by switching between laser diode and LED light sources. For obstacle avoidance, it uses laser illumination, and for positioning and object recognition, it uses LED illumination, thereby maintaining high detection precision across different functions while using a single energy-efficient sensor.
Solution Approach 2:
The system periodically switches between different light sources (laser diode and LED) based on the required detection function. This periodic switching allows the single optical sensor to perform different detection tasks at different times, reducing overall power consumption compared to having multiple sensors operating continuously.
3Manufacturing precision
If auto exposure is continuously adjusted for the optical sensor, then image quality is improved, but response time increases when entering low reflectivity regions
Solution Approach 1:
The processor predicts upcoming low reflectivity regions (such as gaps between tiles) in advance using prior image data and robot motion information. By predicting these regions beforehand, the system can prepare appropriate exposure settings before the robot actually enters them, avoiding the time delay that would occur with continuous auto-exposure adjustment.
Solution Approach 2:
The system dynamically switches between predictive exposure control and continuous auto-exposure based on the operating context. When low reflectivity regions are predicted, predictive control is applied; otherwise, continuous auto-exposure maintains image quality. This dynamic approach optimizes both response time and image quality under different conditions.
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 enables efficient obstacle detection, accurate positioning, and improved object recognition with reduced computational load and power usage by utilizing a single optical sensor with multiple light sources.
Implementation Method 1
The light source is configured to project a light section toward a moving direction of the mobile robot
Implementation Method 2
the optical sensor is configured to capture first image frames using an exposure time determined by an auto exposure
Data Source
AI summary
There is provided a mobile robot that controls an exposure time of an optical sensor during a time interval during which images of a gap between tiles are captured. At an end of the time interval that an image of a gap between tiles is captured, the exposure time of the optical sensor is adjust to the exposure time being used right before the time interval to avoid high brightness of the captured image while the image of a gap between tiles is suddenly disappeared from a field of view of the optical sensor.