Mobile Robot Single Optical Sensor for Obstacle Avoidance and VSLAM
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Solution Overview
Problem
Conventional cleaning robots require multiple sensors to perform obstacle avoidance, positioning, and object recognition, leading to high computation load, power consumption, and lower recognition correctness.
Innovation Solution
A mobile robot utilizing a single optical sensor with different light sources activated at various times to capture image frames, where a laser diode is used for obstacle detection and an IR LED for visual simultaneous localization and mapping (VSLAM), allowing the processor to perform range estimation and object recognition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple sensors are used to perform obstacle avoidance, positioning, and object recognition, then detection functions are comprehensive, but device complexity and power consumption increase
Solution Approach 1:
The patent applies multi-functionality by enabling a single optical sensor to perform multiple detection functions (obstacle avoidance, positioning, and object recognition) by processing different types of light signals. The sensor captures both structured light patterns from a laser diode for obstacle detection and visual features from ambient or LED lighting for positioning and recognition, eliminating the need for separate sensors for each function.
Solution Approach 2:
The patent combines multiple detection functions into a single optical sensor system. By merging obstacle avoidance, positioning, and object recognition capabilities into one sensor, the system reduces device complexity while maintaining comprehensive detection functionality through unified data processing.
2Reliability
If multiple sensors are used to perform different detecting functions, then detection coverage is improved, but power consumption increases
Solution Approach 1:
The patent reduces power consumption by using a single optical sensor to perform multiple detection functions simultaneously. The sensor processes different light signals (structured light for obstacle avoidance, visual features for positioning and recognition) through unified processing, eliminating the energy overhead of running multiple separate sensors and their individual processing pipelines.
Solution Approach 2:
By merging multiple detection functions into one sensor system, the patent consolidates power consumption into a single energy-efficient processing path, reducing the total energy required compared to running multiple independent sensors and processing systems.
3Reliability
If multiple sensors are used for different detecting functions, then functional completeness is achieved, but computation load increases
Solution Approach 1:
The patent reduces computation load by implementing a universal processing pipeline in a single optical sensor that handles multiple detection functions. The processor within the sensor performs obstacle avoidance, positioning, and object recognition using unified image processing algorithms, eliminating the need for multiple separate processing systems and reducing overall computational complexity.
Solution Approach 2:
By combining multiple detection functions and their processing into a single sensor system, the patent consolidates computational tasks into one efficient processing path, reducing the total computation load compared to running multiple independent processing pipelines for each sensor.
4Device complexity
If a single optical sensor is used with different light sources, then sensor complexity is reduced, but detection precision may be compromised
Solution Approach 1:
The patent applies local quality by using different light sources for different detection purposes: a laser diode with structured light patterns for precise obstacle avoidance detection, and LED or ambient light for visual positioning and object recognition. This localized optimization of light source characteristics for each function maintains high detection precision while using a single sensor.
Solution Approach 2:
The patent changes the parameters of the optical sensor system by switching between different light sources (laser diode for obstacle detection, LED/ambient light for positioning and recognition) and adjusting processing parameters accordingly. This allows the single sensor to maintain high precision across different detection functions by optimizing the light source and processing parameters for each specific task.
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 multiple detecting functions with reduced sensor complexity, lower power consumption, and improved recognition correctness by using a single optical sensor with different light sources, enhancing the robot's ability to navigate and recognize objects effectively.
Implementation Method 1
The first light source is configured to project a transverse light section toward a moving direction at a first time interval
Implementation Method 2
The optical sensor is configured to capture a first image frame within the first time interval
Implementation Method 3
a lower part of the pixel array is coated with an IR pass filter
Data Source
AI summary
There is provided a mobile robot that performs the obstacle avoidance and visual simultaneous localization and mapping (VSLAM) according to image frames captured by the same optical sensor. The mobile robot includes a pixel array and a processor. An upper part of the pixel array is not coated with any filter and a lower part of the pixel array is coated with an IR filter. The processor performs range estimation using pixel data corresponding to the lower part of the pixel array, and perform the VSLAM using pixel data corresponding to the upper part of the pixel array.