Moving Robot 3D Camera Sensing for Corner Obstacle Detection
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Solution Overview
Problem
Existing robot cleaners face challenges in accurately detecting obstacles in corner areas, leading to potential collisions and inefficient cleaning due to limitations in obstacle detection technologies, particularly with transparent or complex-shaped objects.
Innovation Solution
A moving robot equipped with a 3D camera sensor that generates image information to identify obstacles by extracting relevant areas from accumulated emission results, allowing for accurate detection and control of navigation based on comparison with prestored reference information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If line beam obstacle detection is used, then the detection method is simple, but the obstacle detection accuracy deteriorates in corner areas with complex shapes or transparent materials
Solution Approach 1:
The patent replaces the mechanical/geometric line beam detection method with a 3D sensing method that captures spatial information. The 3D sensor array emits sensing light and captures reflected light to generate three-dimensional position information, enabling accurate detection of obstacles with complex shapes or transparent materials that cannot be detected by simple line beams.
Solution Approach 2:
The patent transitions from two-dimensional line beam detection to three-dimensional obstacle detection by arranging multiple sensing light emitters and reflected light receivers in three-dimensional space. This dimensional expansion allows the system to detect obstacles from multiple angles and depths, significantly improving detection accuracy in corner areas.
2Area of stationary object
If 3D sensor method with line beams is used, then the detection range is extended, but the detection accuracy deteriorates when obstacle shape is difficult to detect as a line
Solution Approach 1:
The patent replaces the line-based detection approach with a point-cloud-based 3D detection system. Multiple sensing light emitters and reflected light receivers capture three-dimensional position information of obstacle surfaces, creating a comprehensive spatial map that accurately represents obstacles regardless of their shape or orientation.
Solution Approach 2:
The patent segments the detection space into multiple three-dimensional measurement zones by arranging multiple sensing light emitters and reflected light receivers at different positions. Each sensor pair independently measures the three-dimensional position of obstacle surfaces, and the control unit integrates these segmented measurements to form a complete obstacle map.
3Productivity
If obstacle detection is not accurate in corner areas, then the robot can travel continuously without stopping, but the risk of collision increases
Solution Approach 1:
The patent implements a feedback mechanism where the control unit continuously monitors three-dimensional position information from the sensor array, compares it with the map information, and adjusts the robot's traveling path in real-time. When an obstacle is detected in the corner area, the system provides feedback to modify the traveling plan, preventing collisions while maintaining cleaning efficiency.
Solution Approach 2:
The patent performs preliminary detection of corner areas by actively scanning with the 3D sensor array before the robot reaches potential obstacle zones. The system generates three-dimensional position information in advance and compares it with prestored map information to identify obstacles ahead of time, allowing the robot to adjust its path proactively rather than reactively.
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
Enhances obstacle detection accuracy and prevents collisions, ensuring stable and reliable navigation in corner areas, improving the efficiency and effectiveness of cleaning operations.
Implementation Method 1
a sensing unit configured to emit sensing light for detecting whether or not an obstacle exists at the front of the main body
Data Source
AI summary
The present disclosure relates to a moving robot that generates image information by accumulating results of sensing a corner area using a 3D camera sensor, and detects an obstacle by extracting an area for identifying the obstacle from the image information, and a traveling method thereof in corner areas.