Moving Robot Light-Stripe Interpolation for Step Distance Accuracy
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Solution Overview
Problem
Cleaning robots face challenges in accurately identifying step distances on irregular surfaces, particularly with low-resolution image sensors, leading to errors and jitter in distance values, which cannot be resolved by upgrading to high-resolution sensors due to cost constraints.
Innovation Solution
A moving robot equipped with a light projector, image sensor, and processing unit that projects a light stripe, captures images, and performs pixel interpolation to improve accuracy, using pre-stored width thresholds and flag signals to determine surface types and confidence levels, thereby calculating step distances with enhanced precision without requiring high-resolution sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a low-resolution image sensor is used to reduce cost, then the total cost is reduced, but jitters occur in the outputted distance values and identification accuracy deteriorates
Solution Approach 1:
The patent applies preliminary action by performing pixel interpolation on the light segment image before calculating the step distance. The processing unit identifies the light segment image in the captured image frame and performs interpolation processing to obtain a interpolated light segment image, then calculates the step distance based on the interpolated image. This preliminary image processing step compensates for the low resolution of the sensor, reducing jitter in distance values while maintaining cost effectiveness.
2Measurement precision
If pixel interpolation is performed on the entire image frame, then identification accuracy is improved, but processing time and computational complexity increase
Solution Approach 1:
The patent applies local quality by performing pixel interpolation only on the light segment image region rather than the entire image frame. The processing unit specifically identifies and processes the light segment image area where the actual measurement information is located, leaving other regions unchanged. This localized approach improves step distance identification accuracy while significantly reducing processing time and computational complexity compared to full-frame interpolation.
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 accurate step distance calculation on irregular surfaces, reducing jitter and improving identification accuracy without increasing costs by using low-resolution image sensors, ensuring reliable operation and map construction.
Implementation Method 1
The light projector is configured to project a light stripe toward a moving direction
Implementation Method 2
The image sensor is configured to capture an image frame containing a light stripe image associated with the light stripe
Data Source
AI summary
There is provided a moving robot including a light projector, an image sensor and a processing unit. The light projector projects a vertical light segment toward a moving direction. The image sensor captures, toward the moving direction, an image frame containing a light segment image associated with the vertical light segment. The processing unit calculates a step distance and a segment feature according to the image frame, outputs a flag signal according to the segment feature to indicate whether the calculated step distance is confident or not, and perform a pixel interpolation in calculating the step distance to improve the identification accuracy.