Moving robot with improved identification accuracy of step distance
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Solution Overview
Problem
Cleaning robots face errors in identifying step distances on irregular surfaces, especially with low-resolution image sensors, leading to incomplete mapping and jittery output values, which cannot be resolved by upgrading to high-resolution sensors due to cost constraints.
Innovation Solution
A moving robot equipped with light projectors and image sensors that perform pixel interpolation and confidence level assessment using flag signals to determine accurate step distances on irregular surfaces, allowing operation with low-resolution sensors and improving identification accuracy without using frame buffers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a low-resolution image sensor is used to reduce cost, then manufacturing cost is reduced, but measurement precision of step distance deteriorates causing jitter in output values
Solution Approach 1:
The patent applies preliminary action by performing pixel interpolation on the light stripe image before step distance calculation. The processing unit interpolates pixel values in the image frame to generate a high-resolution image from the low-resolution sensor data, thereby improving measurement precision without using a high-resolution sensor, thus resolving the contradiction between cost and accuracy
Solution Approach 2:
The patent changes the resolution parameter of the image data through interpolation. By transforming the low-resolution image data into high-resolution equivalent data through algorithmic processing, the system achieves high measurement precision while maintaining the use of low-cost low-resolution sensors
2Measurement precision
If pixel interpolation is performed on the entire image frame to improve accuracy, then measurement precision is improved, but processing time and computational complexity increase
Solution Approach 1:
The patent applies local quality by performing pixel interpolation only on the specific region containing the light stripe rather than the entire image frame. The processing unit identifies the light stripe region and applies interpolation selectively to this area, thereby improving step distance identification accuracy while minimizing processing time and computational resources
Solution Approach 2:
The patent segments the image processing task by dividing the image frame into relevant and irrelevant regions. Only the region containing the light stripe undergoes interpolation processing, while other regions are processed or skipped, thus reducing overall processing time while maintaining accuracy for the critical measurement area
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 robot accurately calculates step distances on various surfaces, reducing jitter and improving mapping accuracy while maintaining cost-effectiveness by using low-resolution image sensors and pixel interpolation techniques.
Implementation Method 1
a light projector configured to project a light stripe toward a moving direction
Implementation Method 2
an image sensor 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.