Non-solid material detection method, non-solid material detection device, distance computing device, distance computing method
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Solution Overview
Problem
Conventional autonomous cleaning devices lack the ability to accurately detect non-solid materials like liquids and compute distances close to obstacles due to limitations in existing sensors, leading to inefficient operations and potential damage.
Innovation Solution
Employing dual light sources and image processing to differentiate between non-solid materials and obstacles, and using a combination of TOF and image centroid shifting for accurate distance computation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single light source and image sensor are used for obstacle detection, then the device structure is simple, but the device cannot distinguish between obstacles and non-solid materials like liquid
Solution Approach 1:
The detection system is segmented into two independent light sources with different emission directions (first light source at first direction, second light source at second direction) and corresponding image sensors. This segmentation allows each light source to illuminate different regions and create distinct sensing images, enabling the system to differentiate between obstacles and non-solid materials by comparing the characteristics of multiple sensing images.
2Measurement precision
If TOF image sensor is used for distance computation, then the device can compute distance to obstacles, but the shortest computable distance is limited by sensor characteristics
Solution Approach 1:
A light reflecting member is introduced as an intermediary element between the autonomous cleaning device and the obstacle. This reflecting member reflects light from the light source back to the image sensor, creating a measurable light path even when the device is very close to the obstacle. The intermediary enables accurate distance measurement at short ranges by extending the effective light travel distance.
3Productivity
If the autonomous cleaning device attempts to clean liquid without detection capability, then the device operates continuously, but the environment becomes more terrible and the device may be damaged
Solution Approach 1:
The system performs preliminary detection of non-solid materials using the first light source and first image sensor before initiating cleaning operations. By detecting the presence of liquid or colloid in advance, the system can prevent inappropriate cleaning actions, avoid environmental degradation, and protect the device from damage caused by attempting to clean unsuitable materials.
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 the accuracy of non-solid material detection and distance measurement, preventing damage and improving operational efficiency of autonomous cleaning devices.
Implementation Method 1
sense a first sensing image generated according to reflected light of the first light
Implementation Method 2
sense a second sensing image generated according to reflected light of the second light
Data Source
AI summary
A non-solid material detection device, comprising: a processing circuit; an image sensor; a first light source, configured to emit first light following a first direction; a second light source, configured to emit second light following a second direction. If the non-solid material detection device is located on the surface, the first direction is toward a surface and the second direction is leaving or parallel with the surface. The processing circuit determines an obstacle based on a second sensing image generated according to the second light and determines non-solid material based on a first sensing image generated according to the first light. The present invention also discloses a distance computing device. Via the present invention, the non-solid material detection and the distance computing can be more accurate.