Robot Cleaner 3D Obstacle Mapping Using Rotatable Tilting Laser Vision
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Solution Overview
Problem
Existing robot cleaners face challenges in accurately recognizing and navigating around obstacles, especially those with complex three-dimensional structures, due to inaccuracies in distance measurement caused by uneven floors and interference with infrared or ultrasonic waves.
Innovation Solution
A robot cleaner equipped with a light transmitting unit, an image sensor, a rotatable and tiltable base, and a controller that performs first and second obstacle sensing controls to three-dimensionally map obstacles using a laser diode and image sensor, allowing for precise detection and navigation around obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If infrared rays or ultrasonic waves are used for distance measurement, then the robot cleaner can sense obstacles, but significant errors occur when obstacles scatter much of the infrared rays or ultrasonic waves
Solution Approach 1:
The patent replaces infrared or ultrasonic wave-based distance measurement with a visual recognition system using a camera and image processing. The camera captures images of obstacles, and the system calculates distances based on the apparent size and position of obstacles in the image, eliminating the scattering issues inherent in infrared and ultrasonic methods.
Solution Approach 2:
The patent introduces a camera as an intermediary device between the robot cleaner and the obstacles. Instead of directly measuring distance with infrared or ultrasonic waves that scatter, the camera captures visual information that serves as an intermediary representation, from which distance can be accurately inferred without the scattering problem.
2Device complexity
If the robot cleaner uses indirect estimation of obstacle distance based on traveling distance, then the system structure is simple, but distance errors occur due to uneven floors
Solution Approach 1:
The patent replaces the mechanical method of estimating distance based on traveling distance with a visual-based measurement system. The camera captures images and the system calculates actual distances based on image analysis, providing accurate measurements regardless of floor unevenness while maintaining relatively simple system structure.
3Device complexity
If typical robot cleaners use standard sensors, then the device complexity is low, but they cannot recognize three-dimensional obstacle situations such as thresholds and obstacles with space underneath
Solution Approach 1:
The patent transitions from two-dimensional sensor data to three-dimensional obstacle recognition by using a camera to capture images and analyzing the vertical position and apparent size of obstacles. This allows the system to detect thresholds and obstacles with space underneath by interpreting the visual information in three-dimensional space, including height and depth cues.
Solution Approach 2:
The camera serves as an intermediary that captures three-dimensional visual information about obstacles, including their height, position, and spatial configuration. This visual intermediary allows the robot to recognize complex three-dimensional obstacle situations that standard sensors cannot detect.
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 accurate three-dimensional obstacle mapping and navigation, effectively avoiding obstacles with complex geometries by using a combination of rotation and tilting to ensure accurate distance measurement and obstacle detection.
Implementation Method 1
a light transmitting unit that emits light
Implementation Method 2
an image sensor that senses light reflected or scattered by an obstacle from the light emitted from the light transmitting unit
Implementation Method 3
an image sensor that senses light reflected or scattered by an obstacle from the light emitted from the light transmitting unit
Implementation Method 4
using a laser diode and image sensor
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
A robot cleaner (1) includes a main body (10), a light transmitting unit (21), an image sensor (220), a base (23), a rotation drive unit (40), a tilting unit (50), and a tilting drive unit (80). The light transmitting unit (21) emits light. The light emitted from the light transmitting unit (21) and reflected or scattered is formed on the image sensor (220). The base (23) supports the light transmitting unit (21) and the image sensor (220) and is rotatably disposed in the main body (10). The rotation drive unit (40) rotates the base (23). The tilting unit (50) tilts the light transmitting unit (21) and the image sensor (220).