Robot Cleaner Dual-Pattern Light System for Obstacle Height Detection
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Solution Overview
Problem
Existing robot cleaners face inaccuracies in obstacle detection due to indirect distance measurement methods and limited sensing range, which can lead to collisions with obstacles such as beds or furniture, especially when obstacles extend above a certain height or have spaces underneath them.
Innovation Solution
The robot cleaner employs a dual-pattern light system with a first pattern irradiator emitting light downward and a second pattern irradiator emitting light upward, allowing the image obtainer to capture images of obstacles from different angles, enabling more accurate detection of obstacles' height and position, and preventing collisions by distinguishing between floor and elevated surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single cross-shaped light pattern is emitted downward to detect obstacles, then the device structure is simple, but the sensing range is limited and obstacles above a certain height cannot be detected
Solution Approach 1:
The single light source is divided into two separate light sources: a first light source that emits light downward to detect obstacles on the floor level, and a second light source that emits light upward to detect obstacles above a certain height. This segmentation allows each light source to specialize in detecting obstacles within its specific vertical range, thereby expanding the overall sensing range without significantly increasing structural complexity.
Solution Approach 2:
The patent introduces a vertical dimension to the light emission patterns by positioning light sources at different heights and directing them in opposite vertical directions (downward and upward). This dimensional change enables the system to detect obstacles at multiple height levels, transforming the sensing capability from a single-plane detection to a multi-level three-dimensional detection space.
2Device complexity
If indirect distance measurement based on robot travel distance is used, then the measurement method is simple, but measurement precision is low due to errors from floor indentations and light scattering
Solution Approach 1:
The patent replaces the mechanical measurement method (based on robot wheel rotations and travel distance) with an optical measurement method. By emitting light patterns and analyzing the reflected light captured by image sensors, the system directly measures obstacle distances and heights without relying on mechanical motion accumulation, thereby eliminating errors from floor indentations and improving measurement precision.
Solution Approach 2:
The patent uses optical copying by projecting light patterns onto obstacles and capturing the reflected light patterns with image sensors. This optical copy method allows direct visualization and measurement of obstacle positions and heights, providing more accurate measurements compared to indirect mechanical inference from travel distance.
3Device complexity
If light is emitted only downward in a cross-shaped pattern, then the light source structure is simple, but the ability to detect obstacle height and three-dimensional shape is insufficient
Solution Approach 1:
The obstacle detection function is segmented into two parts: the first light source detects obstacles at floor level and lower heights, while the second light source detects obstacles above a certain height. This segmentation ensures that obstacle height information is not lost by assigning different vertical detection ranges to different light sources, allowing comprehensive three-dimensional obstacle characterization.
Solution Approach 2:
The patent adds vertical dimensionality to the light emission by implementing upward-directed light emission in addition to downward emission. This enables the system to capture obstacle information across the full vertical range, from floor level to elevated obstacles, preserving complete three-dimensional obstacle shape and height information.
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
This solution enhances the robot cleaner's ability to detect obstacles accurately, preventing collisions and ensuring safe navigation in environments with varying heights and spaces, thereby improving its operational efficiency and reliability.
Implementation Method 1
a first pattern irradiator provided on the main body and configured to emit a first pattern of light downward to the area, and a second pattern irradiator provided on the main body at a position below the first pattern irradiator and configured to emit a second pattern of light upward to the area
Data Source
AI summary
A robot cleaner of the present disclosure comprises a main body configured to travel in a cleaning zone and to suction a foreign substance on a floor in the cleaning zone, an image sensor provided on the main body and configured to obtain an image of a predetermined area at a front side of the main body, a first light source provided on the main body and configured to emit a first pattern of light to a first sub-area of the predetermined area and a second light source provided on the main body at a position below the first light source and configured to emit a second pattern of light to a second sub-area of the predetermined area, the first sub-area being located lower than the second sub-area.