Robot Cleaner Light Pattern Control for Reflection Filtering
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Solution Overview
Problem
Robot cleaners face challenges in distinguishing between light patterns generated by direct projection and those reflected from surfaces, which affects their ability to accurately map and navigate cleaning areas.
Innovation Solution
The robot cleaner employs a pattern projection unit and an image acquisition unit to project and capture light patterns, using geometrical analysis to differentiate between valid and reflected light patterns, allowing for accurate obstacle detection and movement control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If light projection is used for environment mapping, then navigation capability is improved, but reflected light patterns cause false obstacle detection
Solution Approach 1:
The patent applies inversion by analyzing light patterns from the opposite perspective - instead of assuming all detected patterns are direct projections, the system specifically looks for reflected light patterns and eliminates them. The control unit identifies reflected patterns by their characteristic geometric properties (symmetry, position relative to projection unit) and excludes them from obstacle detection, thereby resolving the false detection problem while maintaining mapping accuracy.
Solution Approach 2:
The patent changes the parameter of light pattern analysis by introducing geometric characteristic evaluation. The control unit analyzes specific parameters of detected light patterns (position, shape, symmetry, relationship to projection unit) to distinguish between direct and reflected patterns. This parameter-based discrimination allows the system to filter reflected light patterns while preserving accurate obstacle detection from direct patterns.
2Measurement precision
If geometric analysis is used to eliminate reflected light patterns, then obstacle detection accuracy is improved, but system complexity increases
Solution Approach 1:
The patent segments the light pattern analysis process into distinct functional stages: (1) light pattern detection from images, (2) geometric characteristic analysis to identify reflected patterns, (3) elimination of reflected patterns, and (4) obstacle detection from remaining patterns. This segmentation allows each stage to be optimized independently and simplifies the overall control algorithm by breaking down the complex discrimination task into manageable steps.
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 method enables the robot cleaner to effectively discriminate between direct and reflected light patterns, enhancing its ability to map the environment and avoid obstacles, thereby improving its navigation and cleaning efficiency.
Implementation Method 1
Since some materials of floors or objects to which light is projected reflect the light, a new light pattern due to reflection can be detected in addition to the original light pattern.
Data Source
AI summary
A method for controlling a robot cleaner configured to project light of a predetermined pattern to a floor of an area in front thereof in a specific direction and to acquire an image of the area to which the light is projected, according to the present disclosure, includes: (a) acquiring a front view image of the robot cleaner; (b) detecting the pattern from the image acquired in (a); and (c) discriminating a pattern formed by reflected light from a pattern formed by light directly projected from the robot cleaner, from among patterns indicated in the acquired image, on the basis of geometrical characteristics defined by a projection direction of the light and the direction of an optical axis in which the image is acquired when two or more patterns are detected from the image.