Robot Cleaner Rotating Image Sensor for 3D Obstacle Recognition
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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 methods like infrared and ultrasonic waves, and struggle with uneven floors and protruding objects.
Innovation Solution
A robot cleaner equipped with a light transmitting unit, an image sensor, a rotation drive unit, and an elevation drive unit, which allows for three-dimensional obstacle mapping and navigation by emitting light, rotating, and adjusting height to accurately sense and avoid 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 measure distance without contact, but significant error occurs when obstacles scatter much of the infrared rays or ultrasonic waves
Solution Approach 1:
The patent replaces infrared and ultrasonic measurement systems 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 size of obstacle images relative to known actual sizes, avoiding the scattering issues inherent in infrared and ultrasonic methods.
Solution Approach 2:
The patent changes the measurement parameter from optical/acoustic wave reflection (infrared/ultrasonic) to visual image analysis. By capturing the visual appearance and size of obstacles in images, the system determines distance based on image processing rather than wave scattering, thereby improving accuracy and reliability.
2Device complexity
If the robot cleaner uses indirect estimation of obstacle distance based on traveling distance, then the system structure can be simple, but distance error occurs due to unevenness of the floor
Solution Approach 1:
The patent replaces the mechanical traveling distance measurement method with an optical visual recognition system. Instead of calculating distance based on wheel rotations and motor steps, the system uses a camera to directly observe and image obstacles, then calculates actual distance through image processing and size comparison, eliminating errors from floor unevenness.
Solution Approach 2:
The patent introduces an intermediary visual recognition system between the robot and the obstacle distance measurement. The camera acts as an intermediary that directly captures obstacle information, allowing the system to determine distance through image analysis rather than relying on mechanical travel measurements, thereby improving accuracy while maintaining reasonable system complexity.
3Adaptability or versatility
If typical robot cleaners use standard sensing methods, then the device complexity remains manageable, but they cannot recognize three-dimensional obstacle situations such as protruding obstacles and obstacles with space underneath
Solution Approach 1:
The patent transitions from two-dimensional planar obstacle detection to three-dimensional obstacle recognition. By capturing images that contain depth and height information and analyzing the spatial relationships in these images, the system can identify protruding obstacles, obstacles with space underneath, and other three-dimensional configurations that standard sensors cannot detect.
Solution Approach 2:
The patent employs dynamic image capture at multiple positions and angles to build a comprehensive three-dimensional understanding of obstacles. The robot captures images while moving and rotating, then processes these dynamic images to reconstruct obstacle geometry and spatial relationships, enabling recognition of complex three-dimensional obstacle situations.
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 recognition and navigation, allowing the robot cleaner to effectively avoid, cross, or pass obstacles, improving its ability to clean complex environments.
Implementation Method 1
an image sensor that senses the light emitted from the light transmitting unit and reflected or scattered by an obstacle
Implementation Method 2
an image sensor that senses the light emitted from the light transmitting unit and reflected or scattered by an obstacle
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), and an elevation drive unit (50). The light transmitting unit (21) emits light. The light reflected or scattered by an obstacle (300) is sensed by the image sensor (220). The base (23) supports the light transmitting unit (21) and the image sensor (220) and is rotatably and vertically movably disposed in the main body (10). The rotation drive unit (40) rotates the base (23). The elevation drive unit (50) allows the base to retract or protract from the main body (10).