Mobile Robot Ground Imaging for Black Surface Detection
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Solution Overview
Problem
Conventional mobile robots using infrared ground detecting modules often misjudge surfaces with low reflection rates, such as black blankets, leading to incorrect height difference detection and inappropriate avoidance behaviors.
Innovation Solution
A mobile robot equipped with a detecting module featuring a light source and light sensor that captures images of the ground, allowing the controller to adjust light intensity based on image characteristics and shutter values, enabling accurate detection of surface conditions and preventing misjudgment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an infrared ground detecting module is used to detect ground conditions, then the mobile robot can detect normal grounds, but it misjudges black surfaces or low reflection rate surfaces as height differences
Solution Approach 1:
The patent changes the detection parameter from infrared reflection intensity to visible light image characteristics (brightness, contrast, edge detection). By using a visible light camera instead of infrared sensors, the system detects ground conditions based on image brightness and edge analysis, which are not affected by the ground's infrared absorption properties. This parameter change resolves the misjudgment issue where black surfaces were incorrectly identified as height differences.
2Loss of information
If the infrared receiver tube receives reflected infrared light to determine ground type, then normal grounds can be identified, but black blankets or low reflection surfaces cause misjudgment as height differences
Solution Approach 1:
The patent substitutes the infrared detection system with a visible light imaging system. Instead of using infrared transmitters and receivers that rely on infrared reflection, the system uses a visible light camera to capture images and analyze ground characteristics through image processing algorithms. This substitution eliminates the information loss that occurs when infrared light is absorbed by black surfaces, as visible light imaging provides sufficient contrast and detail for accurate ground type identification.
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
The solution allows the mobile robot to accurately distinguish between different surface conditions, preventing unnecessary avoidance maneuvers and ensuring safe navigation on various ground types.
Implementation Method 1
a light source emitting light towards the ground, and a light sensor configured to obtain characteristic information and a shutter value of an image of the ground
Data Source
AI summary
A mobile robot includes a body, a driving system connected to the body and configured to drive the mobile robot move on ground, a detecting module supported by the body and a controller received in the body. The detecting module includes a light source emitting light towards the ground, and a light sensor configured to obtain characteristic information and a shutter value of an image of the ground. The controller is configured to adjust the intensity of the light source according to the characteristic information of the image and monitor conditions of the ground according to the shutter value, which can accurately detect conditions of the ground and prevent misjudgment of the mobile robot.