Robot Room Division Using Laser Boundary Lines and Door Detection
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Solution Overview
Problem
Existing cleaning robots struggle to accurately divide and mark uncleaned areas in real-time using visual technology, leading to ineffective room division during coverage planning, as they require strict image acquisition conditions and multiple angle imaging for door position identification.
Innovation Solution
A method utilizing a laser sensor to set reference division boundary lines based on scanned data, combined with camera image characteristic information to identify doors and divide indoor areas into subareas, ensuring accurate room separation and cleaning path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If pure-image visual means is used to identify door positions, then door identification can be achieved, but the requirement for image acquisition positions becomes strict and multiple angle imaging is required, making predetermined accuracy difficult to achieve
Solution Approach 1:
The patent introduces a laser sensor as an intermediary device to scan and identify boundary lines and door positions. The laser sensor projects laser lines onto the environment and detects the reflected light to obtain spatial information, serving as a mediator between the robot and the physical environment. This allows accurate measurement of door positions and boundary lines without relying solely on complex multi-angle image acquisition.
Solution Approach 2:
The patent replaces the pure visual/image-based door identification system with a laser-based measurement system. Instead of using cameras to capture images and process visual information to identify doors, the system uses laser sensors to directly measure and calculate door positions through laser line scanning and spatial coordinate computation, substituting optical-mechanical image processing with laser-based physical measurement.
2Productivity
If cleaning areas are divided based on coordinate information, then area division can be performed, but the division is random and does not correspond to actual room units, making it ineffective for coverage planning
Solution Approach 1:
The patent performs preliminary scanning and identification of boundary lines and door positions using the laser sensor before coverage planning is executed. The robot scans the environment, identifies walls, doors, and room boundaries in advance, and creates an accurate room division map. This preliminary action ensures that subsequent coverage planning is based on actual room structures rather than random coordinate-based division.
Solution Approach 2:
The patent transitions from two-dimensional coordinate-based area division to three-dimensional spatial structure-based division. By using laser lines to scan and identify the spatial relationships of walls, doors, and boundaries, the system creates a three-dimensional understanding of room structures, enabling more accurate and meaningful room-based area division for coverage planning.
3Measurement precision
If multiple angle imaging is required for door identification, then door position can be identified, but the time and number of image acquisitions increase, reducing cleaning efficiency
Solution Approach 1:
The patent uses partial action by employing only the necessary laser scanning operations to identify door positions and boundary lines, rather than performing exhaustive multi-angle image acquisitions. The laser sensor scans the environment with optimized scanning patterns that capture sufficient information for accurate door identification without redundant measurements, reducing time while maintaining precision.
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 approach enhances the accuracy of room division and cleaning path planning by using laser data to set boundary lines and image processing to identify doors, improving the coverage rate and reducing the need for multiple image acquisitions, resulting in more efficient and intelligent cleaning operations.
Implementation Method 1
setting, when the robot travels along the boundaries in a preset boundary direction in an indoor working area, a reference division boundary line according to data scanned by a laser sensor of the robot
Implementation Method 2
identifying, after the robot finishes traveling along the boundaries in the preset boundary direction, a door at a position of the reference division boundary line according to image characteristic information of the position of the reference division boundary line acquired by a camera of the robot
Data Source
AI summary
Disclosed are a method for dividing a robot area based on boundaries, a chip and a robot. The method includes: setting, when the robot travels along the boundaries in a preset boundary direction in an indoor working area, a reference division boundary line according to data scanned by a laser sensor of the robot in real time; and identifying, after the robot finishes traveling along the boundaries in the preset boundary direction, a door at a position of the reference division boundary line according to image characteristic information of the position of the reference division boundary line acquired by a camera of the robot, and marking the reference division boundary line on a laser map, so as to divide the indoor working area into different room subareas by means of the door.