Robot Vacuum Imaging Control for Blind-Spot-Free Coverage
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Solution Overview
Problem
Existing autonomous traveling bodies, such as vacuum cleaners, face challenges in securely imaging a wide range without blind spots due to obstacles, limiting their effectiveness in monitoring and checking environments.
Innovation Solution
An autonomous traveling body equipped with an imaging unit, obstacle detection unit, and control unit that allows the body to travel and position itself to image still images in multiple directions with overlapping fields of view, ensuring comprehensive coverage while avoiding obstacles by adjusting its path based on detected distances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the imaging unit images in a single direction with a fixed angle of view, then the device complexity is reduced, but the imaging coverage has blind spots and cannot securely image a wide range
Solution Approach 1:
The imaging process is segmented into multiple discrete image shots taken at different angles. The imaging unit captures a series of still images at predetermined angles (e.g., 0°, 45°, 90°, 135°) to cover the entire surrounding environment. This segmentation of the imaging field into multiple angular segments resolves the contradiction by achieving comprehensive coverage without requiring a complex multi-camera system.
Solution Approach 2:
The imaging unit performs periodic imaging actions by capturing still images at regular angular intervals. The control unit systematically directs the imaging unit to capture images at predetermined angles in a periodic sequence, ensuring complete 360° coverage over time. This periodic angular sampling achieves wide-area monitoring without the complexity of continuous panoramic imaging hardware.
2Measurement precision
If the autonomous traveling body moves closer to obstacles to image detailed areas, then the imaging precision is improved, but the risk of collision increases
Solution Approach 1:
The obstacle detection unit performs preliminary detection of obstacles before the imaging unit attempts to capture images. The system identifies obstacle positions and distances in advance, allowing the control unit to pre-calculate safe imaging positions and angles. This preliminary obstacle awareness enables the system to maintain imaging precision while avoiding collisions by selecting appropriate imaging angles from safe positions.
Solution Approach 2:
The system implements feedback control by continuously monitoring obstacle positions via the obstacle detection unit and adjusting the imaging strategy accordingly. When obstacles are detected, the control unit receives feedback and modifies the imaging plan to avoid collision while maintaining coverage. This closed-loop feedback ensures both imaging precision and collision avoidance reliability.
3Area of stationary object
If the imaging unit captures images at overlapping angles, then the imaging coverage becomes more comprehensive without blind spots, but the quantity of images and data increases
Solution Approach 1:
The system applies partial action by capturing images at strategically selected overlapping angles rather than continuous coverage. By choosing specific predetermined angles (e.g., 0°, 45°, 90°, 135°) that provide sufficient overlap, the system achieves comprehensive coverage without capturing excessive redundant data. This selective angular sampling optimizes the balance between coverage completeness and data quantity.
4Area of stationary object
If the autonomous traveling body travels to multiple positions to image all directions, then the imaging coverage is improved, but the time required for imaging increases
Solution Approach 1:
The system transitions from spatial movement to angular rotation by capturing images at different angles from a single position. Instead of physically traveling to multiple locations, the imaging unit rotates or the device captures images at predetermined angles (0°, 45°, 90°, 135°) from one spot. This dimensional change from 3D spatial traversal to 2D angular sampling dramatically reduces imaging time while maintaining comprehensive coverage.
Data Source
Figure 1(a)~1(b)
Figure 2
Figure 3
AI summary
To provide a vacuum cleaner main body (11) capable of securely imaging, with a camera (35), a wide range without any blind spots. The vacuum cleaner main body (11) includes a main body case (20), the camera (35) that is provided in the main body case (20) and that can perform imaging at a given angle of view, a driving wheel that allows the main body case (20) to travel, and a control unit. The control unit has at least a traveling mode and an imaging mode. In the traveling mode, the control unit controls the drive of the driving wheel to allow the main body case (20) to travel autonomously. In the imaging mode, the control unit controls the main body case (20) to autonomously travel to a given imaging position so that the camera (35) sequentially images still images in a plurality of adjacent directions at an angle equal to or smaller than the angle of view.