Structured Light 3D Mapping Using Upward Emission
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Solution Overview
Problem
Existing methods for generating maps using structured light by mobile robots, such as cleaning robots, are limited to creating two-dimensional maps due to the short baseline when light is emitted forward, resulting in reduced range resolution and difficulty in generating accurate maps, especially in environments with varying brightness and darkness.
Innovation Solution
A three-dimensional map-generating apparatus and method that emits structured light upward, utilizing an odometer to detect the robot's pose and a distance-measuring sensor with a light source and camera module to capture images reflected from obstacles, allowing for the calculation of distances and generation of three-dimensional maps by changing the robot's pose.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If light is emitted forward in the movement direction, then the device complexity is reduced, but the baseline becomes short resulting in reduced range resolution
Solution Approach 1:
The patent changes the light emission direction from the forward horizontal direction to the upward vertical direction. This dimensional change allows the light to reflect off the ceiling and return to the camera, creating a much longer baseline distance between the light source and the effective measurement plane, thereby improving range resolution without increasing device complexity
2Device complexity
If light is emitted forward, then the device complexity is reduced, but only two-dimensional maps can be generated
Solution Approach 1:
By emitting light upward toward the ceiling rather than forward, the system captures depth information in the vertical dimension. The camera records the reflected light pattern from the ceiling, which encodes three-dimensional spatial information, enabling the generation of 3D maps while maintaining simple device architecture
3Device complexity
If the baseline is short, then the device complexity is reduced, but the range resolution at long distance is lowered
Solution Approach 1:
The patent utilizes the vertical dimension by directing light upward to the ceiling and capturing the reflection. This creates an effectively long baseline distance from the light source to the ceiling and back to the camera, enabling high range resolution at long distances without requiring a physically large device
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 enables the creation of accurate three-dimensional maps with improved range resolution and the ability to operate in dark environments, enhancing the navigation and cleaning efficiency of mobile robots by providing detailed distance data and feature extraction.
Implementation Method 1
a camera module to capture an image formed by the light as reflected from an obstacle
Data Source
AI summary
A three-dimensional map-generating apparatus and method using structured light. The apparatus for generating a three-dimensional map using structured light includes an odometer detecting the pose of a mobile robot, and a distance-measuring sensor including a light source module that emits light upward and a camera module that captures an image formed by light reflected from an obstacle, and measuring a distance to the obstacle using the captured image. The apparatus measures a distance to the obstacle using the distance-measuring sensor while changing the relative pose of the mobile robot, thereby generating a three-dimensional map.