Structured Light Floor Object Detection for Cleaning Robots
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Solution Overview
Problem
Existing robots, such as cleaning robots, face challenges in detecting floor objects like carpets or rugs, which can disrupt their movement and operation, as current methods do not effectively account for these obstacles in setting reference maps for navigation.
Innovation Solution
A method using structured light to detect floor objects by projecting light onto the floor, capturing images, and determining height differences to identify the presence and size of objects, allowing the robot to update its reference map and adjust its operation accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a monitoring camera is used to detect obstacles for setting a reference map, then the robot can navigate and avoid obstacles, but floor objects like carpets or rugs cannot be detected because they do not disturb movement
Solution Approach 1:
The detection system is segmented into two independent subsystems: a monitoring camera for detecting movement-obstructing obstacles and a structured light projector for detecting floor objects. Each subsystem targets specific types of obstacles, allowing the robot to comprehensively identify both elevated obstacles and subtle floor surface changes without interference between detection functions.
Solution Approach 2:
Structured light is introduced as an intermediary medium to detect floor objects. The structured light projects patterns onto the floor surface, and changes in the reflected light pattern reveal the presence of floor objects like carpets or rugs, enabling detection without requiring the objects to physically obstruct robot movement.
2Ease of operation
If the robot uses a monitoring camera to capture front obstacles, then it can transmit images to users and avoid major obstacles, but it cannot detect floor objects that may cause abnormal operation
Solution Approach 1:
The structured light system performs preliminary detection of floor objects before the robot begins cleaning operations. By projecting structured light and analyzing the reflected patterns, the system identifies carpets or rugs in advance, allowing the robot to adjust its cleaning parameters or avoid abnormal operations before they occur.
Solution Approach 2:
The optical structured light system replaces reliance on mechanical movement disruption for detection. Instead of waiting for floor objects to cause movement disturbances, the optical system actively probes the floor surface and detects objects through light pattern analysis, enabling non-contact, pre-operational detection.
3Measurement precision
If structured light is projected to detect floor objects through height difference measurement, then floor objects can be accurately detected, but the device complexity increases
Solution Approach 1:
The structured light projector and camera system serves multiple functions: it detects floor objects through height difference measurement, maps the surrounding environment for navigation, and provides depth information for obstacle detection. This multi-functionality reduces the need for separate specialized sensors, thereby limiting the increase in device complexity while maintaining high measurement precision.
Solution Approach 2:
The system creates a virtual copy or digital model of the physical environment by projecting structured light patterns and capturing the reflected light with the camera. This optical copying process generates height difference information and spatial maps without requiring physical contact or complex mechanical measurement devices, simplifying the overall system architecture.
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 the robot to accurately detect and navigate around floor objects, preventing operational disruptions and allowing for tailored cleaning modes based on detected floor types, enhancing its navigation and cleaning efficiency.
Implementation Method 1
capturing an image frame of where the structured light is projected
Data Source
AI summary
A method of detecting an object using a structured light and a robot using the same are disclosed. The method of detecting a floor object using a structured light includes measuring a height difference of a position onto which a specified structured light is projected with a reference position, and detecting the floor object using the measured height difference.