Structured Light Obstacle Detection for Low and Suspended Obstacles
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Solution Overview
Problem
Existing obstacle detection systems in ground-sweeping robots using structured light struggle to recognize suspension spaces below furniture, shorter obstacles, and elongated obstacles in the vertical direction, leading to potential sticking issues and blind zones.
Innovation Solution
The system employs a structured light projection module that projects multiple detection lines at specific angle ranges in both horizontal and vertical directions, including lateral and longitudinal lines, allowing for comprehensive obstacle detection by calculating spatial positions using image processing algorithms, thereby enhancing the robot's ability to avoid obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a single lateral detection line is projected in the horizontal direction, then the field of view is large, but suspension spaces below furniture and low obstacles cannot be detected
Solution Approach 1:
The single lateral detection line is segmented into multiple detection lines with different orientations. The system projects at least one lateral detection line in the horizontal direction and at least one longitudinal detection line in the vertical direction, allowing each line to detect specific types of obstacles while collectively covering the entire field of view.
Solution Approach 2:
The detection system transitions from a two-dimensional horizontal lateral detection line to a three-dimensional configuration by adding longitudinal detection lines in the vertical direction. This dimensional expansion enables detection of obstacles at different heights, including suspension spaces and low obstacles that were previously undetectable.
2Measurement precision
If multiple sensors are carried to implement 3D vision function, then obstacle recognition capability is improved, but device complexity increases
Solution Approach 1:
The structured light system serves multiple functions simultaneously: it provides depth measurement, obstacle detection, suspension space recognition, and 3D vision capabilities. By making the projection apparatus and camera module multi-functional, the system achieves comprehensive obstacle recognition without requiring separate specialized sensors for each function.
Solution Approach 2:
The system merges the projection apparatus and camera module into an integrated structured light unit that performs multiple detection tasks. Instead of carrying separate sensors for different detection purposes, the merged system uses coordinated projection and capture to achieve comprehensive 3D vision functionality.
3Measurement precision
If structured light is projected through a diffractive optical element, then obstacle recognition is enabled, but elongated vertical obstacles and suspension spaces remain undetectable
Solution Approach 1:
The single detection line is segmented into multiple lines with different orientations (lateral and longitudinal). This segmentation allows the system to detect different types of obstacles that a single line would miss, including elongated vertical obstacles and suspension spaces below furniture.
Solution Approach 2:
The system uses asymmetric detection line orientations rather than symmetric horizontal-only lines. By incorporating longitudinal lines in the vertical direction alongside lateral lines in the horizontal direction, the system creates an asymmetric detection pattern that covers a broader range of obstacle types and orientations.
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 solution enables the detection of higher obstacles within a large field of view, prevents sticking by recognizing suspension spaces, detects low obstacles eliminating blind zones, and effectively identifies elongated obstacles, improving the robot's navigation capabilities.
Implementation Method 1
a diffractive optical element disposed downstream of an optical path of the laser light source to receive the laser beam and project the structured light
Data Source
AI summary
Provided is a mobile apparatus obstacle detection system (100), a mobile apparatus (10) carrying the obstacle detection system (100), and a ground-sweeping robot. The obstacle detection system (100) comprises: a structured light projection module (102) configured to project structured light onto the path of advance of the mobile apparatus (10), the structured light comprising at least one lateral detection line in the horizontal direction and at least one longitudinal detection line in the vertical direction; a camera module (103) configured to capture an image of the structured light (105); and an image processing module (104) configured to calculate, according to the image of the structured light (105), the distances and positions of obstacles (106, 107, 108) on the path of advance.