Cleaning robot capable of detecting 2D depth information and operating method thereof
AssigneePixart Imaging Inc.
InventorGuo-Zhen Wang
Life of this patent
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Abstract
There is provided a cleaning robot including a light source module, an image sensor and a processor. The light source module projects a line pattern and a speckle pattern toward a moving direction. The image sensor captures an image of the line pattern and an image of the speckle pattern. The processor calculates one-dimensional depth information according to the image of the line pattern and calculates two-dimensional depth information according to the image of the speckle pattern.
Claims22
A cleaning robot, comprising:
- a first diffractive optical element;
- a first light source configured to project a line pattern through the first diffractive optical element;
- a second diffractive optical element;
- a second light source configured to project a speckle pattern through the second diffractive optical element;
- an image sensor configured to acquire an image of the line pattern and an image of the speckle pattern;
- and
- a processor configured to identify whether there is an obstacle according to the image of the line pattern, and turn on the first light source but turn off the second light source when identifying no obstacle in the image of the line pattern.
A cleaning robot, comprising:
- a first diffractive optical element;
- a first light source configured to project a line pattern through the first diffractive optical element;
- a first image sensor configured to capture an image of the line pattern;
- a second diffractive optical element;
- a second light source configured to project a speckle pattern through the second diffractive optical element;
- a second image sensor configured to capture an image of the speckle pattern;
- and
- a processor configured to identify an obstacle according to the image of the line pattern, and turn off the second light source and the second image sensor when no obstacle is identified in the image of the line pattern.
An operating method of a cleaning robot, the cleaning robot comprising a light source, a diffractive optical element, an image sensor and a processor, the light source projecting a line pattern through the diffractive optical element, the operating method comprising:
- projecting a line pattern toward a first direction when the cleaning robot moves toward an obstacle;
- calculating, by the processor, a relative distance from the obstacle according to a first image of the line pattern captured by the image sensor;
- controlling, by the processor, the cleaning robot to turn to move parallel to the obstacle when the relative distance is identical to a predetermined distance;
- projecting the line pattern toward a second direction when the cleaning robot moves parallel to the obstacle;
- and
- maintaining, by the processor, a parallel distance between the cleaning robot and the obstacle to the predetermined distance according to a second image of the line pattern captured by the image sensor.
A cleaning robot, comprising:
- a diffractive optical element;
- a laser light source configured to project a line pattern toward a moving direction through the diffractive optical element;
- a light emitting diode configured to illuminate light with an emission angle toward the moving direction;
- an image sensor configured to acquire an image with a field of view toward the moving direction;
- and
- a processor configured to control lighting of the laser light source and the light emitting diode, wherein when identifying that a signal-to-noise ratio of the image containing the line pattern exceeds a threshold range, the processor is configured to identify a distance of an obstacle according to an area of a bright region in the image which is acquired when the light emitting diode is lighting.
A cleaning robot, comprising:
- a light source module configured to provide a line pattern and a speckle pattern;
- an image sensor configured to acquire an image of the line pattern and an image of the speckle pattern;
- and
- a processor configured to identify whether there is an obstacle according to the image of the line pattern, and identify a distance from the obstacle according to the image of the line pattern, and control the cleaning robot to turn to move in a direction parallel to the obstacle when the distance is identical to a predetermined distance.
Dependencies are inferred from the claim text.