# US 12,183,070 B2 · Object determining system and robot cleaner applying the object determining system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,183,070 B2 - Document ID: US12183070B2 - Status: Granted - Kind: B2 - Application number: 18/496,946 - Filed: 2023-10-30 - Published: 2024-02-15 - Granted: 2024-12-31 - Earliest claimed: 2018-06-29 - Assignees: Pixart Imaging Inc. - Applicants: PixArt Imaging Inc. - Inventors: Guo-Zhen Wang - Web page: https://patentgrep.com/patent/US12183070B2 ## CPC - G06V 20/10: Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59) - G06V 10/143: Sensing or illuminating at different wavelengths - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract An object determining system, comprising: a processing circuit; a first stage object sensor, for generating a first stage object sensing result of an object; and a second stage object sensor, for generating a second stage object sensing result of the object if the processing circuit determines the object exists in a predetermined range based on the first stage object sensing result, wherein the processing circuit further determines an object kind of the object based on the second stage object sensing result; a line light source; and an area light source. The first stage object sensor generates the first stage object sensing result based on the line light. The second stage object sensor generates the second object detecting result based on the plane light. The first stage object sensor is a depth sensor or a thermal sensor. The second stage object sensor is an image sensor or a thermal sensor. ## Claims ### Claim 1 An object determining system, comprising: a processing circuit; a first stage object sensor, configured to generate a first stage object sensing result of an object; and a second stage object sensor, configured to generate a second stage object sensing result of the object if the processing circuit determines the object exists in a predetermined range of the object determining system based on the first stage object sensing result, wherein the processing circuit further determines an object kind of the object based on the second stage object sensing result; a line light source, configured to generate line light; and an area light source, configured to generate plane light, wherein the first stage object sensor generates the first stage object sensing result based on the line light, wherein the second stage object sensor generates the second object detecting result based on the plane light; wherein the first stage object sensor is a depth sensor or a thermal sensor; wherein the second stage object sensor is an image sensor or a thermal sensor. ### Claim 2 (depends on 1) The object determining system of claim 1, further comprising: a third stage object sensor, configured to generate a third stage object sensing result of the object if the processing circuit determines the object exists in the predetermined range of the object determining system based on the first stage object sensing result; wherein the processing circuit determines the object kind based on the second stage object sensing result and the third stage object sensing result. ### Claim 3 (depends on 2) The object determining system of claim 2, wherein the third stage object sensor is a thermal sensor. ### Claim 4 (depends on 1) The object determining system of claim 1, wherein the second stage object sensor is in a sleep mode until the processing circuit determines the object exists in the predetermined range of the object determining system based on the first stage object sensing result. ### Claim 5 (depends on 1) The object determining system of claim 1, wherein the processing circuit further transmits the second stage object sensing result to a user for confirming. ### Claim 6 (depends on 5) The object determining system of claim 5, wherein the processing circuit transmits the second stage object sensing result to a mobile phone of the user for confirming. ### Claim 7 (depends on 1) The object determining system of claim 1, wherein the plane light is square light. ### Claim 8 (depends on 1) The object determining system of claim 1, wherein the first stage object sensor is a laser depth sensor. ### Claim 9 A robot cleaner, comprising: a processing circuit; a first stage object sensor, configured to generate a first stage object sensing result of an object; a second stage object sensor, configured to generate a second stage object sensing result of the object if the processing circuit determines the object exists in a predetermined range of the object determining system based on the first stage object sensing result, wherein the processing circuit further determines an object kind of the object based on the second stage object sensing result; a line light source, configured to generate line light; and an area light source, configured to generate plane light, wherein the first stage object sensor generates the first stage object sensing result based on the line light, wherein the second stage object sensor generates the second object detecting result based on the plane light; wherein the first stage object sensor is a depth sensor or a thermal sensor; wherein the second stage object sensor is an image sensor or a thermal sensor. ### Claim 10 (depends on 9) The robot cleaner of claim 9, further comprising: a third stage object sensor, configured to generate a third stage object sensing result of the object if the processing circuit determines the object exists in the predetermined range of the object determining system based on the first stage object sensing result; wherein the processing circuit determines the object kind based on the second stage object sensing result and the third stage object sensing result. ### Claim 11 (depends on 10) The robot cleaner of claim 10, wherein the third stage object sensor is a thermal sensor. ### Claim 12 (depends on 9) The robot cleaner of claim 9, wherein the second stage object sensor is in a sleep mode until the processing circuit determines the object exists in the predetermined range of the object determining system based on the first stage object sensing result. ### Claim 13 (depends on 9) The robot cleaner of claim 9, wherein the processing circuit further transmits the second stage object sensing result to a user for confirming. ### Claim 14 (depends on 13) The robot cleaner of claim 13, wherein the processing circuit transmits the second stage object sensing result to a mobile phone of the user for confirming. ### Claim 15 (depends on 9) The robot cleaner of claim 9, wherein the plane light is square light. ### Claim 16 (depends on 9) The robot cleaner of claim 9, wherein the first stage object sensor is a laser depth sensor.