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US 2025/0025010 A1Published application
Mobile robot performing cliff detection
AssigneePixart Imaging Inc.
InventorsKEEN-HUN LEONG, Sai-Mun Lee, Ching-Geak Chan
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Abstract
There is provided a mobile robot including a light source, an image sensor and a processor. The image sensor respectively captures bright image frames and dark image frames corresponding to the light source being turned on and turned off. The processor identifies that the mobile robot faces a cliff when a gray level variation between the bright image frames and the dark image frames is very small, and controls the mobile robot to stop moving forward continuously.
Claims20
A mobile robot, comprising:
- a light source, configured to be turned on within a first interval and be turned off within a second interval;
- an image sensor, configured to capture multiple bright image frames within the first interval using a first shutter, and capture multiple dark image frames within the second interval using a second shutter, wherein, within the second interval, the light source is not turned on between capturing adjacent two dark image frames among the multiple dark image frames;
- and
- a processor, configured to
- calculate an average of first gray level summation of the multiple bright image frames,
- calculate an average of second gray level summation of the multiple dark image frames,
- calculate a gray level difference between the average of first gray level summation and the average of second gray level summation, and
- perform cliff identification according to the gray level difference.
5 more elements
A mobile robot, comprising:
- a light source, configured to be turned on within a first interval and be turned off within a second interval;
- an image sensor, configured to capture multiple bright image frames within the first interval using a first shutter, and capture multiple dark image frames within the second interval using a second shutter, wherein, within the second interval, the light source is not turned on between capturing adjacent two dark image frames among the multiple dark image frames;
- and
- a processor, configured to
- calculate an average of first image quality of the multiple bright image frames,
- calculate an average of second image quality of the multiple dark image frames,
- calculate an image quality difference between the average of first image quality and the average of second image quality, and
- perform cliff identification according to the image quality difference.
5 more elements
A mobile robot, comprising:
- a light source, configured to be turned on within a first interval and be turned off within a second interval;
- an image sensor, configured to capture multiple bright image frames within the first interval using a first shutter, and capture multiple dark image frames within the second interval using a second shutter, wherein, within the second interval, the light source is not turned on between capturing adjacent two dark image frames among the multiple dark image frames;
- and
- a processor, configured to
- calculate an average of multiple first shutters within the first interval and an average of multiple second shutters within the second interval,
- calculate an average shutter difference between the average of multiple first shutters and the average of multiple second shutters, and
- perform cliff identification according to the average shutter difference.
4 more elements
Dependencies are inferred from the claim text.