USING LASER SENSOR FOR FLOOR TYPE DETECTION

• US 20170344019A1
• Filed: 12/10/2014
• Published: 11/30/2017
• Est. Priority Date: 12/10/2014
• Status: Active Grant

• Current Assignee: Aktiebolaget Electrolux
• Original Assignee: Aktiebolaget Electrolux
• Inventors: HAEGERMARCK, Anders, FORSBERG, Petter, LINDH, Magnus
• Granted Patent: US 10,877,484 B2
• Time in Patent Office: Days
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 9/0477 Rolls
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2842 Suction motors or blowers
• CPC Class Codes: A47L 9/2847 Surface treating elements
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: G01B 11/06 for measuring thickness ; e.g. of sheet material thickness measurement by thermal means G01B21/085
• CPC Class Codes: G01B 11/303 using photoelectric detection means
• CPC Class Codes: G01N 21/84 Systems specially adapted for particular applications
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light

Abstract

A robotic cleaning device and a method for operating the robotic cleaning device to detect a structure of a surface over which the robotic cleaning device moves. The method includes illuminating the surface with structured vertical light, capturing an image of the surface, detecting at least one luminous section in the captured image, and determining, from an appearance of the at least one luminous section, the structure of the surface.

Claims

1. A method for a robotic cleaning device of detecting a structure of a surface over which the robotic cleaning device moves, the method comprising:

illuminating the surface with structured vertical light;

capturing an image of the surface;

detecting at least one luminous section in the captured image; and

determining, from an appearance of the at least one luminous section, a structure of the surface.

2. The method of claim 1, wherein the at least one luminous section comprises a straight and smooth line, and determining the structure of the surface comprises determining that the surface a flat floor.

3. The method of claim 1, wherein the at least one luminous section comprises a straight and noisy line, and determining the structure of the surface comprises determining that the surface is a carpet having a structured upper side.

4. The method of claim 1, wherein the at least one luminous section comprises a straight line segmented into a plurality of vertical line segments, and determining the structure of the surface comprises determining that the surface is a rug.

5. The method of claim 4, further comprising evaluating a length of the plurality of vertical line segments to determine a thickness of the rug.

6. The method of claim 1, further comprising:

controlling an operation of the robotic cleaning device based on the determined structure of the surface.

7. The method of claim 6, wherein the controlling the operation of the robotic cleaning device comprises:

controlling any one or more of a suction capacity of a robotic cleaning device suction fan, a rotational speed of a brush roll or a side brush of the robotic cleaning device, or a movement of the robotic cleaning device over the surface.

8. A robotic cleaning device configured to detect a structure of a surface over which the robotic cleaning device moves, the robotic cleaning device comprising:

a propulsion system arranged to move the robotic cleaning device over the surface;

at least one light source arranged to illuminate the surface with a structured vertical light;

a camera device arranged to capture images of the surface; and

a controller arranged to control the propulsion system to move the robotic cleaning device;

wherein

the controller further is arranged to control the camera device to capture an image of the surface, to detect at least one luminous section in the captured image, and to determine, from an appearance of the at least one luminous section, a structure of the surface.

9. The robotic cleaning device of claim 8, wherein the at least one light source comprises a first vertical line laser arranged to illuminate the surface, and a second vertical line laser arranged to illuminate the surface.

10. The robotic cleaning device of claim 9, wherein the first vertical line laser and the second vertical line laser are each arranged on a respective side of the camera device along an axis perpendicular to an optical axis of the camera device.

11. The robotic cleaning device of claim 8, wherein the controller is configured to determine that the surface comprises a flat floor when the at least one luminous section comprises a straight and smooth line.

12. The robotic cleaning device of claim 8, wherein the controller is configured to determine that the surface comprises a carpet having a structured upper side when the at least one luminous section comprises a straight and noisy line.

13. The robotic cleaning device of claim 8, wherein the controller is configured to determine that the surface comprises a rug when the at least one luminous section comprises a straight line segmented into a plurality of vertical line segments.

14. The robotic cleaning device of claim 8, wherein the controller is further arranged to:

control operation of the robotic cleaning device based on the determined structure of the surface.

15. The robotic cleaning device of claim 14, wherein the controller is arranged to, when controlling the operation of the robotic cleaning device, control any one of more of:

a suction capacity of a robotic cleaning device suction fan, a rotational speed of a brush roll or a side brush of the robotic cleaning device, or a movement of the robotic cleaning device over the surface.

16. A computer program comprising computer-executable instructions stored in a non-transitory medium for causing a robotic cleaning device to:

illuminate a surface with structured vertical light;

capture an image of the surface;

detect at least one luminous section in the captured image; and

determine, from an appearance of the at least one luminous section, a structure of the surface.

18. The computer program of claim 16, wherein the computer-executable functions are executed by a controller in the robotic cleaning device.

17. (canceled)