Mobile robot

• US 10,144,342 B2
• Filed: 09/02/2015
• Issued: 12/04/2018
• Est. Priority Date: 09/03/2014
• Status: Expired due to Fees

• Current Assignee: Dyson Technology Limited (Beeswax Holdings UK Limited)
• Original Assignee: Dyson Technology Limited (Beeswax Holdings UK Limited)
• Inventors: Ji, Ze, Smith, Christopher Andrew
• Primary Examiner(s): Volentine, Rebecca A
• Application Number:
  US14/843,442
• Publication Number:
  US 20160059770A1
• Time in Patent Office: 1,189 Days
• CPC Class Codes: B60R 2300/101 using cameras with adjustable capturing direction
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/80 characterised by the intended use of the viewing arrangement
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: H04N 23/56 provided with illuminating means
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A mobile robot comprising: a vision system, the vision system comprising a camera and two or more light sources each arranged to provide a level of illumination to an area surrounding the mobile robot; wherein the two or more light sources are arranged to illuminate separate areas surrounding the robot corresponding to different sections of an image captured by the camera, and the level of illumination provided by each of the light sources is independently adjustable.

Claims

1. A mobile robot comprising:

a vision system, the vision system comprising a camera and two or more light sources each arranged to provide a level of illumination to an area surrounding the mobile robot; and

a control system configured for processing images captured by the camera to detect high contrast features within the images and to use detected high contrast features to triangulate the mobile robot within an environment,

wherein the two or more light sources are arranged to illuminate separate areas surrounding the robot corresponding to different sections of an image captured by the camera, and the level of illumination provided by each of the light sources is independently adjustable, and

wherein the level of illumination provided by each one of the two or more light sources is independently adjustable in response to a quantity of high contrast features detected by the control system within the images captured by the camera.

2. The mobile robot of claim 1, wherein the level of illumination provided by each of the light sources is independently adjusted in response to the quantity of features detected by the control system within corresponding sections of the image illuminated by each light source.

3. The mobile robot of claim 1, wherein the two or more light sources are arranged to illuminate a combined area that corresponds to between a quarter and three quarters of the overall image captured by the camera.

4. The mobile robot of claim 1, wherein the two or more light sources are arranged on the robot such that they illuminate separate areas that are on opposite sides of the robot.

5. The mobile robot of claim 1, wherein when the vision system comprises two light sources, each light source is arranged on opposite sides of the robot to emit light in an opposite direction to the other light source.

6. The mobile robot of claim 1, wherein the vision system comprises at least four light sources.

7. The mobile robot of claim 6, wherein the at least four light sources are arranged to illuminate a different quadrant area surrounding the robot.

8. The mobile robot of claim 1, wherein the level of illumination provided by each of the light sources is adjusted by increasing and decreasing the power provided to each of the light sources.

9. The mobile robot of claim 1, wherein the level of illumination provided by each of the light sources is independently adjusted in response to a control signal sent to the vision system by the control system.

10. The mobile robot of claim 9, wherein the control system comprises a simultaneous localisation and mapping (SLAM) unit.

11. The mobile robot of claim 1, wherein the camera is a panoramic annular lens (PAL) camera.

12. The mobile robot of claim 1, wherein the light sources comprise light-emitting diodes (LEDs).

13. The mobile robot of claim 1, wherein the light sources emit infra-red (IR) light.

14. The mobile robot of claim 1, wherein the light sources are positioned inside handle portions provided on the robot.