Using laser sensor for floor type detection

Patent metadata

Field	Value
Publication number	US-10877484-B2
Application number	US-201415534327-A
Country	US
Kind code	B2
Filing date	Dec 10, 2014
Priority date	Dec 10, 2014
Publication date	Dec 29, 2020
Grant date	Dec 29, 2020

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.

First claim

The invention claimed is:

1. A method for a robotic cleaning device of detecting a structure of a surface to be cleaned by the robotic cleaning device, the method comprising:
illuminating the surface with structured vertical light;
capturing an image of the surface;
detecting a structured vertical light in the captured image;
determining changes in appearance of the structured vertical light along a length of the structured vertical light, the changes in appearance including a blurred portion of the structured vertical light;
determining, from the blurred portion of the structured vertical light, an edge of the structure of the surface; and
determining, whether to control the robotic cleaning device to cross over the edge or to avoid crossing over the edge when cleaning 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 is 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 to be cleaned by the robotic cleaning device, 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 the structured vertical light in the captured image, to determine changes in appearance of the structured vertical light along a length of the structured vertical light, the changes in appearance including a blurred portion of the structured vertical light, to determine, from the blurred portion of the structured vertical light, an edge of the structure of the surface and to determine whether to control the robotic cleaning device to cross over the edge or to avoid crossing over the edge when cleaning 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 to be cleaned by the robotic cleaning device with a structured vertical light;
capture an image of the surface;
detect the structured vertical light in the captured image;
determine changes in appearance of the structured vertical light along a length of the structured vertical light, the changes in appearance including a blurred portion of the structured vertical light;
determine, from the blurred portion of the structured vertical light, an edge of the structure of the surface; and
determine, whether to control the robotic cleaning device to cross over the edge or to avoid crossing over the edge when cleaning the surface.

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

Assignees

• Electrolux Ab

Inventors

• Haegermarck Anders
• Forsberg Petter
• Lindhé Magnus

Classifications

• A47L9/2826 Primary

  the condition of the floor · CPC title

• A47L9/2847

  Surface treating elements · CPC title

• A47L11/4011

  Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor · CPC title

• A47L9/0477

  Rolls · CPC title

• A47L9/2852

  Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles · CPC title