Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection

Patent metadata

Field	Value
Publication number	US-11169533-B2
Application number	US-201616083161-A
Country	US
Kind code	B2
Filing date	Mar 15, 2016
Priority date	Mar 15, 2016
Publication date	Nov 9, 2021
Grant date	Nov 9, 2021

Abstract

A robotic cleaning device and a method at the robotic cleaning device of performing cliff detection along a surface over which the robotic cleaning device moves. The method includes illuminating the surface with at least one light source, capturing an image of the surface, detecting at least one illuminated section in the captured image, and determining distance to objects in the at least one illuminated section of the captured image. The method further comprises comparing at least two of the determined distances and detecting an object in the captured image as a cliff when cliff when a relation between the at least two compared determined distances complies with a predetermined increase criterion.

First claim

The invention claimed is:

1. A method for a robotic cleaning device of performing cliff detection along a surface over which the robotic cleaning device moves, the method comprising:
illuminating the surface with a corresponding line laser;
capturing an image of the surface;
detecting at least one illuminated section illuminated by the corresponding line laser in the captured image;
determining distances between successive measurement points along the corresponding line laser, the successive measurement points corresponding to multiple points in front of the robotic cleaning device that are illuminated by the corresponding line laser in the captured image;
comparing at least two of the determined distances to one another; and
detecting an object in the captured image as a cliff when a difference between the at least two compared determined distances exceeds a threshold value.

2. A non-transitory computer readable medium, the computer readable medium having a computer program stored thereon, that when executed by a processor, instructs the processor to perform the steps of:
illuminating the surface with a corresponding line laser;
capturing an image of the surface;
detecting at least one illuminated section illuminated by the corresponding line laser in the captured image;
determining distances between successive measurement points along the corresponding line laser, the successive measurement points corresponding to multiple points in front of the robotic cleaning device that are illuminated by the corresponding line laser in the captured image;
comparing at least two of the determined distances to one another; and
detecting an object in the captured image as a cliff when a difference between the at least two compared determined distances exceeds a threshold value.

3. The method of claim 1 , further comprising:
creating a representation of surroundings of the robotic cleaning device from detected objects of the captured image; and
adding an indication of the detected cliff to the created representation.

4. The method of claim 1 , further comprising planning a cleaning path to be traversed by taking into account the detected cliff.

5. The method of claim 1 , wherein
the step of detecting at least one illuminated section in the captured image further comprises detecting that a discontinuity occurs in the at least one illuminated section in the captured image, where the at least one illuminated section ceases to occur in the image beyond the detected discontinuity; and
the step of determining distance to objects in the at least one illuminated section of the captured image further comprises assigning a value to a distance being determined before the discontinuity such that the assigned value reflects a sufficiently great increase.

6. A robotic cleaning device comprising:
a propulsion system arranged to move the robotic cleaning device over a surface to be cleaned;
a corresponding line laser arranged to illuminate the surface;
a camera arranged to capture an image of the surface; and
a controller configured to control the propulsion system to move the robotic cleaning device and to control the camera to capture the image; wherein the controller further is configured to:
detect at least one illuminated section illuminated by the corresponding line laser in the captured image;
determine distances between successive measurement points along the corresponding line laser, the successive measurement points corresponding to multiple points in front of the robotic cleaning device that are illuminated by the corresponding line laser in the captured image;
compare at least two of the determined distances to one another; and
detect an object in the captured image as a cliff when a difference between the at least two compared determined distances exceeds a threshold value.

7. The robotic cleaning device of claim 6 , wherein the line laser is a vertical line laser.

8. The robotic cleaning device of claim 6 , the controller further being configured to:
create a representation of surroundings of the robotic cleaning device from detected objects of the captured image; and
add an indication of the detected cliff to the created representation.

9. The robotic cleaning device of claim 6 , the controller further being configured to plan a cleaning path to be traversed by taking into account the detected cliff.

10. The robotic cleaning device of claim 6 , the controller further being configured to:
when detecting at least one illuminated section in the captured image, detect that a discontinuity occurs in the at least one illuminated section in the capture image, where the at least one illuminated section cease to occur in the image beyond the detected discontinuity; and
when determining distance to objects in the at least one illuminated section of the captured image, assign a value to a distance being determined before the discontinuity such that the assigned value reflects a sufficiently great increase.

11. The robotic cleaning device of claim 7 , further comprising another vertical line laser arranged to illuminate the surface.

12. The robotic cleaning device of claim 11 , wherein the vertical line laser and the another vertical line laser are arranged on respective sides of the camera along an axis being perpendicular to an optical axis of the camera.

Assignees

• Electrolux Ab

Inventors

• Haegermarck Anders
• Forsberg Petter
• Lindhé Magnus

Classifications

• G05D2105/10

  for cleaning, vacuuming or polishing · CPC title

• G05D2111/67

  Sensor fusion · CPC title

• A47L9/009

  Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S17/46

  Indirect determination of position data · CPC title