Method of detecting a difference in level of a surface in front of a robotic cleaning device

Patent metadata

Field	Value
Publication number	US-11474533-B2
Application number	US-201716612913-A
Country	US
Kind code	B2
Filing date	Jun 2, 2017
Priority date	Jun 2, 2017
Publication date	Oct 18, 2022
Grant date	Oct 18, 2022

Abstract

A method for a robotic cleaning device of detecting a difference in level of a surface in front of the robotic cleaning device moves. The method includes illuminating the surface with light, capturing an image of the surface, detecting a luminous section in the captured image caused by the light, identifying at least a first segment and a second segment representing the detected luminous section, and detecting, from a positional relationship between the identified first and second segment, the difference in level of the surface.

First claim

The invention claimed is:

1. A method for a robotic cleaning device of detecting a difference in level of a surface in front of the robotic cleaning device, the method comprising:
illuminating the surface with a line laser;
capturing an image of the surface;
detecting a luminous section in the captured image caused by the line laser;
identifying at least a first segment of the line laser and a second segment of the line laser representing the detected luminous section, the first segment of the line laser and the second segment of the line laser separated by a discontinuity due to the difference in level of the surface; and
determining, from coordinates of the captured image, a vertical distance between the identified first segment of the line laser and second segment of the line laser, the vertical distance constituting a height of the detected difference in level of the surface.

2. The method of claim 1 ,
wherein the difference in level is detected to comprise a ledge.

3. The method of claim 1 , wherein the detecting of the difference in level of the surface from a positional relationship between the identified first and second segment of the line laser comprises:
detecting a third segment linking the identified first and second segment of the line laser in the captured image, wherein the difference in level is detected to comprise an elevation.

4. The method of claim 2 , wherein the detecting of the difference in level of the surface from a positional relationship between the identified first and second segment of the line laser comprises:
detecting that the identified second segment of the line laser is located vertically below the identified first segment of the line laser in the captured image, wherein the difference in level is detected to comprise a ledge.

5. The method of claim 3 , wherein the detecting of the difference in level of the surface from a positional relationship between the identified first and second segment of the line laser comprises:
detecting that the identified second segment of the line laser is located vertically above the identified first segment of the line laser in the captured image, wherein the difference in level is detected to comprise an elevation.

6. The method of claim 1 , wherein the detecting of the difference in level of the surface from a positional relationship between the identified first and second segment of the line laser comprises:
determining, from coordinates of the captured image, a distance to a proximal end of the identified first segment of the line laser.

7. A robotic cleaning device configured to detect a difference in level of a surface in front of the robotic cleaning device, comprising:
a propulsion system configured to move the robotic cleaning device;
a camera device configured to record images of a vicinity of the robotic cleaning device;
at least one light source including a line laser configured to illuminate a surface in front of the robotic cleaning device; and
a controller configured to:
control the line laser to illuminate a surface in front of the robotic cleaning device;
control the camera device to capture an image of the illuminated surface;
detect a luminous section in the captured image caused by the line laser illuminating the surface;
identify at least a first segment of the line laser and a second segment of the line laser representing the detected luminous section, the first segment of the line laser and the second segment of the line laser separated by a discontinuity due to the difference in level of the surface; and
determine from coordinates of the captured image, a vertical distance between the identified first segment of the line laser and second segment of the line laser, the vertical distance constituting a height of the detected difference in level of the surface.

8. The robotic cleaning device of claim 7 ,
wherein the difference in level is detected to comprise a ledge.

9. The robotic cleaning device of claim 7 , the controller further being configured to, when detecting the difference in level of the surface from a positional relationship between the identified first and second segment of the line laser:
detect a third segment linking the identified first and second segment of the line laser in the captured image, wherein the difference in level is detected to comprise an elevation.

10. The robotic cleaning device of claim 8 , the controller further being configured to, when detecting the difference in level of the surface from a positional relationship between the identified first and second segment of the line laser:
detect that the identified second segment of the line laser is located vertically below the identified first segment of the line laser in the captured image, wherein the difference in level is detected to comprise a ledge.

11. The robotic cleaning device of claim 9 , the controller further being configured to, when detecting the difference in level of the surface from a positional relationship between the identified first and second segment of the line laser:
detect that the identified second segment of the line laser is located vertically above the identified first segment of the line laser in the captured image, wherein the difference in level is detected to comprise an elevation.

12. The robotic cleaning device of claim 7 , the controller further being configured to, when detecting the difference in level of the surface from a positional relationship between the identified first and second segment of the line laser:
determine, from coordinates of the captured image, a distance to a proximal end of the identified first segment of the line laser.

13. A non-transitory computer readable medium comprising computer-executable instructions stored thereon that when executed by a controller of a robotic cleaning device controls the robotic cleaning device to:
illuminate the surface with a line laser;
capture an image of the surface;
detect a luminous section in the captured image caused by the line laser;
identify at least a first segment of the line laser and a second segment of the line laser representing the detected luminous section, the first segment of the line laser and the second segment of the line laser separated by a discontinuity due to the difference in level of the surface; and
determine, from coordinates of the captured image, a vertical distance between the identified first segment of the line laser and second segment of the line laser, the vertical distance constituting a height of the detected difference in level of the surface.

Assignees

• Electrolux Ab

Inventors

• Forsberg Petter
• Lindhé Magnus
• Klintemyr Andreas

Classifications

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title

• G06T7/55

  from multiple images · CPC title

• B25J19/022

  using lasers · CPC title

• B25J19/023

  including video camera means · CPC title

• A47L2201/04

  Automatic control of the travelling movement; Automatic obstacle detection · CPC title