Surface type detection

Patent metadata

Field	Value
Publication number	US-12013371-B2
Application number	US-202117226447-A
Country	US
Kind code	B2
Filing date	Apr 9, 2021
Priority date	Apr 9, 2021
Publication date	Jun 18, 2024
Grant date	Jun 18, 2024

Abstract

A robotic cleaning appliance includes a sonic transducer and a processor coupled with a housing. The sonic transducer transmits sonic signals toward a surface within its ringdown distance and receives corresponding returned signals. Following cessation of the sonic signals, the processor samples the ringdown signal generated by the sonic transducer during an early portion before the corresponding returned signals have reflected back to the sonic transducer, and during a later portion which includes the corresponding returned signals. The processor utilizes the sampled early portion to estimate a void ringdown signal of which represents performance of the sonic transducer in absence of returned signals being received. The processor compares the estimated void ringdown signal to the later portion of the ringdown signal and generates a metric based on the comparison. The processor utilizes the metric to determine a type of the surface, out of a plurality of surface types.

First claim

What is claimed is:

1. A robotic cleaning appliance comprising:
a housing to which is coupled a surface treatment item; and
a sonic transducer, coupled with the housing, and configured to transmit sonic signals toward a surface beneath the robotic cleaning appliance and receive corresponding returned signals reflected from the surface, wherein the surface is within a ringdown distance associated with the sonic transducer;
a processor coupled with the housing and configured to:
following cessation of active transmission of the sonic signals, sample a plurality of points of a ringdown signal generated by the sonic transducer, wherein the sampling occurs during an early portion of the ringdown signal before the corresponding returned signals from the surface have reflected back to be received by the sonic transducer, and the sampling also occurs during a later portion of the ringdown signal which includes the corresponding returned signals;
estimate, using the early portion of the plurality of sampled points, a void ringdown signal of the sonic transducer, wherein the estimated void ringdown signal represents performance of the sonic transducer in absence of any returned signals being received;
compare the estimated void ringdown signal to the later portion of the ringdown signal;
generate a metric based on a comparison; and
utilize the metric to determine a type of the surface, out of a plurality of surface types.

2. The robotic cleaning appliance of claim 1 , wherein the processor is further configured to:
store the estimated void ringdown signal for future use with a subsequent transmission of sonic signals by the sonic transducer.

3. The robotic cleaning appliance of claim 1 , wherein the processor configured to generate a metric based on a comparison comprises the processor configured to:
generate the metric based on a comparison of a characteristic of the estimated void ringdown signal and the same characteristic in the later portion of the ringdown signal, wherein the characteristic is based on at least one of an in-phase component and a quadrature component.

4. The robotic cleaning appliance of claim 3 , wherein the processor configured to generate a metric based on a comparison comprises the processor configured to:
generate the metric based on a comparison of respective curve lengths of the estimated void ringdown signal and the later portion of the ringdown signal.

5. The robotic cleaning appliance of claim 1 , wherein the processor configured to generate a metric based on a comparison comprises the processor configured to:
generate a metric based on a comparison of respective magnitudes of the estimated void ringdown signal and the later portion of the ringdown signal.

6. The robotic cleaning appliance of claim 1 , wherein the processor configured to utilize the metric to determine the type of the surface, out of a plurality of surface types comprises the processor configured to:
provide the metric as an input to a floor type classifier trained to determine the type of the surface, out of a plurality of surface types.

7. The robotic cleaning appliance of claim 1 , wherein the sonic signals are in the ultrasonic frequency range.

8. A sensor processing unit comprising:
a sonic transducer configured to transmit sonic signals toward a surface and receive corresponding returned signals reflected from the surface, wherein the surface is within a ringdown distance associated with the sonic transducer; and
a sensor processor coupled with the sonic transducer and configured to:
following cessation of active transmission of the sonic signals, sample a plurality of points of a ringdown signal generated by the sonic transducer, wherein the sampling occurs during an early portion of the ringdown signal before the corresponding returned signals from the surface have reflected back to be received by the sonic transducer and the sampling also occurs during a later portion of the ringdown signal which includes the corresponding returned signals;
estimate, using the early portion of the plurality of sampled points, a void ringdown signal of the sonic transducer, wherein the estimated void ringdown signal represents performance of the sonic transducer in absence of any returned signals being received;
compare the estimated void ringdown signal to the later portion of the ringdown signal;
generate a metric based on a comparison; and
utilize the metric to determine a type of the surface, out of a plurality of surface types.

9. The sensor processing unit of claim 8 , wherein the sensor processor is further configured to:
store the estimated void ringdown signal for future use with a subsequent transmission of sonic signals by the sonic transducer.

10. The sensor processing unit of claim 8 , wherein the sensor processor configured to generate a metric based on a comparison comprises the processor configured to:
generate the metric based on a comparison of a characteristic of the estimated void ringdown signal and the same characteristic in the later portion of the ringdown signal, wherein the characteristic is based on at least one of an in-phase component and a quadrature component.

11. The sensor processing unit of claim 10 , wherein the sensor processor configured to generate a metric based on a comparison comprises the processor configured to:
generate the metric based on a comparison of respective curve lengths of the estimated void ringdown signal and the later portion of the ringdown signal.

12. The sensor processing unit of claim 8 , wherein the sensor processor configured to generate a metric based on a comparison comprises the processor configured to:
generate the metric based on a comparison of respective magnitudes of the estimated void ringdown signal and the later portion of the ringdown signal.

13. The sensor processing unit of claim 8 , wherein the processor configured to utilize the metric to determine the type of the surface, out of a plurality of surface types comprises the processor configured to:
provide the metric as an input to a floor type classifier trained to determine the type of the surface, out of a plurality of surface types.

14. The sensor processing unit of claim 8 , wherein the sonic signals are in the ultrasonic frequency range.

15. A method of surface type detection comprising:
receiving, by a processor coupled with a sonic transducer, returned signals from the sonic transducer, wherein the sonic transducer is configured to transmit sonic signals toward a surface and receive the returned signals reflected from the surface, wherein the returned signals correspond to the transmitted sonic signals, and wherein the surface is within a ringdown distance associated with the sonic transducer;
responsive to cessation of active transmission of the sonic signals, sampling, by the processor, a plurality of points of a ringdown signal generated by the sonic transducer, wherein the sampling occurs during an early portion of the ringdown signal before the returned signals from the surface have reflected back to be received by the sonic transducer and the sampling also occurs during a later portion of the ringdown signal which includes the returned signals;
estimating, by the processor, a void ringdown signal of the sonic transducer using the early portion of the plurality of sampled points, wherein the estimated void ringdown signal represents performance of the sonic transducer in absence of any returned signals being received;
comparing, by the processor, the estimated void ringdown signal to the later portion of the ringdown signal;
generating, by the processor, a me

Assignees

• Invensense Inc

Inventors

• Kline Mitchell H
• Youssef Joe

Classifications

• G01N29/225

  Supports, positioning or alignment in moving situation · CPC title

• A47L9/2852

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

• A47L9/2826

  the condition of the floor · CPC title

• A47L2201/06

  Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning · CPC title

• G01N29/041 Primary

  on the surface of the material, e.g. using Lamb, Rayleigh or shear waves · CPC title