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公开(公告)号：US20150168954A1
公开(公告)日：2015-06-18
申请号：US14635800
申请日：2015-03-02
Applicant: iRobot Corporation
Inventor： Kevin Hickerson , Luis Goncalves , Paolo Pirjanian , Nikolai Romanov
IPC: G05D1/02
CPC classification number: G05D1/0248 , G01S7/483 , G01S17/023 , G01S17/026 , G01S17/89 , G01S17/936 , G05D1/0038 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0209 , G05D2201/0211 , Y10S901/01
Abstract: An obstacle detector for a mobile robot while the robot is in motion is disclosed. The detector preferably includes at least one light source configured to project pulsed light in the path of the robot; a visual sensor for capturing a plurality of images of light reflected from the path of the robot; a processing unit configured to extract the reflections from the images; and an obstacle detection unit configured to detect an obstacle in the path of the robot based on the extracted reflections. In the preferred embodiment, the reflections of the projected light are extracted by subtracting pairs of images in which each pair includes a first image captured with the at least one light source on and a second image captured with the at least one light source off, and then combining images of two or more extracted reflections to suppress the background.
Abstract translation: 公开了一种在机器人运动时用于移动机器人的障碍物检测器。 检测器优选地包括配置成在机器人的路径中投射脉冲光的至少一个光源; 用于捕获从机器人的路径反射的光的多个图像的视觉传感器; 处理单元，被配置为从图像中提取反射; 以及障碍物检测单元，被配置为基于所提取的反射来检测所述机器人的路径中的障碍物。 在优选实施例中，通过减去其中每对包括用至少一个光源捕获的第一图像和至少一个光源捕获的第二图像的图像对，提取投影光的反射，以及 然后组合两个或多个提取的反射的图像以抑制背景。
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公开(公告)号：US20170300061A1
公开(公告)日：2017-10-19
申请号：US15462155
申请日：2017-03-17
Applicant: iRobot Corporation
Inventor： Kevin Hickerson , Luis Goncalves , Paolo Pirjanian , Nikolai Romanov
CPC classification number: G05D1/0248 , G01S7/483 , G01S17/023 , G01S17/026 , G01S17/89 , G01S17/936 , G05D1/0038 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0209 , G05D2201/0211 , Y10S901/01
Abstract: An obstacle detector for a mobile robot while the robot is in motion is disclosed. The detector preferably includes at least one light source configured to project pulsed light in the path of the robot; a visual sensor for capturing a plurality of images of light reflected from the path of the robot; a processing unit configured to extract the reflections from the images; and an obstacle detection unit configured to detect an obstacle in the path of the robot based on the extracted reflections. In the preferred embodiment, the reflections of the projected light are extracted by subtracting pairs of images in which each pair includes a first image captured with the at least one light source on and a second image captured with the at least one light source off, and then combining images of two or more extracted reflections to suppress the background.
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公开(公告)号：US09632505B2
公开(公告)日：2017-04-25
申请号：US14635800
申请日：2015-03-02
Applicant: iRobot Corporation
Inventor： Kevin Hickerson , Luis Goncalves , Paolo Pirjanian , Nikolai Romanov
CPC classification number: G05D1/0248 , G01S7/483 , G01S17/023 , G01S17/026 , G01S17/89 , G01S17/936 , G05D1/0038 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0209 , G05D2201/0211 , Y10S901/01
Abstract: An obstacle detector for a mobile robot while the robot is in motion is disclosed. The detector preferably includes at least one light source configured to project pulsed light in the path of the robot; a visual sensor for capturing a plurality of images of light reflected from the path of the robot; a processing unit configured to extract the reflections from the images; and an obstacle detection unit configured to detect an obstacle in the path of the robot based on the extracted reflections. In the preferred embodiment, the reflections of the projected light are extracted by subtracting pairs of images in which each pair includes a first image captured with the at least one light source on and a second image captured with the at least one light source off, and then combining images of two or more extracted reflections to suppress the background.
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