Mobile robot performing cliff detection
There is provided a mobile robot including a light source, an image sensor and a processor. The image sensor respectively captures bright image frames and dark image frames corresponding to the light source being turned on and turned off. The processor identifies that the mobile robot faces a cliff when a gray level variation between the bright image frames and the dark image frames is very small, and controls the mobile robot to stop moving forward continuously.
1 . A mobile robot, comprising:
a light source, configured to be turned on within a first interval and be turned off within a second interval;
an image sensor, configured to capture multiple bright image frames within the first interval using a first shutter, and capture multiple dark image frames within the second interval using a second shutter, wherein, within the second interval, the light source is not turned on between capturing adjacent two dark image frames among the multiple dark image frames; and
a processor, configured to
calculate an average of first gray level summation of the multiple bright image frames,
calculate an average of second gray level summation of the multiple dark image frames,
calculate a gray level difference between the average of first gray level summation and the average of second gray level summation, and
perform cliff identification according to the gray level difference.
2 . The mobile robot as claimed in claim 1 , wherein the light source and the image sensor are arranged at a bottom surface of the mobile robot and close to a side of a moving direction of the mobile robot.
3 . The mobile robot as claimed in claim 2 , further comprising a light blocking cover arranged at the side of the moving direction of the mobile robot to block the image sensor from receiving ambient light from the moving direction.
4 . The mobile robot as claimed in claim 1 , further comprising a memory configured to store gray level threshold to be compared with the gray level difference.
5 . The mobile robot as claimed in claim 1 , wherein a field of view of the image sensor is perpendicular to a bottom surface of the mobile robot.
6 . The mobile robot as claimed in claim 1 , wherein the cliff identification is triggered when a moving speed of the moving robot is lower than a preset speed by a variation threshold.
7 . The mobile robot as claimed in claim 1 , wherein
the light source is turned off within an adapt interval between the first interval and the second interval,
the first interval is equal to the second interval, and
the first interval and the second interval are longer than the adapt interval.
8 . A mobile robot, comprising:
a light source, configured to be turned on within a first interval and be turned off within a second interval;
an image sensor, configured to capture multiple bright image frames within the first interval using a first shutter, and capture multiple dark image frames within the second interval using a second shutter, wherein, within the second interval, the light source is not turned on between capturing adjacent two dark image frames among the multiple dark image frames; and
a processor, configured to
calculate an average of first image quality of the multiple bright image frames,
calculate an average of second image quality of the multiple dark image frames,
calculate an image quality difference between the average of first image quality and the average of second image quality, and
perform cliff identification according to the image quality difference.
9 . The mobile robot as claimed in claim 8 , wherein the light source and the image sensor are arranged at a bottom surface of the mobile robot and close to a side of a moving direction of the mobile robot.
10 . The mobile robot as claimed in claim 9 , further comprising a light blocking cover arranged at the side of the moving direction of the mobile robot to block the image sensor from receiving ambient light from the moving direction.
11 . The mobile robot as claimed in claim 8 , further comprising a memory configured to store image quality threshold to be compared with the image quality difference.
12 . The mobile robot as claimed in claim 8 , wherein a field of view of the image sensor is perpendicular to a bottom surface of the mobile robot.
13 . The mobile robot as claimed in claim 8 , wherein the cliff identification is triggered when a moving speed of the moving robot is lower than a preset speed by a variation threshold.
14 . The mobile robot as claimed in claim 8 , wherein
the light source is turned off within an adapt interval between the first interval and the second interval,
the first interval is equal to the second interval, and
the first interval and the second interval are longer than the adapt interval.
15 . A mobile robot, comprising:
a light source, configured to be turned on within a first interval and be turned off within a second interval;
an image sensor, configured to capture multiple bright image frames within the first interval using a first shutter, and capture multiple dark image frames within the second interval using a second shutter, wherein, within the second interval, the light source is not turned on between capturing adjacent two dark image frames among the multiple dark image frames; and
a processor, configured to
calculate an average of multiple first shutters within the first interval and an average of multiple second shutters within the second interval,
calculate an average shutter difference between the average of multiple first shutters and the average of multiple second shutters, and
perform cliff identification according to the average shutter difference.
16 . The mobile robot as claimed in claim 15 , wherein the light source and the image sensor are arranged at a bottom surface of the mobile robot and close to a side of a moving direction of the mobile robot.
17 . The mobile robot as claimed in claim 16 , further comprising a light blocking cover arranged at the side of the moving direction of the mobile robot to block the image sensor from receiving ambient light from the moving direction.
18 . The mobile robot as claimed in claim 15 , further comprising a memory configured to store a shutter threshold to be compared with the average shutter difference.
19 . The mobile robot as claimed in claim 15 , wherein a field of view of the image sensor is perpendicular to a bottom surface of the mobile robot.
20 . The mobile robot as claimed in claim 15 , wherein the cliff identification is triggered when a moving speed of the moving robot is lower than a preset speed by a variation threshold.