Dirtiness level determining method and electronic device applying the dirtiness level determining method
A dirtiness level determining method applied to an electronic device comprising an image sensor. The method comprises: (a) capturing a first image at a first time point according to first type of light; (b) capturing a second image at a second time point after the first time point according to the first type of light; (c) calculating a first fixed pattern according to a first difference between the first image and the second image; and (d) calculating a first dirtiness level of the image sensor according to the first fixed pattern; (e) generating a first notifying message if the first dirtiness level is higher than a dirtiness threshold.
1. A dirtiness level determining method, applied to a robot cleaner comprising an image sensor, comprising:
(a) capturing a first image at a first time point according to first type of light;
(b) capturing a second image at a second time point after the first time point according to the first type of light;
(c) calculating a first fixed pattern according to a first difference between the first image and the second image;
(d) calculating a first dirtiness level of the image sensor according to the first fixed pattern;
(e) generating a first notifying message if the first dirtiness level is higher than a dirtiness threshold;
wherein the dirtiness level determining method further comprises:
capturing a third image at a third time point after the second time point;
calculating a second difference between the second image and third image;
calculating the first fixed pattern according to an intersection of the first difference and the second difference.
2. The dirtiness level determining method of claim 1 , further comprising:
calculating a third difference between the first image and third image;
calculating the first fixed pattern according to an intersection of the first difference, the second difference and the third difference.
3. The dirtiness level determining method of claim 1 , further comprising:
applying a second type of light to calculate a second dirtiness level of the image sensor based on the step (a) and the step (b) after calculating the first dirtiness level.
4. The dirtiness level determining method of claim 1 , further comprising:
selecting one of the first type of light and second type of light as light applied by the robot cleaner according to which one of the first dirtiness level and the second first dirtiness level is more reliable.
5. The dirtiness level determining method of claim 1 , further comprising:
determining a surface type of a surface which the robot cleaner is provided on; and
selecting one of the first type of light and a second type of light to perform the step (a) and the step (b) according to the surface type.
6. A robot cleaner, comprising:
a first type of light source, configured to emit first type of light;
an image sensor, configured to capture a first image at a first time point, and to capture a second image at a second time point after the first time point, according to the first type of light; and
a control circuit, coupled to the image sensor, configured to perform:
(a) calculating a first fixed pattern according to a first difference between the first image and the second image;
(b) calculating a first dirtiness level of the image sensor according to the first fixed pattern; and
(c) generating a notifying message if the first dirtiness level is higher than a dirtiness threshold;
wherein the image sensor further captures a third image at a third time point after the second time point, wherein the control circuit calculates a second difference between the second image and third image, and calculates the first fixed pattern according to an intersection of the first difference and the second difference.
7. The robot cleaner of claim 6 , wherein the control circuit further calculates a third difference between the first image and third image, and calculates the first fixed pattern according to an intersection of the first difference, the second difference and the third difference.
8. The robot cleaner of claim 6 , further comprising:
a second type of light source, configured to generate second type of light;
wherein the control circuit further calculates a second dirtiness level of the image sensor based on the step (a) and the step (b) according to the second type of light, after calculating the first dirtiness level.
9. The robot cleaner of claim 6 , further comprising:
a second type of light source, configured to generate second type of light;
wherein the control circuit further selects one of the first type of light and the second type of light as light applied by the robot cleaner according to which one of the first dirtiness level and the second first dirtiness level is more reliable.
10. The robot cleaner of claim 6 , further comprising:
a second type of light source, configured to generate second type of light;
wherein the control circuit determines a surface type of a surface which the robot cleaner is provided on, and selects one of the first type of light and the second type of light to perform the step (a) and the step (b) according to the surface type.
11. An robot cleaner comprising:
a first type of light source, configured to emit first type of light;
an image sensor, configured to capture an image of a reference surface as a reference image, and to capture a current image; and
a control circuit, coupled to the image sensor, configured to perform:
calculating a fixed pattern according to a difference between the reference image and the current image; and
calculating a dirtiness level of the image sensor according to the fixed pattern; and
generating a notifying message if the dirtiness level is higher than a dirtiness threshold;
wherein the reference surface is provided on a charging station which can charge the robot cleaner.
12. The robot cleaner of claim 11 , wherein the reference surface comprises a blank area, or comprises a reference area with a specific color or a fixed pattern.
13. A dirtiness level determining method, applied to a robot cleaner comprising an image sensor, comprising:
(a) capturing a first image at a first time point according to first type of light;
(b) capturing a second image at a second time point after the first time point according to the first type of light;
(c) calculating a first fixed pattern according to a first difference between the first image and the second image;
(d) calculating a first dirtiness level of the image sensor according to the first fixed pattern;
(e) generating a first notifying message if the first dirtiness level is higher than a dirtiness threshold;
wherein the dirtiness level determining method further comprises:
selecting one of the first type of light and second type of light as light applied by the robot cleaner according to which one of the first dirtiness level and the second first dirtiness level is more reliable.
14. A robot cleaner, comprising:
a first type of light source, configured to emit first type of light;
an image sensor, configured to capture a first image at a first time point, and to capture a second image at a second time point after the first time point, according to the first type of light; and
a control circuit, coupled to the image sensor, configured to perform:
(a) calculating a first fixed pattern according to a first difference between the first image and the second image;
(b) calculating a first dirtiness level of the image sensor according to the first fixed pattern; and
(c) generating a notifying message if the first dirtiness level is higher than a dirtiness threshold;
wherein the robot cleaner further comprises:
a second type of light source, configured to generate second type of light;
wherein the control circuit further calculates a second dirtiness level of the image sensor based on the step (a) and the step (b) according to the second type of light, after calculating the first dirtiness level.
15. A robot cleaner, comprising:
a first type of light source, configured to emit first type of light;
an image sensor, configured to capture a first image at a first time point, and to capture a second image at a second time point after the first time point, according to the first type of light; and
a control circuit, coupled to the image sensor, configured to perform:
(a) calculating a first fixed pattern according to a first difference between the first image and the second image;
(b) calculating a first dirtiness level of the image sensor according to the first fixed pattern; and
(c) generating a notifying message if the first dirtiness level is higher than a dirtiness threshold;
wherein the robot cleaner further comprises:
a second type of light source, configured to generate second type of light;
wherein the control circuit further selects one of the first type of light and the second type of light as light applied by the robot cleaner according to which one of the first dirtiness level and the second first dirtiness level is more reliable.
16. A robot cleaner, comprising:
a first type of light source, configured to emit first type of light;
an image sensor, configured to capture a first image at a first time point, and to capture a second image at a second time point after the first time point, according to the first type of light; and
a control circuit, coupled to the image sensor, configured to perform:
(a) calculating a first fixed pattern according to a first difference between the first image and the second image;
(b) calculating a first dirtiness level of the image sensor according to the first fixed pattern; and
(c) generating a notifying message if the first dirtiness level is higher than a dirtiness threshold;
wherein the robot cleaner further comprises:
a second type of light source, configured to generate second type of light;
wherein the control circuit determines a surface type of a surface which the robot cleaner is provided on, and selects one of the first type of light and the second type of light to perform the step (a) and the step (b) according to the surface type.
17. A robot cleaner, comprising:
a first type of light source, configured to emit first type of light;
an image sensor, configured to capture a first image at a first time point, and to capture a second image at a second time point after the first time point, according to the first type of light; and
a control circuit, coupled to the image sensor, configured to perform:
(a) calculating a first fixed pattern according to a first difference between the first image and the second image;
(b) calculating a first dirtiness level of the image sensor according to the first fixed pattern; and
(c) generating a notifying message if the first dirtiness level is higher than a dirtiness threshold;
wherein the image sensor captures an image of a reference surface as a reference image, and captures a current image, wherein the control circuit is further configured to perform:
calculating a second fixed pattern according to a difference between the reference image and the current image; and
calculating a second dirtiness level of the image sensor according to the second fixed pattern; and
generating a second notifying message if the second dirtiness level is higher than the dirtiness threshold;
wherein the reference surface is provided on a charging station which can charge the robot cleaner.
18. The robot cleaner of claim 17 , wherein the reference surface comprises a blank area, or comprises a reference area with a specific color or a fixed pattern.