US 11,691,264 B2
Mobile robot performing multiple detections using image frames of same optical sensor
Guo-Zhen Wang, Hsin-Chu County (TW); and Hui-Hsuan Chen, Hsin-Chu County (TW)
Assigned to PIXART IMAGING INC., Hsin-Chu County (TW)
Filed by PixArt Imaging Inc., Hsin-Chu County (TW)
Filed on Jul. 15, 2020, as Appl. No. 16/929,232.
Application 16/929,232 is a continuation in part of application No. 16/425,955, filed on May 30, 2019, granted, now 11,510,539.
Application 16/425,955 is a continuation in part of application No. 15/841,376, filed on Dec. 14, 2017, granted, now 10,627,518.
Claims priority of provisional application 62/514,349, filed on Jun. 2, 2017.
Prior Publication US 2020/0338744 A1, Oct. 29, 2020
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); G06T 7/70 (2017.01); B25J 11/00 (2006.01)
CPC B25J 9/0003 (2013.01) [B25J 9/1676 (2013.01); G06T 7/70 (2017.01); B25J 11/0085 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A mobile robot, comprising:
a first light source, configured to project a transverse light section toward a moving direction at a first time interval;
a second light source, configured to project a longitudinal light section toward the moving direction at a second time interval;
a third light source, configured to illuminate a front area of the moving direction at a third time interval;
an optical sensor, configured to respectively capture a first image frame, a second image frame and a third image frame within the first time interval, the second time interval and the third time interval; and
a processor, electrically coupled to the first light source, the second light source, the third light source and the optical sensor, and configured to
perform range estimation according to the first image frame and the second image frame, and
perform visual simultaneous localization and mapping according to the third image frame.