US 11,809,195 B2
Moving robot with improved identification accuracy of carpet
Guo-Zhen Wang, Hsin-Chu County (TW)
Assigned to PIXART IMAGING INC., Hsin-Chu County (TW)
Filed by PIXART IMAGING INC., Hsin-Chu County (TW)
Filed on Jun. 11, 2021, as Appl. No. 17/344,960.
Application 17/344,960 is a continuation in part of application No. 16/423,571, filed on May 28, 2019, granted, now 11,294,391.
Prior Publication US 2021/0298553 A1, Sep. 30, 2021
Int. Cl. G05D 1/02 (2020.01); A47L 9/28 (2006.01); G06T 7/62 (2017.01); G06T 7/73 (2017.01); A47L 9/00 (2006.01); A47L 9/30 (2006.01); G06V 10/141 (2022.01); G06V 20/10 (2022.01); G06V 20/58 (2022.01)
CPC G05D 1/0246 (2013.01) [A47L 9/009 (2013.01); A47L 9/2826 (2013.01); A47L 9/2842 (2013.01); A47L 9/2847 (2013.01); A47L 9/2852 (2013.01); A47L 9/30 (2013.01); G06T 7/62 (2017.01); G06T 7/73 (2017.01); G06V 10/141 (2022.01); G06V 20/10 (2022.01); G06V 20/58 (2022.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01); G05D 2201/0215 (2013.01); G06T 2207/30261 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A moving robot, comprising:
a light projector configured to project a vertical light segment toward a moving direction;
an image sensor configured to capture an image frame containing a light segment image associated with the vertical light segment; and
a processing unit configured to
recognize a plush carpet in the moving direction when
a width of the light segment image is wider than a width threshold, and
an obstacle height calculated according to the light segment image is larger than a height threshold,
search a broken point which separates the light segment image into two parts,
calculate a segment height of one of the two parts of the light segment image closer to an edge of the image frame, and
obtain a distance from the plush carpet corresponding to the segment height.