US 12,259,732 B2
Moving robot capable of recognizing 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 Sep. 28, 2023, as Appl. No. 18/373,999.
Application 18/373,999 is a continuation of application No. 17/344,960, filed on Jun. 11, 2021, granted, now 11,809,195.
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 2024/0019871 A1, Jan. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/246 (2024.01); A47L 9/00 (2006.01); A47L 9/28 (2006.01); A47L 9/30 (2006.01); G05D 1/00 (2006.01); 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)
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); G06T 2207/30261 (2013.01)] 20 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
search a broken point which separates the light segment image into two parts in the image frame,
calculate a transverse distance between the two parts of the light segment image,
obtain an obstacle height corresponding to the transverse distance, and
output a flag signal indicating a plush carpet being confirmed in the moving direction when the obstacle height is smaller than an upper threshold and larger than a lower threshold.