US 12,103,186 B2
Method of controlling movement of a mobile robot in the event of a localization failure
Zhao Li, Tai Wai (HK); Wei Han, Tai Po (HK); and Yue Sun, Shatin (HK)
Assigned to Hong Kong Applied Science And Technology Research Institute Co., Ltd, Shatin (HK)
Filed by Hong Kong Applied Science And Technology Research Institute Co., Ltd., Shatin (HK)
Filed on Jun. 29, 2022, as Appl. No. 17/853,388.
Prior Publication US 2024/0001550 A1, Jan. 4, 2024
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/162 (2013.01); B25J 9/1653 (2013.01); B25J 9/1674 (2013.01); B25J 9/1697 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of controlling movement of a mobile robot in the event of a localization failure, the method comprising:
on an occurrence of the localization failure, receiving an image from an image sensor of the mobile robot;
converting the received image into a binary image comprising two colors where pixels of one of the two colors are indicative of a floor or surface along which the mobile robot is travelling and where pixels of the other of the two colors are indicative of a background environment, the pixels indicative of the floor or the surface along which the mobile robot is travelling representing one or more possible passable paths;
splitting at least a lower portion of the binary image into at least two vertical portions;
determining if one of said at least two vertical portions is indicative of a passable path by determining a preferred passable path as comprising one of said at least two vertical portions of at least the lower portion of the binary image having the greatest number of pixels of the color indicative of the floor or the surface along which the mobile robot is travelling; and
controlling the mobile robot to travel along the preferred passable path.