Patent ID: 11945124
Assignee: STMICROELECTRONICS (RESEARCH & DEVELOPMENT) LIMITED
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 18:
19. A method comprising:
accessing image information for a scene in a movement path of a mobile robot, the image information captured by an image sensor and comprising image information for each of a plurality of pixels of the scene, the image information comprising respective intensity values and respective distance values for each pixel of the plurality of pixels, wherein the image sensor is a single time-of-flight sensor configured to determine both the respective intensity values and the respective distance values for each pixel of the plurality of pixels;
analyzing, by a processing device, the image information to determine whether to modify the movement path of the mobile robot, wherein analyzing the image information to determine whether to modify the movement path of the mobile robot comprises analyzing the respective intensity values for each pixel of the plurality of pixels to detect a line on a floor and analyzing the respective distance values for each pixel of the plurality of pixels to detect an obstacle in the movement path of the mobile robot, wherein:
a target movement path of the mobile robot is the line on the floor; and
determining according to the image information to modify the movement path of the mobile robot comprises determining, according to the respective intensity values for each pixel of the plurality of pixels, that the movement path of the mobile robot has deviated from the target movement path of the mobile robot in a first direction, wherein determining, according to the respective intensity values for each pixel of the plurality of pixels, that the movement path of the mobile robot has deviated from the target movement path of the mobile robot in the first direction comprises determining that an intensity value for a particular pixel of the plurality of pixels meets a predetermined condition; and

initiating, by a processing device in response to determining according to the image information to modify the movement path of the mobile robot, sending of a command to a drive subsystem of the mobile robot to modify the movement path of the mobile robot.