CN107137026A - A kind of sweeping robot and its camera light-supplementing system, method - Google Patents
A kind of sweeping robot and its camera light-supplementing system, method Download PDFInfo
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- CN107137026A CN107137026A CN201710494305.6A CN201710494305A CN107137026A CN 107137026 A CN107137026 A CN 107137026A CN 201710494305 A CN201710494305 A CN 201710494305A CN 107137026 A CN107137026 A CN 107137026A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
A kind of sweeping robot and its camera light-supplementing system, the system includes：Camera, ambient light sensor, controller, drive module and light compensating lamp.Because the application using camera gathers ground image in real time, controller is recycled to be compared ground image brightness value and predetermined luminance value, when the difference of image brightness values and predetermined luminance value is more than the threshold difference of setting, obtain the brightness value of current environment light, according to the brightness value, image brightness values and predetermined luminance value of ambient light, carry out the light filling of respective strengths so that the light adaptation mended is adjustable in ambient light, intensity；Again during threshold difference due to being not more than setting when the difference of image brightness values and predetermined luminance value, light filling measure is not taken, can save electric energy again while barrier is resolved in ensureing image so that robot can work for more time.Correspondingly, the application also provides a kind of sweeping robot camera light compensation method.
Description
Technical field
The present invention relates to sweeping robot field, and in particular to a kind of sweeping robot and its camera light-supplementing system, side
Method.
Background technology
Sweeping robot is called lazyboot's sweeper, be it is a kind of can to ground carry out automatic dust absorption controlling intelligent household appliances.Energy
By certain artificial intelligence, work while floor sweeping, dust suction and wiping are completed in room automatically, ground debris is received into entrance
The rubbish receiver of itself, completes the function of land clearing.
Existing sweeping robot detects barrier often through infrared induction or ultrasonic wave bionics techniques, and barrier is entered
Row is avoided, and by rubbish or suction or is swept or is wiped and cleared up.Infrared transmission distance is remote, but has at a relatively high want to use environment
Ask, when meeting light or dark household objects, it can not be reflected, it is impossible to effective avoidance, can cause machine and household
Article collides；And robot is learned in above there is barrier using infrared detection, it is impossible to make robot accurate
Determine the particular location of barrier, it is impossible to make anticipation, effective avoidance in time.For ultrasonic wave, it detects that visual angle is smaller, by
Environmental disturbances can't detect the short and tiny barrier in ground, be easily caused sweeping robot and wound by small objects than larger,
Avoidance effect is bad, and ultrasonic wave module quantity need to additionally be increased by improving visual angle so that cost is higher.
If intending detecting that the positional information of barrier carries out avoidance using camera, during camera collection image, work as environment
Light is not enough, and the brightness of image of shooting is usually excessively dark, it is necessary to carry out light filling.For existing camera light compensation method, often through
A reference value is set, when environmental light brightness is less than the reference value, with regard to carrying out light filling, such mode does not add to concrete condition
To distinguish, its light filling intensity is often fixed brightness, the phenomenon of excessive light filling easily occurs.
The content of the invention
The application provides a kind of sweeping robot and its camera light-supplementing system, method, the figure that camera can be avoided to shoot
As there is excessive light filling phenomenon, and can not light filling in the case of light filling, save electric energy, when needing light filling, mended
Light adaptation is adjustable in ambient light, intensity.
According to the application in a first aspect, the application provides a kind of sweeping robot camera light-supplementing system, including：Shooting
Head, ambient light sensor, controller, drive module and light compensating lamp；
The camera is used to gather ground image in real time；
The ambient light sensor is connected with controller, the brightness value information for gathering current environment light；
The controller is connected with camera, for compare ground image brightness value that camera collects in real time with it is pre-
If brightness value, when the difference of image brightness values and predetermined luminance value is more than the threshold difference of setting, the bright of current environment light is obtained
Angle value, according to the brightness value, image brightness values and predetermined luminance value of current environment light, calculates driving current value；
The drive module is connected with controller, light compensating lamp, the driving current value size exported according to controller, driving
Light compensating lamp sends the infrared light of corresponding bright.
In some embodiments, light compensating lamp includes the left light filling for being respectively arranged at the camera lens horizontal radial direction both sides of camera
Lamp and right light compensating lamp, wherein, left light compensating lamp and right light compensating lamp are infrared lamp.
In some embodiments, the luminous visual angle of left light compensating lamp is identical with the luminous visual angle of right light compensating lamp, more than or equal to camera
Shooting visual angle.
In some embodiments, the controller is additionally operable to set when the difference of described image brightness value and predetermined luminance value is more than
During fixed threshold difference, daylighting order is exported to ambient light sensor；The ambient light sensor is additionally operable to be ordered according to the daylighting
Order, gathers the brightness value information of current environment light, and sends it to controller.
In some embodiments, the controller includes：First comparator, the second comparator and route marker；
First comparator positive input terminal connects camera, incoming image brightness value signal, negative input end access predetermined luminance
Value signal；
Second comparator positive input terminal connects the difference of first comparator output end, incoming image brightness value and predetermined luminance value
The difference of value signal, the threshold value difference signal of negative input end access setting, and if only if image brightness values and predetermined luminance value is more than
During the threshold difference of setting, significant level is exported；
Route marker first input end connects the second comparator output terminal, when route marker first input end accesses significant level
When, the second input of route marker incoming image brightness value signal and predetermined luminance value signal, the output end access ring of route marker the 3rd
The brightness value signal of the current environment light of border optical sensor collection, according to the brightness value of current environment light, image brightness values and pre-
If brightness value, calculate and export corresponding driving current.
According to the application second aspect, the application provides a kind of sweeping robot camera light compensation method, it is characterised in that
Including：
Image acquisition step, obtains ground image in real time；
Environmental light brightness obtaining step, obtains the brightness value of current environment light；
Data processing step, compares ground image brightness value and predetermined luminance value that camera is collected in real time, when
When both differences are more than the threshold difference of setting, according to the brightness value, image brightness values and predetermined luminance value of current environment light, meter
Calculate driving current value；
Actuation step, according to the driving current value size, driving light compensating lamp sends the infrared light of corresponding bright.
In some embodiments, the environmental light brightness obtaining step includes：Daylighting order is exported to ambient light sensor, is made
Obtain ambient light sensor and gather the brightness value information of current environment light, and receive the brightness value information.
In some embodiments, the data processing step, calculating driving current value includes：First calculate image brightness values with
The difference of predetermined luminance value, further according to the difference and the brightness value sum of current environment light, calculates driving current value.
According to the application third aspect, the application provides a kind of sweeping robot, it is characterised in that including：Such as the application
Sweeping robot camera light-supplementing system described in first aspect.
According to the application fourth aspect, the application provides a kind of readable storage medium storing program for executing, it is characterised in that including program, institute
The program of stating can be executed by processor to realize the method as described in the application second aspect.
The application's has the beneficial effect that：Because the application using camera gathers ground image in real time, controller is recycled
Ground image brightness value and predetermined luminance value are compared, when the difference of image brightness values and predetermined luminance value is more than setting
During threshold difference, the brightness value of current environment light is obtained, according to the brightness value, image brightness values and predetermined luminance value of ambient light, is entered
The light filling of row respective strengths so that the light adaptation mended is adjustable in ambient light, intensity；Again due to when image brightness values with preset it is bright
When the difference of angle value is not more than the threshold difference of setting, light filling measure is not taken, can ensure image in barrier be resolved it is same
When save electric energy again so that robot can work longer time.
Brief description of the drawings
Fig. 1 is a kind of sweeping robot camera light-supplementing system structure chart；
Fig. 2 is a kind of camera of embodiment and light compensating lamp schematic diagram；
Fig. 3 is the camera shooting visual angle and light filling area schematic diagram of a kind of embodiment；
Fig. 4 is a kind of controller architecture figure of embodiment；
Fig. 5 is a kind of course of work schematic diagram of sweeping robot camera light-supplementing system；
Fig. 6 is a kind of sweeping robot camera light compensation method schematic flow sheet.
Embodiment
The present invention is described in further detail below by embodiment combination accompanying drawing.Wherein different embodiments
Middle similar component employs associated similar element numbers.In the following embodiments, many detailed descriptions be in order to
The application is better understood.However, those skilled in the art can be without lifting an eyebrow recognize, which part feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Certain operations that please be related do not show or description that this is the core in order to avoid the application by mistake in the description
Many descriptions are flooded, and to those skilled in the art, be described in detail these associative operations be not it is necessary, they
The general technology knowledge of description and this area in specification can completely understand associative operation.
It is in order to according to image information detection obstacle using camera collection image for the sweeping robot of the application
Thing, determines the positional information of barrier and to detect the short and tiny object in ground, therefore, to the brightness requirement of image not
Special height, in some cases can not light filling, as long as can be distinguished from image barrier just it is enough.Moreover, sweeping the floor
Robot work is dependent on internal battery, and once, electric energy is specified, if as in the state of the art, working as environment for charging
When brightness is less than the reference value, indiscriminate light filling is just carried out, the waste of electric energy is easily caused, the work of robot is reduced
Time, also easily there is excessive light filling so that image exposure excessively, leads to not distinguish barrier from image, to robot
Avoidance has an impact.
In embodiments of the present invention there is provided a kind of sweeping robot camera light-supplementing system and method, first compare ground
Image brightness values A and predetermined luminance value B, works as A-B>(C is the threshold difference of setting, represents that barrier can be distinguished from image during C
Brightness of image critical value), when may lead to not distinguish barrier from image, light filling measure is taken, as A-B≤C, is represented
Although captured brightness of image is slightly not enough, but still barrier can be clearly distinguished from image, now, without light filling, can
Electric energy is saved, light compensating lamp can be also avoided the occurrence of and be frequently used the problem of causing device failure.
Fig. 1 is refer to, a kind of sweeping robot camera light-supplementing system structure chart, the system includes：Camera 1, environment
Optical sensor 5, controller 4, drive module 3, light compensating lamp 2.
Camera 1 is used to gather ground image in real time.
Ambient light sensor 5 is connected with controller 4, the brightness value information for gathering current environment light.
Controller 4 is connected with camera 1, for compare ground image brightness value A that camera 1 collects in real time with it is pre-
If brightness value B, when image brightness values and the difference A-B of predetermined luminance value are more than the threshold difference C of setting, current environment light is obtained
Brightness value D, according to brightness value D, the image brightness values of current environment light
With predetermined luminance value B, the driving current value i of drive module 3 is calculated.
Drive module 3 is connected with controller 1, light compensating lamp 2, the driving current value i exported according to controller 1 size,
Driving light compensating lamp 2 sends the infrared light of corresponding bright.
As can be seen here, the application first passes through the collection ground image in real time of camera 1, recycles controller 4 by ground image
Brightness value A is compared with predetermined luminance value B, is more than the threshold value of setting in image brightness values and the difference A-B of predetermined luminance value
During poor C, the brightness value D of current environment light is obtained, according to the brightness value D, image brightness values B and predetermined luminance value A of ambient light, is entered
The light filling of row respective strengths, the light adaptation mended is adjustable in ambient light, intensity.
As shown in Fig. 2 in certain embodiments, light compensating lamp 2 includes being respectively arranged at the camera lens horizontal radial side of camera 1
To the left light compensating lamp 21 and right light compensating lamp 22 of both sides.Wherein, left light compensating lamp 21 and right light compensating lamp 22 are infrared lamp, lower mask body
Explanation.
It is pointed out that why the light compensating lamp of the application uses infrared lamp, be because existing visible ray light compensating lamp,
It is relatively good to dark surrounds light filling effect, but to bright environment, when environment illumination intensity is preferable, overexposure phenomenon easily occurs, make
Can not from image cognitive disorders thing.In addition, why the application is using two light compensating lamps, i.e., left light compensating lamp 2 and right light filling
Lamp 3, and the camera lens horizontal radial direction both sides of camera 1 are respectively arranged at, it is because single light compensating lamp easily causes light filling not
The problem of, and because it is to gather ground image and distinguished from image that sweeping robot gathers image by camera 1
Other barrier, just can be with if necessary to if light filling, carry out light filling to horizontal direction, therefore two light compensating lamps are respectively arranged at
The camera lens horizontal radial direction both sides of camera 1, the need for sweeping robot camera light filling has been met enough, can not set
Put more than two light compensating lamps.
As shown in figure 3, in one embodiment, left light compensating lamp 21 visual angle and right light compensating lamp 22 visual angle that lights that lights is identical,
Represented with α, α is more than or equal to the shooting visual angle β of camera 1.In a particular embodiment, camera 1 is conventional CMOS camera lenses,
Its diameter is no more than 15mm；Left light compensating lamp 21 is symmetricly set in the both sides of camera 1, the distance with camera 1 with right light compensating lamp 22
No more than 2mm, therefore, light overlay region (i.e. light filling area) and camera 1 of the left light compensating lamp area of illumination with right light compensating lamp area of illumination
Shooting visual angle scope it is essentially identical, when realizing light filling, uniform illumination.
In certain embodiments, controller 4 is additionally operable to work as image brightness values and the difference A-B of predetermined luminance value is more than setting
Threshold difference C when, to ambient light sensor 5 export daylighting order.Ambient light sensor 5 is additionally operable to according to daylighting order, collection
The brightness value information of current environment light, and send it to controller 4.Consequently, it is possible to which ambient light sensor 5 is only needing light filling
When, the brightness value information for gathering current environment light after daylighting order again is connected to, can not be in running order all the time, not only favorably
Increase the working time of robot in saving energy, can also avoid the occurrence of causes device because ambient light sensor 5 works long hours
The problem of damage.
In certain embodiments, controller 4 first calculates image brightness values and the difference A-B of predetermined luminance value, further according to this
Difference and the brightness value sum A-B+D of current environment light, calculate the driving current value i of drive module 3.
With reference to Fig. 4, in certain embodiments, controller 4 includes：First comparator 41, the second comparator 42 and route marker
40。
The positive input terminal of first comparator 41 connects camera 1, and incoming image brightness value signal A, negative input end access is default
Brightness value signal B；
The positive input terminal of second comparator 42 connects the output end of first comparator 41, incoming image brightness value and predetermined luminance value
Difference signal A-B, the threshold value difference signal C of negative input end access setting, and if only if image brightness values and predetermined luminance value
When difference is more than the threshold difference of setting, significant level is exported；
The first input end of route marker 40 connects the output end of the second comparator 42, when the access of the first input end of route marker 40 is effective
During level, the input incoming image brightness value signal A of route marker 40 second and predetermined luminance value signal B, route marker 40 the 3rd are defeated
Go out the brightness value signal D for terminating the current environment light gathered into ambient light sensor 5, according to the brightness value of current environment light, figure
Image brightness value and predetermined luminance value, calculate and export corresponding driving current i.In an embodiment, it is bright that controller 4 first calculates image
The difference A-B of angle value and predetermined luminance value, further according to the difference and the brightness value sum A-B+D of current environment light, calculates driving
The driving current value i of module 3.
In summary, with reference to Fig. 5, a kind of sweeping robot camera light-supplementing system of the application, its course of work is：
First, ground image information is gathered in real time using camera 1；
Secondly, acquired image brightness value A is compared by controller 4 with predetermined luminance value B,
As both difference A-B≤C, without light filling；
As both difference A-B>During C, light filling measure is taken, including：Current environment light is gathered using ambient light sensor 5
Brightness value D, controller 4 calculates driving current value further according to current environment shading value D, image brightness values A and predetermined luminance value B
I, last drive module 3 drives light compensating lamp 2 to send the infrared light of corresponding bright according to driving current value i size.
Correspondingly, present invention also provides a kind of sweeping robot, including sweeping the floor any one of above-described embodiment
Robot camera light-supplementing system.
Embodiment two：
With reference to Fig. 6, based on said system, present invention also provides a kind of sweeping robot camera light compensation method, including：
Image acquisition step 100, obtains ground image in real time；
Environmental light brightness obtaining step 200, obtains the brightness value of current environment light；
Data processing step 300, compares ground image brightness value and predetermined luminance value that camera is collected in real time,
When both differences are more than the threshold difference of setting, according to the brightness value, image brightness values and predetermined luminance value of current environment light,
Calculate driving current value；
Actuation step 400, according to the driving current value size, driving light compensating lamp sends the infrared light of corresponding bright.
In some embodiments, environmental light brightness obtaining step 200 includes：Daylighting order is exported to ambient light sensor 5, is made
Obtain ambient light sensor 5 and gather the brightness value information of current environment light, and receive the brightness value information.
In some embodiments, data processing step 300, calculating driving current value includes：First calculate image brightness values with
The difference of predetermined luminance value, further according to the difference and the brightness value sum of current environment light, calculates driving current value.
Correspondingly, present invention also provides a kind of sweeping robot camera supplementary lighting device
It will be understood by those skilled in the art that all or part of function of various methods can pass through in above-mentioned embodiment
The mode of hardware is realized, can also be realized by way of computer program.When all or part of function in above-mentioned embodiment
When being realized by way of computer program, the program can be stored in a computer-readable recording medium, and storage medium can
With including：Read-only storage, random access memory, disk, CD, hard disk etc., perform the program above-mentioned to realize by computer
Function.For example, by program storage in the memory of equipment, when passing through computing device memory Program, you can in realization
State all or part of function.In addition, when in above-mentioned embodiment all or part of function realized by way of computer program
When, the program can also be stored in the storage mediums such as server, another computer, disk, CD, flash disk or mobile hard disk
In, by download or copying and saving into the memory of local device, or version updating is carried out to the system of local device, when logical
When crossing the program in computing device memory, you can realize all or part of function in above-mentioned embodiment.
Use above specific case is illustrated to the present invention, is only intended to help and is understood the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, it can also make some simple
Deduce, deform or replace.
Claims (10)
1. a kind of sweeping robot camera light-supplementing system, it is characterised in that including：Camera, ambient light sensor, control
Device, drive module and light compensating lamp；
The camera is used to gather ground image in real time；
The ambient light sensor is connected with controller, the brightness value information for gathering current environment light；
The controller is connected with camera, for compare ground image brightness value that camera collects in real time with it is default bright
Angle value, when the difference of image brightness values and predetermined luminance value is more than the threshold difference of setting, obtains the brightness value of current environment light,
According to the brightness value, image brightness values and predetermined luminance value of current environment light, driving current value is calculated；
The drive module is connected with controller, light compensating lamp, the driving current value size exported according to controller, drives light filling
Lamp sends the infrared light of corresponding bright.
2. the system as claimed in claim 1, it is characterised in that light compensating lamp includes being respectively arranged at the horizontal footpath of camera lens of camera
To the left light compensating lamp and right light compensating lamp of direction both sides, wherein, left light compensating lamp and right light compensating lamp are infrared lamp.
3. system as claimed in claim 2, it is characterised in that the luminous visual angle of left light compensating lamp and the luminous visual angle phase of right light compensating lamp
Together, more than or equal to the shooting visual angle of camera.
4. the system as claimed in claim 1, it is characterised in that the controller is additionally operable to when described image brightness value is with presetting
When the difference of brightness value is more than the threshold difference of setting, daylighting order is exported to ambient light sensor；The ambient light sensor is also
For according to the daylighting order, gathering the brightness value information of current environment light, and send it to controller.
5. the system as claimed in claim 1, it is characterised in that the controller includes：First comparator, the second comparator and
Route marker；
First comparator positive input terminal connects camera, incoming image brightness value signal, negative input end access predetermined luminance value letter
Number；
Second comparator positive input terminal connects the difference letter of first comparator output end, incoming image brightness value and predetermined luminance value
Number, the threshold value difference signal of negative input end access setting, the difference of and if only if image brightness values and predetermined luminance value is more than setting
Threshold difference when, export significant level；
Route marker first input end connects the second comparator output terminal, when route marker first input end accesses significant level, changes
The second input of device incoming image brightness value signal and predetermined luminance value signal are calculated, the output end access environment light of route marker the 3rd is passed
The brightness value signal of the current environment light of sensor collection, according to the brightness value, image brightness values and predetermined luminance of current environment light
Value, calculates and exports corresponding driving current.
6. a kind of sweeping robot camera light compensation method, it is characterised in that including：
Image acquisition step, obtains ground image in real time；
Environmental light brightness obtaining step, obtains the brightness value of current environment light；
Data processing step, compares ground image brightness value and predetermined luminance value that camera is collected in real time, when both differences
When value is more than the threshold difference set, according to the brightness value, image brightness values and predetermined luminance value of current environment light, driving electricity is calculated
Flow valuve；
Actuation step, according to the driving current value size, driving light compensating lamp sends the infrared light of corresponding bright.
7. method as claimed in claim 6, it is characterised in that the environmental light brightness obtaining step includes：Passed to ambient light
Sensor exports daylighting order so that ambient light sensor gathers the brightness value information of current environment light, and receives brightness value letter
Breath.
8. method as claimed in claim 6, it is characterised in that in the data processing step, calculating driving current value includes：
The difference of image brightness values and predetermined luminance value is first calculated, further according to the difference and the brightness value sum of current environment light, is calculated
Driving current value.
9. a kind of sweeping robot, it is characterised in that including：Sweeping robot as any one of claim 1-5 is taken the photograph
As head light-supplementing system.
10. a kind of readable storage medium storing program for executing, it is characterised in that including program, described program can be executed by processor to realize such as
Method any one of claim 6-8.
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| CN108574804A (en) * | 2018-07-04 | 2018-09-25 | 珠海市微半导体有限公司 | A kind of Light Source Compensation system and method for vision robot |
| CN108989667A (en) * | 2018-06-29 | 2018-12-11 | 惠州华阳通用电子有限公司 | A kind of infrared light-supplementing system and method |
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