CN111406242B

CN111406242B - Self-moving equipment

Info

Publication number: CN111406242B
Application number: CN201980005091.9A
Authority: CN
Inventors: 何明明; 滕哲铭
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2018-02-28
Filing date: 2019-02-28
Publication date: 2022-06-14
Anticipated expiration: 2039-02-28
Also published as: CN111406242A; WO2019165998A1

Abstract

A self-moving apparatus (1000) comprising a body (101) having a top wall (1010) and a bottom wall (1011); the control component controls the self-moving equipment (1000) to automatically cruise and execute work tasks in a work area; the optical sensing assembly (102) is arranged in the front of the main body (101) and located between the top wall (1010) and the bottom wall (1011), an opening (103) is formed in the front side wall of the front portion, the optical sensing assembly (102) detects an image in front of the mobile equipment (1000) through the opening (103) to provide reference information for cruising of the mobile equipment (1000), more objects in front of and above the mobile equipment (1000) can be shot by the optical sensing assembly (102) arranged in the opening (103) in front of the main body (101) from the mobile equipment (1000), the range of the detected image view is wider and wider, assistance is provided for positioning, obstacle avoidance and walking strategy adjustment of the mobile equipment (1000), the optical sensing assembly (102) is arranged in the opening (103), the optical sensing assembly (102) is not only ensured not to be collided by external obstacles, but also the interference of external environment light can be avoided by limiting the size of the opening (103), the cruising ability of the self-moving device (1000) is improved.

Description

Self-moving equipment

Technical Field

The present invention relates to a self-moving device, and more particularly, to a self-moving device with identification and location functions.

Background

In the prior art, a general robot is a machine with an electromechanical system controlled by a computer. Mobile robots have the ability to move around in their environment and are not fixed to one physical location. Currently, a commonly used mobile robot employs an Automated Guided Vehicle (AGV) or an Automated Guided Vehicle (AGV). AGVs are typically considered as mobile robots that follow markings or wires in the floor or use a vision system or laser for navigation. Not only can mobile robots be applied in industrial, military and security environments, but they also emerge as consumer products for entertainment or for performing specific tasks, such as lawn care, vacuum cleaning and home assistants (home assistants).

To achieve full autonomy, a mobile robot typically needs to possess the ability to explore its environment, build a reliable map of the environment and locate itself within the map, and identify the environment without user intervention. How to implement the above functions more accurately and effectively is a problem to be studied.

Disclosure of Invention

To overcome the drawbacks of the prior art, the problem to be solved by the present invention is to provide a self-moving device that can efficiently identify and locate.

In order to solve the technical problems, the technical scheme of the invention is as follows: an autonomous mobile device comprising:

a body having a top wall and a bottom wall;

the control component is used for controlling the self-moving equipment to automatically cruise and execute a work task in a work area;

the optical sensing assembly is arranged in the front of the main body and located between the top wall and the bottom wall, an opening is formed in the front side wall of the front portion, and the optical sensing assembly detects images in front of the mobile equipment through the opening to provide reference information for cruising of the mobile equipment.

In a specific embodiment, a transparent member is disposed at the opening, and the optical sensing assembly captures an image through the transparent member.

In a particular embodiment, the self-moving apparatus includes a protective barrier, and the optical sensing assembly is located within the protective barrier.

In a particular embodiment, a seal is provided between the opening and the optical sensing assembly.

In a specific embodiment, the angle of view of the optical sensing assembly through the opening in the vertical direction is 45-100 degrees.

In a specific embodiment, the central axis of the vertical field of view is substantially horizontal.

In a specific embodiment, the angle between the central axis of the vertical field of view angle and the horizontal is ± 15 degrees.

In a particular embodiment, the height of the opening in the vertical direction does not exceed 2/3 the height of the front side wall.

In a specific embodiment, the optical sensing assembly is disposed near the front 20% of the front of the body.

In a specific embodiment, the optical sensing assembly comprises a camera with a shooting direction arranged towards the opening.

In a specific embodiment, the shooting direction of the camera is perpendicular to the opening.

In a specific embodiment, the center of the camera is at a vertical distance of 2-5CM from the opening.

In a specific embodiment, the optical sensing assembly comprises a camera and a reflector, the projection direction of the reflector faces the shooting direction of the camera, and the incidence direction of the reflector faces the opening.

In a specific embodiment, the reflector is positioned above the camera, an extension line of one end of the reflector intersects with the top wall, and an angle formed in the direction close to the opening is an obtuse angle.

In one specific embodiment, the obtuse angle is 100 and 130 degrees.

In a specific embodiment, the camera is mounted on the bottom wall.

In a specific embodiment, the shooting direction of the camera is perpendicular to the top wall or forms an acute angle with the top wall in the direction close to the opening.

In a specific embodiment, the shooting direction of the camera and the effective field angle formed by the reflector are 35-65 degrees.

In a specific embodiment, the vertical distance between the center of the reflector and the opening is 3-6 CM.

In a specific embodiment, the bottom end of the reflector is at a vertical distance of 2-5cm from the camera.

In a specific embodiment, the vertical height of the reflector is 4-8 cm.

In a specific embodiment, when the shooting direction of the camera forms an acute angle with the top wall in the direction close to the opening, the camera body intersects with the bottom wall, and the angle formed in the direction close to the opening is 8-12 degrees.

The invention has the beneficial effects that: the self-moving equipment can identify objects in the driving direction of the main body and shoot more objects in front of and above the self-moving equipment by utilizing the optical sensing assembly arranged in the opening in front of the main body, so that the image view field detected by the optical sensing assembly is wider and wider, help is provided for positioning, obstacle avoidance and walking strategy adjustment of the self-moving equipment, the optical sensing assembly is arranged in the opening, the optical sensing assembly is not only prevented from being collided by external obstacles, but also the interference of external environment light (such as sunlight) can be avoided by limiting the size of the opening, and the cruising ability of the self-moving equipment is improved.

In order to solve the technical problems, the invention provides a technical scheme as follows:

an autonomous mobile device, comprising:

a body having a top surface and a bottom surface opposite the top surface;

a camera for photographing at a predetermined angle of view, the camera being mounted obliquely upward with respect to the top surface such that an optical axis of the camera is aligned at an acute angle with the top surface and an aiming direction of the camera is opposite to the driving direction.

Further, the main body has a front portion in the driving direction, and the optical axis center projection of the camera is close to the front portion of the main body and located at a position within 20% of the length value of the main body.

Further, the angle between the optical axis of the camera and the top surface ranges from 30 to 60 degrees.

Further, the angle between the optical axis of the camera and the top surface ranges from 40 to 50 degrees.

Further, the field of view of the camera spans a frustum of 90-120 degrees in the vertical direction.

Further, the top surface has a protruding structure thereon, and the camera is positioned within the protruding structure.

Further, the lens of the camera is at least partially convex from the top surface.

Further, there is a recessed structure below the top surface, the camera being positioned within the recessed structure.

Further, the lens of the camera does not protrude from the top surface.

In order to solve the technical problems, the invention provides another technical scheme as follows:

an autonomous mobile device, comprising:

a body having a top surface and a bottom surface opposite the top surface;

a camera for photographing at a predetermined angle of view, the camera being mounted obliquely upward with respect to the top surface such that an optical axis of the camera is aligned at an acute angle with the top surface and an aiming direction of the camera is the same as the driving direction, a field of view of the camera spanning a frustum of 90-120 degrees in a vertical direction.

Further, the main body has a front portion in the driving direction, and the optical axis center projection of the camera is located near the front portion of the main body and at a position within 20% of the length value of the main body.

Further, the lens of the camera does not protrude from the top surface.

an autonomous mobile device, comprising:

a body having a top surface and a bottom surface opposite the top surface;

the camera is used for shooting at a preset field angle, the optical axis of the camera is perpendicular to the top surface, and a reflector arranged at an acute angle with the top surface is arranged in the aiming direction of the camera.

Further, the camera is mounted on the bottom surface, and the reflector is disposed above the camera and near the top surface.

Further, the angle between the mirror and the top surface ranges from 30 to 45 degrees.

Further, the field of view of the camera spans a frustum of 45-60 degrees in the vertical direction.

an autonomous mobile device, comprising:

a body having a top surface, a bottom surface opposite the top surface, and a sidewall connecting the top surface and the bottom surface, the body having a front in a driving direction, a rear opposite the front;

the camera is installed in an upward inclined mode relative to the top surface so that an optical axis of the camera is aligned at an acute angle with the top surface, and the two cameras are respectively arranged on the top surface and close to the side wall.

Further, the aiming directions of the two cameras are opposite.

Further, the line of the optical axes of the two cameras passes through a vertical plane from the center of the mobile device.

Further, the lens of the camera does not protrude from the top surface.

an autonomous mobile device, comprising:

a body having a top surface and a bottom surface opposite the top surface;

the camera is used for shooting at a preset angle of view and comprises a first camera and a second camera, wherein the first camera is obliquely installed upwards relative to the top surface, so that the optical axis of the first camera is aligned with the top surface at an acute angle, the aiming direction of the first camera is opposite to the driving direction, the optical axis of the second camera is perpendicular to the top surface, and a reflector arranged at an acute angle with the top surface is arranged in the aiming direction of the second camera.

Further, the main body has a front portion in the driving direction, and the optical axis center projection of the first camera is close to the front portion of the main body and located at a position within 20% of the length value of the main body.

Further, the angle between the optical axis of the first camera and the top surface ranges from 30 to 60 degrees.

Further, the angle between the optical axis of the first camera and the top surface ranges from 40 to 50 degrees.

Further, the field of view of the first camera spans a frustum of 90-120 degrees in a vertical direction.

Further, the top surface has a protruding structure thereon, and the first camera is positioned within the protruding structure.

Further, the lens of the camera does not protrude from the top surface.

Further, the second camera is mounted on the bottom surface, and the reflective mirror is disposed above the camera and near the top surface.

Further, the main body has a front portion in the driving direction, and the optical axis center projection of the second camera is close to the front portion of the main body and located at a position within 20% of the length value of the main body.

Further, the field of view of the second camera spans a frustum of 45-60 degrees in the vertical direction.

Furthermore, the first camera is arranged adjacent to the reflective mirror and is positioned above the reflective mirror.

The invention has the beneficial effects that: compared with the scheme that the camera is directly aimed at the right front, the self-moving equipment provided by the invention has the advantages that the optical path can be increased by arranging the reflector in front of the visual field of the camera for identification, so that the camera can capture a wider and wider object for positioning, namely the width and the width can be increased; the aiming direction of the camera for positioning is arranged towards the rear, so that the visual field faces to the passing area, and the camera is spacious and free of shielding, and is more favorable for improving the positioning precision and robustness; through setting up two cameras that are used for the location from the both sides of mobile device drive direction, and the direction of aim of two cameras sets up relatively, can increase the accuracy from the mobile device location, simultaneously, when one of them camera appears and does not catch the object that can be used for the location, another camera can be used for the location from the mobile device according to the seizure condition of oneself, can furthest's assurance from the location of mobile device.

Drawings

The technical problems, technical solutions, and advantages of the present invention described above will be clearly understood from the following detailed description of preferred embodiments of the present invention, which is to be read in connection with the accompanying drawings.

Fig. 1 is a left side view of a self-moving apparatus according to a first embodiment of the present invention.

Fig. 2 is a left side view of a self-moving apparatus according to a second embodiment of the present invention.

Fig. 3 is a left side view of a self-moving apparatus according to a third embodiment of the present invention.

Fig. 4 is a top view of a self-moving apparatus according to a fourth embodiment of the present invention.

Fig. 5 is a left side view of a self-moving apparatus according to a fourth embodiment of the present invention.

Fig. 6 is a top view of a self-moving apparatus of a fifth embodiment of the present invention.

Fig. 7 is a left side view of a self-moving apparatus according to a fifth embodiment of the present invention.

Fig. 8 is a top view of a self-moving apparatus of a sixth embodiment of the present invention.

Fig. 9 is a right side view of a self-moving apparatus according to a sixth embodiment of the present invention.

Fig. 10 is a top view of a self-moving apparatus of a seventh embodiment of the present invention.

Fig. 11 is a right side view of a self-moving apparatus according to a seventh embodiment of the present invention.

Fig. 12 is a bottom view of a self-moving apparatus of an eighth embodiment of the present invention.

Fig. 13 is a right side view of a self-moving apparatus according to an eighth embodiment of the present invention.

Fig. 14 is a top view of a self-moving apparatus of a ninth embodiment of the present invention.

Fig. 15 is a right side view of a self-moving apparatus according to a ninth embodiment of the present invention.

Fig. 16 is a top view of a self-moving apparatus of a tenth embodiment of the present invention.

Fig. 17 is a left side view of a self-moving apparatus according to a tenth embodiment of the present invention.

Fig. 18 is a top view of a self-moving apparatus of an eleventh embodiment of the present invention.

Fig. 19 is a left side view of a self-moving apparatus according to an eleventh embodiment of the present invention.

Fig. 20 is a top view of a self-moving apparatus of a twelfth embodiment of the present invention.

Fig. 21 is a left side view of a self-moving apparatus according to a twelfth embodiment of the present invention.

Detailed Description

The invention discloses self-moving equipment with good positioning accuracy.

Before describing embodiments of the present invention in detail, it should be noted that relational terms such as left and right, up and down, front and back, first and second, and the like may be used solely in the description of the present invention to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the following description of the embodiments of the present invention, the forward direction of the machine, i.e., the driving direction, is set to be forward, the direction opposite to the driving direction is set to be backward, the direction of the machine closest to the ground is set to be downward, and the direction opposite to the downward and farthest from the ground is set to be upward.

In the following description of the embodiments of the invention, reference is made to the angle of more components to the top wall, the top wall and the bottom wall are generally considered to be parallel to each other, the ground is generally considered to be parallel to a horizontal plane as a reference plane of the self-moving device, and when the top wall is not a plane, the angle of the components to the top wall is considered to be an angle between a tangent plane of the top wall.

The automatic moving equipment can be an automatic or semi-automatic machine which is applied to indoor or outdoor and can automatically cruise and execute work tasks, such as an intelligent mower or a cleaning robot.

As shown in fig. 1-3, the present invention provides a self-moving device 1000, which comprises a main body 101, an optical sensing assembly 102 and a control assembly, wherein the main body has a top wall 1010 and a bottom wall 1011 opposite to the top wall, the control assembly is located in the main body 101, and the control assembly can control the self-moving device 1000 to automatically cruise in a working area and perform a working task; the main body 101 has a front portion along a driving direction, the optical sensing assembly 102 is disposed at the front portion inside the main body 101 and located between the top wall 1010 and the bottom wall 1011, an opening 103 is formed at a front side wall of the front portion, external light can enter the optical sensing assembly 102 through the opening 103, and the optical sensing assembly 102 can detect an image from the front of the mobile device 1000 through the opening 103, so that reference information is provided for cruising of the mobile device 1000 by using the detected image.

First embodiment

As shown in fig. 1, in the present embodiment, the optical sensing assembly 102 includes a camera 1020 whose photographing direction is set toward the main body driving direction, the camera 1020 is arranged inside the opening 103, the shooting direction of the camera 1020 is approximately vertical to the opening 103 at the front side wall of the front part of the main body, wherein the height of the opening 103 in the vertical direction does not exceed 2/3 of the height of the body, the vertical distance D between the camera and the opening 103 is 2-5CM, the arrangement can ensure that the angle of field A of the camera in the vertical direction through the opening 103 reaches 45-100 degrees, the angle range is obtained by combining the area and the space height of the working environment of the mobile equipment, so that the visual field range of the image which can be detected by the camera is larger, and finally, the higher, wider and wider image in front is obtained, for example, the body of an adult can be shot, within this range of angles, more efficient objects for recognition and localization can be made directly available to the camera. Specifically, the field angle central axis of the camera in the vertical direction is substantially horizontal. In other embodiments, the central axis of the field of view may be offset a small distance above and below the horizontal, and in particular, the angle between the central axis of the field of view of the optical sensing assembly 102 and the horizontal may be within ± 15 degrees. The optical sensing component 102 in the embodiment of the present invention may be used to capture an image from a driving direction of the mobile device for identifying a forward object, such as an obstacle, an adult, an animal, etc. in a lawn, or capture an image of an object above a horizontal line, that is, an image from a position obliquely above a top surface of the mobile device, so that the optical sensing component 102 may obtain more objects for positioning, such as a frame hung on a wall, a trunk in a lawn, etc. For the self-moving equipment located indoors, the angle is too small, most of the visual field of the camera acquires images of the ground, the camera cannot be used for positioning, the angle is too large, most of the visual field of the camera acquires images of the boundary area of the ceiling and the wall, and few objects can be used for positioning. This angle range can avoid too big distortion to cause in the field of vision of assurance camera again in too big field of vision, to being located outdoor work from mobile device, has also avoided the angle too big, and strong light such as external sunlight causes too much interference to camera shooting.

As shown in fig. 1, a transparent member 104 is disposed at the opening 103, and the transparent member 104 smoothly connects front side walls of both ends of the opening 103, that is, the opening 103 is closed by the transparent member 104. The optical sensing assembly 102 in the main body 101 captures images through the transparent stopper, which has good transparency, and the transparency does not affect the imaging effect of the optical sensing assembly 102. It can be understood that the transparent member is made of a transparent material, for example, a glass transparent member is preferred, the glass transparent member is sufficiently transparent, so that an imaging effect can be ensured, but when the requirement on the imaging effect is not high, a plastic transparent member can be adopted, so that the cost is sufficiently reduced. The transparent member 104 can block external objects from entering the main body 101, prevent damage to parts inside the main body 101, such as the optical sensing assembly 102, and ensure cleanness inside the main body 101. Therefore, the transparent member is also structurally rigid and cannot be easily damaged by external objects. Specifically, the height of the opening 103 in the vertical direction is not more than 2/3 of the height of the front side wall of the front portion, and interference to the camera caused by excessive external interference light entering the camera view field can be avoided by limiting the height of the opening 103 on the basis of ensuring that the camera view field can be as large as possible, for example, 2/3 of limiting the height of the opening 103 at the height of the front side wall of the front portion can ensure that the camera cannot shoot sunlight, so that excessive exposure of an image shot by the camera due to strong sunlight is avoided, and the quality of the image is influenced.

In a specific embodiment, the self-moving device is provided with a protective component 105, the optical sensing component 102 is arranged in the protective component 105, as shown in fig. 1, the protective component 105 is a floating cover of the self-moving device, an opening is also arranged at a position of the floating cover corresponding to the opening 103, the optical sensing component 102 is arranged in the floating cover, when an obstacle is encountered, a front wall of the floating cover contacts the obstacle first, the obstacle is blocked by the floating cover, the obstacle does not contact the optical sensing component 102, and the protective component 105 can play a role in preventing the optical sensing component 102 from being damaged by collision of the external obstacle. In other embodiments, the protective component 105 may also be a housing of the self-moving device, an additional anti-collision structure on the self-moving device, or the like, so that the optical sensing component 102 is blocked by the protective component 105 during moving from the self-moving device, and cannot collide with an obstacle, thereby ensuring the safety of the optical sensing component 102. As shown in fig. 1, a sealing member 106 is further disposed between the opening 103 and the optical sensing component 102, the sealing members 106 respectively connected to the optical sensing component 102 are disposed on two sides of the opening 103, and the material of the sealing member 106 is, for example, a rubber strip, but other materials capable of achieving a sealing effect and having a certain degree of robustness may be substituted. Through the setting of rubber strip, can form confined space between camera and the transparency 104, prevent inside dust, weeds etc. get into main part 101, cause the pollution to optical sensing subassembly 102, be unfavorable for acquireing clear image.

In the embodiment, the optical sensing component 102 is disposed at a position close to the front 20% of the front of the main body 101, that is, at a position located at the front 20% of the length of the main body 101, and by installing the optical sensing component 102 close to the front of the main body 101, the space in the main body 101 of the mobile device can be prevented from being wasted, so that the internal structure of the main body 101 of the mobile device is compact, and the installation positions of other internal components are more reasonable.

Second embodiment

As shown in fig. 2, unlike the first embodiment, the optical sensing assembly 102 includes a camera 1021 and a mirror 1022, that is, the optical sensing assembly 102 is formed by cooperation of the camera 1021 and the mirror 1022, a projection direction of the mirror 1022 is toward a shooting direction of the camera 1021, and an incident direction of the mirror 1022 is toward the opening 103. By the arrangement of the reflective mirror 1022, the optical path length can be increased, so that the optical sensing component 102 can shoot wider and wider objects without causing distortion of the field of view of the camera 1021.

In the present embodiment, the camera 1021 is installed on the bottom wall 1011, the shooting direction of the camera 1021 is towards the top wall 1010, specifically, the shooting direction of the camera 1021 is perpendicular to the top wall 1010, the mirror 1022 is located above the camera 1021, an extension line of one end of the mirror 1022 intersects with the top wall 1010, an angle B formed in a direction approaching the opening 103 is an obtuse angle, the obtuse angle B is 100 degrees and 130 degrees, and for convenience of marking, an inside stagger angle of the angle is marked in the drawing. Wherein the height of the opening 103 does not exceed 2/3 of the front side wall height of the front part, the main body 101 has a front part along the driving direction, the vertical distance D between the center of the reflector 1022 and the opening 103 is 3-6CM, the vertical distance H1 between the bottom end of the reflector 1022 and the camera 1021 is 2-5CM, the vertical height H2 of the reflector 1022 is 4-8 CM, the shooting direction of the camera 1021 and the effective angle of view C formed by the reflector 1022 are 35-65 degrees, as shown in FIG. 2, the angle of view of the camera 1021 itself is very large, for the convenience of understanding, the angle of view is divided into left and right sides for explanation, the left angle of view is not staggered with the reflector, that is, the left angle of view is not projected into the reflector, the image of the top wall 1010 is shot, the image outside the opening 103 cannot be shot, the part of angle of view cannot be used for effective identification and positioning, and can be ignored, the right angle of view of the camera 1021 is staggered with the mirror, and can be projected to the mirror, and the staggered part of the angle of view can shoot an external image from the opening 103, and the part of the angle of view is an effective angle of view C, it can be understood that the edge of the right angle of view of the camera 1021 can be projected to the mirror, the right angle of view of the camera 1021 can be maximally utilized, the angle of view of the camera 1021 can be increased, and finally the range of the effective angle of view C is formed to be larger. With the arrangement, the angle of view of the optical sensing component 102 passing through the opening 103 in the vertical direction can reach 45-100 degrees, and the angle range is obtained by combining the area and the space height of the working environment of the mobile device, so that the optical sensing component 102 can shoot a wider field of view, and finally obtain a higher, wider and wider image in front, for example, the body of an adult can be shot, and more effective objects for identification and positioning can be directly obtained by the optical sensing component 102 within the angle range. Specifically, the central axis of the field of view of the vertically oriented optical sensing assembly 102 is substantially horizontal. In other embodiments, the central axis of the field of view may be offset a small distance above and below the horizontal, and in particular, the angle between the central axis of the field of view of the optical sensing assembly 102 and the horizontal may be within ± 15 degrees. The optical sensing component 102 in the embodiment of the present invention can be used to capture an image from the driving direction of the mobile device for identifying the front objects, such as obstacles in the lawn, adults, animals, etc., and also can be used to capture an image of objects above the horizontal line, that is, an image from a certain angle obliquely above the top surface of the mobile device, so that the optical sensing component can acquire more objects for positioning, such as a frame hung on a wall, a trunk in the lawn, etc. For a self-moving device located indoors, the angle is too small, most of the visual field of the optical sensing assembly 102 is acquired by the image of the ground, the image cannot be used for positioning, and the angle is too large, most of the visual field of the optical sensing assembly is acquired by the image of the boundary area of the ceiling and the wall, and fewer objects can be used for positioning. This angle range can avoid too big distortion to cause in the too big field of vision again when guaranteeing the field of vision of optical sensing subassembly, to being located outdoor work from mobile device, has also avoided the angle too big, and external sunlight waits the strong light to cause too much interference to optical sensing subassembly shooting.

As shown in fig. 2, a sealing member 106 is also disposed between the opening 103 and the optical sensing assembly 102, the arrangement of the sealing member 106 is slightly different from that of the first embodiment, the sealing member 106 is disposed on two sides of the opening 103 and respectively connected to one end of the camera 1021 and one end of the mirror 1022, and the sealing member 106 is also disposed between the other end of the mirror 1022 and the camera 1021, the material of the sealing member 106 is, for example, a rubber strip, although other materials capable of achieving a sealing effect and having a certain degree of robustness can be substituted. Through the arrangement of the three rubber strips, a sealed space can be formed between the camera 1021, the reflective mirror 1022 and the transparent member 104, that is, the optical sensing component 102 is sealed, for example, dust, weeds and the like below the base can be prevented from entering the optical sensing component 102, so that the optical sensing component 102 is prevented from being polluted, and clear images are not acquired favorably.

Also, the optical sensing assembly 102 is disposed near the front 20% of the front of the main body 101, so that the space in the main body 101 of the mobile device is not wasted, the internal structure of the main body 101 of the mobile device is compact, and the installation positions of other internal components are more reasonable.

The structure and effect of the transparent member 104, the height of the opening 103, and the shielding assembly 105 (not shown) are the same as those of the first embodiment, and are not repeated herein.

Third embodiment

As shown in fig. 3, the optical sensing assembly 102 also includes a camera 1023 and a reflective mirror 1024, a projection direction of the reflective mirror 1024 is directed toward a shooting direction of the camera 1023, and an incident direction of the reflective mirror 1024 is directed toward the opening 103. Unlike the second embodiment, the camera 1023 and the mirror 1024 are disposed at slightly different positions. Also, by the arrangement of the mirror 1024, the optical path can be increased, so that the camera 1023 can shoot a wider object without distortion of the field of view of the camera 1023.

In this embodiment, an angle formed by the shooting direction of the camera 1023 and the top wall 1010 in the direction close to the opening 103 is an acute angle. The camera 1023 body intersects the bottom wall 1011 and forms an angle E of 8-12 degrees in a direction approaching the opening 103. The mirror 1024 is positioned above the camera 1023, and an extension line of one end of the mirror 1024 intersects the top wall 1010, and an angle formed in a direction approaching the opening 103 is an obtuse angle B. The obtuse angle B is 100-130 degrees, and for convenience of illustration, the inside-out angle of the angle is labeled in the figure. The body 101 has a front portion in a driving direction, a vertical distance between a center of the mirror 1024 and the opening 103 is also 3-6CM, a vertical distance H1 between a bottom end of the mirror 1024 and the camera 1023 is 2-5CM, a vertical height H2 of the mirror 1024 is 4-8 CM, a photographing direction of the camera 1023 and an effective angle of view C formed by the mirror 1024 are 35-65 degrees, as shown in fig. 3, an angle of view of the camera 1023 itself is large, for convenience of understanding, the angle of view is explained as a left side and a right side, a left side angle of view is not staggered with the mirror 1024, that is, the left side angle of view is not projected into the mirror 1024, an image of a ceiling wall 1010 is photographed, an image outside the opening 103 cannot be photographed, the partial angle of view cannot be used for effective recognition and positioning, and can be ignored, and a right side angle of view of the camera 1023 is staggered with the mirror 1024 and can be projected onto the mirror 1024, the staggered part of the field angle can be shot from the opening 103 to the outside image, and the part of the field angle is the effective field angle C, it can be understood that the most edge of the field angle on the right side of the camera 1023 can be projected to the reflector 1024, the field angle on the right side of the camera 1023 can be maximally utilized, the field angle range of the camera 1023 can be improved, and the range of the effective field angle C is formed finally is larger. With the arrangement, the angle of view of the optical sensing assembly 102 passing through the opening 103 in the vertical direction can reach 45-100 degrees, so that the optical sensing assembly 102 can capture a wider field of view, and finally obtain a higher and wider image in the front, such as a body of an adult. Specifically, the central axis of the field of view of the vertically oriented optical sensing assembly 102 is substantially horizontal. In other embodiments, the central axis of the field of view may be offset a small distance above and below the horizontal, and in particular, the angle between the central axis of the field of view of the optical sensing assembly 102 and the horizontal may be within ± 15 degrees. The optical sensing component 102 in the embodiment of the present invention may be used to capture an image from a driving direction of the mobile device for identifying a forward object, such as an obstacle, an adult, an animal, etc. in a lawn, or capture an image from a horizontal line, that is, from an angle obliquely above a top surface of the mobile device, so that the optical sensing component 102 can obtain more objects for positioning, such as a frame hung on a wall, a trunk in a lawn, etc. For a self-moving device located indoors, the angle is too small, the view of the camera 1023 mostly acquires images of the ground and cannot be used for positioning, the angle is too large, the view of the camera 1023 mostly acquires images of the boundary area of the ceiling and the wall, and fewer objects can be used for positioning. This angle range can avoid too big field of vision to cause too big distortion again when guaranteeing the field of vision of camera 1023, to being located outdoor work from the mobile device, has also avoided the angle too big, and highlights such as external sunlight cause too much interference to camera 1023 shoots.

As shown in fig. 3, a sealing member 106 is also disposed between the opening 103 and the optical sensing assembly 102, the sealing members 106 at two ends of the opening 103 are respectively connected to one end of the camera and one end of the mirror 1024, and meanwhile, the sealing member 106 is also disposed between the other end of the mirror 1024 and the camera, the sealing member 106 is made of, for example, a rubber strip, although other materials capable of achieving a sealing effect and having a certain firmness may be substituted. Through the setting of three rubber strips, can form confined space between camera, reflector 1024 and the transparent 104, prevent inside dust, weeds etc. get into main part 101, cause the pollution to optical sensing subassembly 102, be unfavorable for acquireing clear image.

Other arrangements are the same as the second embodiment, and are not described herein. In the third embodiment, the camera is obliquely arranged, so that the excessive distortion caused by the excessive visual field of the camera is avoided, and a larger visual field range can be formed at the opening 103 while the visual field angle of the camera is reduced.

The self-moving equipment can be located indoors and outdoors to work, the optical sensing assembly 102 can be suitable for indoors or outdoors, and the optical sensing assembly working system mainly comprises a light sensor, an optical sensing assembly, an optional polarized light filter, a polarized light filter mounting device, a light supplementing lamp and the like. Due to the complex outdoor environmental conditions, the optical sensing assembly may be affected by various factors such as illumination, weather, temperature, pollution, etc. when working outdoors.

For example, under the irradiation of sunlight or other light sources, the outdoor optical sensing assembly is easily interfered by strong light, and a backlight phenomenon occurs, so that a bright area of a shot image is over-exposed, a dark area of the shot image is under-exposed, and a target object cannot be distinguished. In a poor lighting condition, such as cloudy days, evening, or a severely shaded shadow environment, the outdoor camera may also exhibit the phenomena of low image brightness and unclear target objects due to poor light transmission conditions.

In order to solve the technical problem, the invention provides an image processing method of an optical sensing assembly, which solves the problem that outdoor environment light is complex and influences the work of the optical sensing assembly.

In a specific embodiment, the self-moving device comprises a processing unit, and the processing unit improves the acquired original image S, that is to say, the processing unit adopts an image enhancement algorithm with adaptive ambient light intensity to improve. The algorithm simulates the human visual system, assuming that the original image S captured by the optical sensing assembly is composed of the product of the illumination image L and the object reflection image R, since the object color is determined by its own reflection capability of the red, green and blue light rays, and not by the absolute value of its reflection light intensity, the object color is not affected by illumination non-uniformity, i.e., the reflection image R has invariance. The core of the algorithm is that a processing unit estimates illumination L from an original image S, so that R is decomposed, and the influence of illumination unevenness is eliminated. Therefore, the algorithm can achieve balance in three aspects of dynamic range compression, edge enhancement and color constancy, and achieves self-adaptive enhancement effect on various different types of images. Finally, clear and accurate image information is obtained.

In addition to the algorithm approach, in another specific embodiment, a hardware-level optimization method may also be used for improvement, for example, the light sensor determines the current ambient light intensity, and performs a corresponding processing strategy according to the determination result:

1) when the ambient light is strong, the control assembly enables the polarizing filter to reduce reflection and haze so as to improve the color quality of the image and improve the contrast of the image; when the ambient light is extremely strong, the working system of the optical sensing assembly stops working, the ambient light is continuously detected through the light sensor, the optical sensing assembly is started again to work until the light intensity is normal, or the ambient light in different directions is continuously detected through the light sensor, and the optical sensing assembly is controlled to turn to the direction in which the light intensity is normal to work.

2) When the ambient light is weak, the optical sensing assembly working system automatically starts the intelligent light supplementing function so as to enhance the illumination of the ambient light and improve the quality of the acquired image.

Fourth embodiment

As shown in fig. 4 and 5, the self-moving apparatus 100 of the fourth embodiment includes a main body 10 and a camera 11 provided on the main body. The camera is used for shooting at a predetermined angle of view. The body 10 has a top surface 12 and a bottom surface 13 opposite the top surface 12. The camera 11 has an optical axis 14, the camera 11 is mounted inclined upward with respect to the top surface 12 such that the optical axis 14 of the camera 11 is aligned at an acute angle with respect to the top surface 12, and the aiming direction of the camera 11 is opposite to the driving direction 15, the aiming direction of the camera 11 being inclined rearward and upward with respect to the top surface 12. The aiming direction of the camera 11 is arranged towards the rear, so that the visual field is exposed and free of shielding, and the positioning accuracy and the robustness are improved.

With the prior art approach where the camera optical axis is arranged parallel to the forward drive direction, the features visible in the center of the camera field of view may increase in scale as the robot moves towards the feature, and the 3D structure of the features in the center of the camera field of view may be difficult to determine from a series of images captured as the robot moves forward towards the feature from the mobile device 100. This situation is particularly serious for indoor cleaning robots. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, and furthermore, increasing the field of view causes the distortion of the lens to be severe and the angular resolution of the image captured by the camera to be minimal. While the present embodiment increases the parallax observed across the field of view of the camera when the camera is moved towards the object by placing the optical axis 14 of the camera 11 obliquely upwards, the portion of the camera field of view having the highest angular resolution.

Positioning of the self-moving device 100 is further facilitated by the optical axis 14 of the camera 11 being arranged obliquely with respect to the top surface 12, so that the camera 11 is able to capture more reliably static, feature-rich objects from above the mobile device 100, such as a picture frame hanging on a wall in a home and other features without displacement. The self-moving device 100 can use features of reliable static objects located at specific ranges of heights above the floor to build a map of the environment and navigate using vision-based sensors and vision-based simultaneous localization and mapping (or VSLAM).

Arranging the optical axis 14 of the camera 11 obliquely with respect to the top surface 12 enables the self-moving device 100 to more accurately determine the 3D structure of the underside of an object hanging on a wall, allows the self-moving device 100 to focus on areas within a typical indoor environment where features are unchanged, such as those imaged around door frames, photo frames and other static furniture and objects, allows the self-moving device 100 to repeatedly identify reliable landmarks, thereby accurately locate and map within the environment.

In the present embodiment, the main body 10 has a front portion in the driving direction, the optical axis 14 of the camera 11 has an axis, and the projection of the axis of the optical axis 14 is close to the front portion of the main body 10 and is located at a position within 20% of the length value of the main body 10, that is, the axis of the optical axis 14 is located within the first 20% of the length value of the machine in the front-back direction. By mounting the camera 11 close to the front of the body 10, it is possible to avoid that closer objects obstruct the field of view of the camera 11 to a large extent, since if the camera 11 is mounted close to the rear of the body 10, the positioning of the mobile device will be affected when the image captured by the camera 11 is larger than or occupies a large part of the field of view.

As shown in fig. 5, the angle a1 between the optical axis 14 of the camera 11 and the top surface 12 ranges from 30-60 degrees. The angle range can acquire more objects used for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the field of view of the camera 11 acquires an image of the ground, and cannot be used for positioning, and the angle is too large, most of the field of view of the camera 11 acquires an image of the boundary area between the ceiling and the wall, and fewer objects can be used for positioning.

In one embodiment, further, the angle a1 between the optical axis 14 of the camera 11 and the top surface 12 ranges from 40-50 degrees. This angular range, which is obtained in combination with the area and spatial height of the typical mobile device working environment, allows the camera 11 to directly obtain an effective object for positioning.

As shown in fig. 5, the camera 11 has a field of view for taking images, and the angle b1 of the field of view of the camera 11 in the vertical direction spans a frustum of 90-120 degrees. This range of angles can ensure the field of view of the camera 11 while avoiding excessive distortion due to an excessive field of view.

In the embodiment shown in fig. 5, the top surface 12 has a protruding structure 16 thereon, and the protruding structure 16 may be integrally formed to protrude upward from the top surface 12, but the protruding structure 16 may also be a separate structure, and the protruding structure 16 and the top surface 12 are fixed to each other by a fixing bolt after holes are drilled on the protruding structure 16 and the top surface 12.

As shown in fig. 5, the camera 11 is arranged within the protruding structure 16. The camera 11 has a lens, the lens of the camera 11 at least partially protruding from the top surface 12.

Fifth embodiment

The fifth embodiment is substantially the same as the fourth embodiment, and differs from the fourth embodiment in that the camera is not disposed in a convex structure above the top surface, but is disposed in a concave structure below the top surface.

As shown in fig. 6 and 7, the self-moving apparatus 200 of the fifth embodiment includes a main body 20 and a camera 21 provided on the main body. The camera is used for shooting at a predetermined angle of view. The body 20 has a top surface 22 and a bottom surface 23 opposite the top surface 22. The camera 21 has an optical axis 24, the camera 21 is mounted inclined upward with respect to the top surface 22 such that the optical axis 24 of the camera 21 is aligned at an acute angle with respect to the top surface 22, and the aiming direction of the camera 21 is opposite to the driving direction 25, the aiming direction of the camera 21 being inclined rearward and upward with respect to the top surface 22. By arranging the aiming direction of the camera 21 towards the rear, the field of view can face the area which is already passed through, and the camera is clear and free of obstruction, so that the positioning precision and the robustness can be improved more favorably.

With the prior art approach where the camera optical axis is arranged parallel to the forward drive direction, the features visible in the center of the camera field of view may increase in scale as the robot moves towards the feature, and the 3D structure of the features in the center of the camera field of view may be difficult to determine from a series of images captured as one moves forward from the mobile device 200 towards the feature. This situation is particularly serious for indoor cleaning robots. The positional accuracy of the camera may be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, and furthermore, increasing the field of view makes the distortion of the lens severe and the angular resolution of the image captured by the camera minimal. While the present embodiment increases the parallax observed across the field of view of the camera when the camera is moved toward the object by setting the optical axis 24 of the camera 21 obliquely upward, a portion of the field of view of the camera having the highest angular resolution; positioning of the self-moving device 200 is further facilitated by the optical axis 24 of the camera 21 being arranged obliquely with respect to the top surface 22, so that the camera 11 is able to capture more reliably static feature-rich objects from above the self-moving device 200, such as a picture frame hanging on a wall in the home and other features without displacement. The self-moving device 200 can use features of reliable static objects located at specific ranges of heights above the floor to build a map of the environment and navigate using vision-based sensors and vision-based simultaneous localization and mapping (or VSLAM).

Arranging the optical axis 24 of the camera 21 obliquely with respect to the top surface 22 enables the self-moving device 200 to more accurately determine the 3D structure of the underside of an object hanging on a wall, allows the self-moving device 200 to focus on areas within a typical indoor environment where features are unchanged, such as those imaged around door frames, photo frames and other static furniture and objects, allows the self-moving device 200 to repeatedly identify reliable landmarks, thereby accurately locate and map within the environment.

In the present embodiment, the main body 20 has a front portion in the driving direction, the optical axis 24 of the camera 21 has an axis, and the projection of the axis of the optical axis 24 is close to the front portion of the main body 20 and is located at a position within 20% of the length value of the main body 20, that is, the axis of the optical axis 24 is located within the first 20% of the length value of the machine in the front-back direction. By mounting the camera 21 close to the front of the body 20, it is possible to avoid large obscurations of the field of view of the camera 21 by closer objects, since if the camera 21 is mounted close to the rear of the body 20, the positioning of the mobile device will be affected when the image captured by the camera 21 is larger than or occupies a large part of the field of view.

As shown in fig. 7, the angle a2 between the optical axis 24 of the camera 21 and the top surface 22 ranges from 30-60 degrees. The angle range can acquire more objects used for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the field of view of the camera 21 is obtained from the ground, and cannot be used for positioning, and the angle is too large, most of the field of view of the camera 21 is obtained from the ceiling and wall boundary area, and fewer objects can be used for positioning.

In one embodiment, further, the angle a2 between the optical axis 24 of the camera 21 and the top surface 22 is in the range of 40-50 degrees. This angular range, which is obtained in combination with the area and spatial height of the typical mobile device working environment, allows the camera 21 to directly obtain an effective object for positioning.

As shown in fig. 7, the camera 21 has a field of view for taking an image, and the angle b2 of the field of view of the camera 21 in the vertical direction spans a frustum of 90-120 degrees. This range of angles can ensure the field of view of the camera 21 while avoiding excessive distortion due to an excessive field of view.

As shown in fig. 7, in the present embodiment, the concave structure 26 is recessed below the top surface 22, and the concave structure 26 may be integrally formed to be recessed downward from the top surface 22.

As shown in fig. 7, the camera 21 is disposed within the recessed structure 26. The camera 21 has a lens, the lens of the camera 21 does not protrude above the top surface 22-i.e. the lens of the camera 21 may be located completely below the top surface 22, or the lens of the camera 21 may be just flush with the top surface 22.

Sixth embodiment

The sixth embodiment is substantially the same as the fourth embodiment, and differs from the fourth embodiment in that the aiming direction of the camera is the same as the driving direction.

As shown in fig. 8 and 9, the self-moving apparatus 300 of the sixth embodiment includes a main body 30 and a camera 31 provided on the main body. The camera is used for shooting at a predetermined angle of view. The body 30 has a top surface 32 and a bottom surface 33 opposite the top surface 32. The camera 31 has an optical axis 34, the camera 31 is mounted inclined upward with respect to the top surface 32 such that the optical axis 34 of the camera 31 is aligned at an acute angle with respect to the top surface 32, and the aiming direction of the camera 31 is the same as the driving direction 35, the aiming direction of the camera 31 being inclined forward and upward with respect to the top surface 32. By setting the aiming direction of the camera 31 toward the front upper side, the camera 31 can be made to photograph more objects from above the mobile device 300, which further contributes to the positioning of the mobile device 300.

With the prior art approach where the camera optical axis is arranged parallel to the forward drive direction, the features visible in the center of the camera field of view may increase in scale as the robot moves towards the feature, and the 3D structure of the features in the center of the camera field of view may be difficult to determine from a series of images captured as one moves forward from the mobile device 300 towards the feature. This situation is particularly serious for an indoor cleaning robot. The positional accuracy of the camera may be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, and furthermore, increasing the field of view makes the distortion of the lens severe and the angular resolution of the image captured by the camera minimal. While the present embodiment increases the parallax observed across the field of view of the camera when the camera is moved toward the object by setting the optical axis 34 of the camera 31 obliquely upward, a portion of the field of view of the camera having the highest angular resolution; positioning of the self-moving device 300 is further facilitated by the optical axis 34 of the camera 31 being arranged obliquely with respect to the top surface 32 such that the camera 31 is able to capture more reliably static feature-rich objects from above the self-moving device 300, such as a picture frame hanging on a wall in the home and other features without displacement. The self-moving device 300 can use the features of reliable static objects located at specific ranges of heights above the floor to build a map of the environment and navigate using vision-based sensors and vision-based simultaneous localization and mapping (or VSLAM).

Arranging the optical axis 34 of the camera 31 obliquely with respect to the top surface 32 enables the self-moving device 300 to more accurately determine the 3D structure of the underside of an object hanging on a wall, allows the self-moving device 300 to focus on areas within a typical indoor environment where features are unchanged, such as those imaged around door frames, photo frames and other static furniture and objects, allows the self-moving device 300 to repeatedly identify reliable landmarks, thereby accurately locate and map within the environment.

In the present embodiment, the main body 30 has a front portion in the driving direction, the optical axis 34 of the camera 31 has an axis, and the projection of the axis of the optical axis 34 is close to the front portion of the main body 30 and is located at a position within 20% of the length value of the main body 30, that is, the axis of the optical axis 34 is located within the first 20% of the length value of the machine in the front-back direction.

As shown in fig. 9, the angle a3 between the optical axis 34 of the camera 31 and the top surface 32 ranges from 30-60 degrees. The angle range can acquire more objects for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the field of view of the camera 31 is an image of the ground, and cannot be used for positioning, and the angle is too large, most of the field of view of the camera 31 is an image of the boundary area between the ceiling and the wall, and fewer objects can be used for positioning.

In one embodiment, further, the angle a3 between the optical axis 34 of the camera 31 and the top surface 32 is in the range of 40-50 degrees. This angular range, which is obtained in combination with the area and spatial height of the typical mobile device working environment, allows the camera 31 to directly obtain an effective object for positioning.

As shown in fig. 9, the camera 31 has a field of view for taking an image, and the angle b3 of the field of view of the camera 31 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles may ensure the field of view of the camera 31 while avoiding excessive distortion due to an excessive field of view.

As shown in fig. 9, in the embodiment, the top surface 32 has a protruding structure 36 thereon, the protruding structure 36 may be integrally formed to protrude upward from the top surface 32, but the protruding structure 36 may also be a separate structure, and the protruding structure 36 and the top surface 32 are fixed to each other by a fixing bolt after holes are formed in the protruding structure 36 and the top surface 32.

As shown in fig. 9, the camera 31 is disposed within the protruding structure 36. The camera 31 has a lens, the lens of the camera 31 at least partially protruding from the top surface 32.

Seventh embodiment

The seventh embodiment is substantially the same as the sixth embodiment, and differs from the sixth embodiment in that the camera is not disposed in a convex structure above the top surface, but is disposed in a concave structure below the top surface.

As shown in fig. 10 and 11, the self-moving apparatus 400 of the seventh embodiment includes a main body 40 and a camera 41 provided on the main body. The camera is used for shooting at a predetermined angle of view. The body 40 has a top surface 42 and a bottom surface 43 opposite the top surface 42. The camera 41 has an optical axis 44, the camera 41 is mounted obliquely upward with respect to the top surface 42 such that the optical axis 44 of the camera 41 is aligned at an acute angle with the top surface 42, and the aiming direction of the camera 41 is the same as the driving direction 45, the aiming direction of the camera 41 being inclined forward and upward with respect to the top surface 42. Positioning of the mobile device 400 is further facilitated by the optical axis 44 of the camera 41 being disposed obliquely upward so that the camera can capture more objects from above the mobile device 400.

For the prior art approach where the camera optical axis is arranged parallel to the forward drive direction, the features visible in the center of the camera field of view may increase in scale as the robot moves towards the feature, and the 3D structure of the features in the center of the camera field of view may be difficult to determine from a series of images captured as one moves forward from the mobile device 400 towards the feature. This situation is particularly serious for an indoor cleaning robot. The positional accuracy of the camera may be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, and furthermore, increasing the field of view makes the distortion of the lens severe and the angular resolution of the image captured by the camera minimal. While the present embodiment increases the parallax observed across the field of view of the camera when the camera is moved toward the object by setting the optical axis 44 of the camera 41 obliquely upward, a portion of the field of view of the camera has the highest angular resolution; positioning of the self-moving device 400 is further facilitated by the oblique placement of the optical axis 44 of the camera 41 relative to the top surface 42, enabling the camera 41 to capture more reliably static, feature-rich objects from above the mobile device 400 (such as a picture frame hanging on a wall in the home and other features that do not shift). The self-moving device 400 can use the features of reliable static objects located at specific ranges of heights above the floor to build a map of the environment and navigate using vision-based sensors and vision-based simultaneous localization and mapping (or VSLAM).

Arranging the optical axis 44 of the camera 41 obliquely with respect to the top surface 42 enables the self-moving device 400 to more accurately determine the 3D structure of the underside of an object hanging on a wall, allows the self-moving device 400 to focus on areas within a typical indoor environment where features are unchanged, such as those imaged around door frames, photo frames, and other static furniture and objects, allows the self-moving device 400 to repeatedly identify reliable landmarks, thereby accurately locating and mapping within the environment.

In the present embodiment, the main body 40 has a front portion in the driving direction, the optical axis 44 of the camera 41 has an axis, and the projection of the axis of the optical axis 44 is close to the front portion of the main body 40 and is located at a position within 20% of the length value of the main body 40, that is, the axis of the optical axis 44 is located within the first 20% of the length value of the machine in the front-back direction. By mounting the camera 41 near the front of the body 40, it is possible to avoid large obscurations of the field of view of the camera 41 by closer objects, since if the camera 41 is mounted near the rear of the body 40, the positioning of the mobile device will be affected when the image captured by the camera 41 is larger than or occupies a large part of the field of view.

As shown in FIG. 11, the angle a4 between the optical axis 44 of the camera 41 and the top surface 42 ranges from 30-60 degrees. The angle range can acquire more objects used for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the field of view of the camera 41 acquires an image of the ground, and cannot be used for positioning, and the angle is too large, most of the field of view of the camera 41 acquires an image of the boundary area between the ceiling and the wall, and there are fewer objects that can be used for positioning.

In one embodiment, further, the angle a4 between the optical axis 44 of the camera 41 and the top surface 42 is in the range of 40-50 degrees. This angular range, which is obtained in combination with the area and spatial height of the typical mobile device working environment, allows the camera 41 to directly obtain an effective object for positioning.

As shown in fig. 11, the camera 41 has a field of view for taking an image, and the angle b4 of the field of view of the camera 41 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can ensure the field of view of the camera 41 while avoiding excessive distortion due to an excessive field of view.

As shown in fig. 11, in the present embodiment, a recessed structure 46 is recessed below the top surface 42, and the recessed structure 46 may be integrally formed to be recessed downward from the top surface 42.

As shown in fig. 11, the camera 41 is disposed within the recessed structure 46. The camera 41 has a lens, the lens of the camera 41 does not protrude above the top surface 42-i.e. the lens of the camera 41 may be located completely below the top surface 42, or the lens of the camera 41 may be just flush with the top surface 42.

Eighth embodiment

As shown in fig. 12 and 13, the self-moving apparatus 500 of the eighth embodiment includes a main body 50 and a camera 51 provided on the main body. The camera is used for acquiring images at a predetermined field angle. The body 50 has a top surface 52 and a bottom surface 53 opposite the top surface 52. The camera 51 has an optical axis 54, and the camera 51 is mounted upward relative to the bottom surface 53 and perpendicular to the top surface 52. The aiming direction of the camera 51 is perpendicular to the driving direction 55. A mirror 57 is provided at an acute angle to the top surface 52 in the aiming direction of the camera 51. By using the mirror 57, the optical path can be increased compared to a scheme of directly aiming the camera straight ahead, so that the camera 51 can capture a wider and wider object for positioning, that is, the width and the breadth can be increased.

As shown in fig. 12, the camera is mounted on the bottom surface 53, and a mirror 57 is provided above the camera 51 and near the top surface 52.

In the present embodiment, the main body 50 has a front portion in the driving direction, the optical axis 54 of the camera 51 has an axis, and the projection of the axis of the optical axis 54 is close to the front portion of the main body 50 and is located at a position within 20% of the length value of the main body 50, that is, the axis of the optical axis 54 is located within the first 20% of the length value of the machine in the front-back direction.

As shown in fig. 13, the angle a5 between mirror 57 and top surface 52 ranges from 30-45 degrees. Since the bottom surface 53 is considered to be parallel to the top surface 52 in the present embodiment, the angle between the mirror 57 and the bottom surface 53 is indicated in the drawing. The angular range of the mirror 57 allows the camera 51 to capture more objects for positioning, such as a picture frame hung on a wall, etc. For example, for a self-moving device located indoors, the angle is too small, most of the field of view of the camera 41 is an image of the ground, and cannot be used for positioning, and the angle is too large, most of the field of view of the camera 41 is an image of the boundary area between the ceiling and the wall, and fewer objects can be used for positioning.

As shown in fig. 13, the camera 51 has a field of view for taking an image, and the angle b5 of the field of view of the camera 51 in the vertical direction spans a frustum of 45-60 degrees. This range of angles can ensure the field of view of the camera 51 while avoiding excessive distortion due to an excessive field of view.

Ninth embodiment

As shown in fig. 14 and 15, the self-moving apparatus 600 of the ninth embodiment includes a main body 60 and a camera provided on the main body. The body 60 has a top surface 62 and a bottom surface 63 opposite the top surface 62. The camera is used for shooting at a predetermined angle of view. The cameras include a first camera 61 and a second camera 68. The first camera 61 has a first optical axis 641 and the second camera 68 has a second optical axis 642.

As shown in fig. 15, the second camera 68 is mounted upward relative to the bottom surface 63 and perpendicular to the top surface 62. The aiming direction of the second camera 68 is perpendicular to the driving direction 65. A mirror 67 is provided at an acute angle to the top surface 62 in the aiming direction of the second camera 68. A mirror 67 is provided above the second camera 68 and adjacent the top surface 62. The first camera 61 is disposed adjacent to the mirror 67 and the first camera 61 is positioned above the mirror 67. By using the mirror 67, the optical path can be increased compared to a scheme in which the second camera 68 is aimed directly straight ahead, so that the second camera 68 can capture a wider and wider object for positioning, that is, the width and the width can be increased.

As shown in fig. 14, the second camera 68 is mounted on the bottom surface 63, and the mirror 67 is provided above the second camera 68 and near the top surface 62.

In the embodiment, the main body 60 has a front portion along the driving direction, the second optical axis 642 of the second camera 68 has an axial center, and the projection of the axial center of the second optical axis 642 is close to the front portion of the main body 60 and is located in a position within 20% of the length value of the main body 60, that is, the axial center of the second optical axis 642 is located within the first 20% of the length value of the machine along the front-back direction.

As shown in fig. 15, the angle c1 between mirror 67 and top surface 62 ranges from 30-45 degrees. Since the bottom surface 63 is considered parallel to the top surface 62 in the present embodiment, the angle between the mirror 67 and the bottom surface 63 is indicated in the drawing. The angular range of the mirror 67 may enable the first camera 61 to capture more objects for positioning, such as a picture frame hanging on a wall, etc. For example, for a self-moving device located indoors, the angle is too small, the view field of the second camera 68 mostly acquires an image of the ground, which cannot be used for positioning, and the angle is too large, the view field of the second camera 68 mostly acquires an image of the boundary area between the ceiling and the wall, which can be used for positioning less objects.

As shown in fig. 15, the second camera 68 has a field of view for capturing images, and the angle d1 of the field of view of the second camera 68 in the vertical direction spans a frustum of 45-60 degrees. This range of angles may ensure a field of view for the second camera 68 while avoiding excessive distortion due to an excessive field of view.

As shown in fig. 15, the first camera 61 is mounted obliquely upward with respect to the top surface 62 such that the first optical axis 641 of the first camera 61 is aligned at an acute angle with the top surface 62, and the aiming direction of the first camera 61 is opposite to the driving direction 65, the aiming direction of the first camera 61 being inclined rearward and upward with respect to the top surface 62. The aiming direction of the first camera 61 is arranged towards the rear, so that the visual field faces the area which is already passed through, and the first camera is clear and free of shielding, and is more favorable for improving the positioning precision and the robustness. The first optical axis 641 of the first camera 61 is disposed obliquely upward so that the first camera 61 can photograph more objects above the mobile device 600, which further contributes to the positioning of the mobile device 600.

For the prior art approach where the camera optical axis is arranged parallel to the forward drive direction, the features visible in the center of the camera field of view may increase in scale as the robot moves towards the feature, and the 3D structure of the features in the center of the camera field of view may be difficult to determine from a series of images captured as it moves forward from the mobile device 600 towards the feature. This situation is particularly serious for indoor cleaning robots. The positional accuracy of the camera may be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, and furthermore, increasing the field of view makes the distortion of the lens severe and the angular resolution of the image captured by the camera minimal. While the present embodiment increases the parallax observed across the field of view of the camera when the camera is moved toward the object by setting the first optical axis 641 of the first camera 61 obliquely upward, a portion of the field of view of the camera having the highest angular resolution; positioning of the self-moving device 600 is further facilitated by the first optical axis 641 of the first camera 61 being disposed obliquely with respect to the top surface 62 such that the first camera 61 is able to capture more reliable, static, feature-rich objects from above the self-moving device 600, such as a picture frame hanging on a wall in a home and other features that are not displaced. The self-moving device 600 can use features of reliable static objects located at specific ranges of heights above the floor to build a map of the environment and navigate using vision-based sensors and vision-based simultaneous localization and mapping (or VSLAM).

Arranging the first optical axis 641 of the first camera 61 obliquely with respect to the top surface 62 enables the self-moving device 600 to more accurately determine the 3D structure of the underside of an object hanging on a wall, allows the self-moving device 600 to focus on areas within a typical indoor environment where features do not change (such as those imaged around door frames, picture frames, and other static furniture and objects), allows the self-moving device 600 to repeatedly identify reliable landmarks, thereby accurately locating and mapping within the environment.

As shown in fig. 15, the angle a6 between the first optical axis 641 of the first camera 61 and the top surface 62 ranges from 30-60 degrees. The angle range can acquire more objects used for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the view field of the first camera 61 is obtained from the ground, and cannot be used for positioning, and the angle is too large, most of the view field of the camera 61 is obtained from the ceiling and wall boundary area, and fewer objects can be used for positioning.

In one embodiment, further, the angle a6 between the first optical axis 641 of the first camera 61 and the top surface 62 is in the range of 40-50 degrees. This angular range, in combination with the area and spatial height typically obtained from the mobile device operating environment, allows the first camera 61 to directly obtain an effective object for positioning.

As shown in fig. 15, the first camera 61 has a field of view for taking an image, and the angle b6 of the field of view of the first camera 61 in the vertical direction crosses a truncated cone of 90-120 degrees. This range of angles can prevent an excessively large field of view from causing excessive distortion while ensuring the field of view of the first camera 61.

As shown in fig. 15, in the embodiment, the top surface 62 has a protruding structure 66, the protruding structure 66 may be integrally formed on the top surface 62, and the protruding structure 66 may also be a separate structure, and the protruding structure 66 and the top surface 62 are fixed together by a fixing bolt after holes are drilled on the protruding structure 66 and the top surface 62.

As shown in fig. 15, the first camera 61 is disposed within the protruding structure 66. The first camera 61 has a lens, the lens of the first camera 61 at least partially protruding from the top surface 62.

In this embodiment, two cameras are provided, the first camera 61 is used for positioning, the second camera 68 is used for recognizing objects, the two cameras can be arranged in the vertical direction, particularly, the reflector 67 is directly arranged between the first camera 61 and the second camera 68, the parts are intensively arranged, and the space is fully utilized.

Tenth embodiment

The tenth embodiment is substantially the same as the ninth embodiment except that the first camera 61 is disposed in a concave structure in the tenth embodiment.

As shown in fig. 16 and 17, the self-moving apparatus 700 of the tenth embodiment includes a main body 70 and a camera provided on the main body 70. The body 70 has a top surface 72 and a bottom surface 73 opposite the top surface 72. The camera is used for shooting at a predetermined angle of view. The cameras include a first camera 71 and a second camera 78. The first camera 76 has a first optical axis 741 and the second camera 78 has a second optical axis 742.

As shown in fig. 17, the second camera 78 is mounted upward relative to the bottom surface 73 and perpendicular to the top surface 72. The aiming direction of the second camera 78 is perpendicular to the driving direction 75. A mirror 77 is provided at an acute angle to the top surface 72 in the aiming direction of the second camera 78. A mirror 77 is provided above the second camera 78 and adjacent the top surface 72. The first camera 71 is disposed adjacent to the mirror 77 and the first camera 71 is located above the mirror 77. By using the mirror 77, the optical path can be increased compared to a scheme in which the second camera 78 is aimed directly straight ahead, so that the second camera 78 can capture a wider and wider object for positioning, that is, the width and the width can be increased.

As shown in fig. 16, a second camera 78 is mounted on the bottom surface 73, and a mirror 77 is provided above the second camera 78 and near the top surface 72.

In the present embodiment, the main body 70 has a front portion along the driving direction, the second optical axis 742 of the second camera 78 has an axis, and the projection of the axis of the second optical axis 742 is close to the front portion of the main body 70 and is located in a position within 20% of the length value of the main body 70, that is, the axis of the second optical axis 742 is located within the first 20% of the length value of the machine along the front-back direction.

As shown in fig. 17, angle c2 between mirror 77 and top surface 72 ranges from 30-45 degrees. Since the bottom surface 73 is considered to be parallel to the top surface 72 in the present embodiment, the angle between the mirror 77 and the bottom surface 73 is indicated in the drawing. The angular range of the mirror 77 may enable the first camera 71 to capture more objects for positioning, such as a picture frame hung on a wall, etc. For example, for a self-moving device located indoors, the angle is too small, the view of the second camera 78 is mostly captured by the ground and cannot be used for positioning, and the angle is too large, the view of the second camera 78 is mostly captured by the ceiling and wall boundary area, and fewer objects can be used for positioning.

As shown in fig. 17, the second camera 78 has a field of view for capturing images, and the angle d2 of the field of view of the second camera 78 in the vertical direction spans a frustum of 45-60 degrees. This range of angles may ensure a field of view of the second camera 78 while avoiding excessive distortion due to an excessive field of view.

As shown in fig. 17, the first camera 71 is mounted obliquely upward with respect to the top surface 72 such that the first optical axis 741 of the first camera 71 is aligned at an acute angle with the top surface 72, and the aiming direction of the first camera 71 is opposite to the driving direction 75, the aiming direction of the first camera 71 being inclined rearward and upward with respect to the top surface 72. By arranging the aiming direction of the first camera 71 towards the rear, the field of view can be oriented towards the area which is already passed through, and the first camera 71 is open and free of obstruction, so that the positioning precision and the robustness can be improved more favorably, and meanwhile, the first optical axis 741 of the first camera 71 is arranged upwards in an inclined mode, so that more objects above the mobile device 700 can be shot by the first camera 71, and the positioning of the mobile device 700 is more favorably realized.

For the prior art approach where the camera optical axis is arranged parallel to the forward drive direction, the features visible in the center of the camera field of view may increase in scale as the robot moves towards the feature, and the 3D structure of the features in the center of the camera field of view may be difficult to determine from a series of images captured as one moves forward from the mobile device 700 towards the feature. This situation is particularly serious for an indoor cleaning robot. The positional accuracy of the camera may be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, and furthermore, increasing the field of view makes the distortion of the lens severe and the angular resolution of the image captured by the camera minimal. While the present embodiment increases the parallax observed across the field of view of the camera when the camera is moved toward the subject by setting the first optical axis 741 of the first camera 71 obliquely upward, a portion of the field of view of the camera has the highest angular resolution; positioning of the self-moving device 700 is further facilitated by the first optical axis 741 of the first camera 71 being tilted with respect to the top surface 72 such that the first camera 71 is able to capture more reliable static, feature-rich objects from above the self-moving device 700, such as a picture frame hanging on a wall in a home and other features that are not displaced. The self-moving device 700 can use features of reliable static objects located at specific ranges of heights above the floor to build a map of the environment and navigate using vision-based sensors and vision-based simultaneous localization and mapping (or VSLAM).

Arranging the first optical axis 741 of the first camera 71 obliquely with respect to the top surface 72 enables the self-moving device 700 to more accurately determine the 3D structure of the underside of an object hanging on a wall, allows the self-moving device 700 to focus on areas within a typical indoor environment where features do not change (such as those imaged around door frames, picture frames, and other static furniture and objects), allows the self-moving device 700 to repeatedly identify reliable landmarks, thereby accurately locating and mapping within the environment.

As shown in fig. 17, the angle a7 between the first optical axis 741 of the first camera 71 and the top surface 72 ranges from 30-60 degrees. The angle range can acquire more objects for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the visual field of the first camera 71 acquires an image of the ground, and cannot be used for positioning, and the angle is too large, most of the visual field of the camera 71 acquires an image of the boundary area between the ceiling and the wall, and fewer objects can be used for positioning.

In one embodiment, further, the angle a7 between the first optical axis 741 of the first camera 71 and the top surface 72 is in the range of 40-50 degrees. This angular range, which is obtained in combination with the area and spatial height typically obtained from the mobile device operating environment, allows the first camera 71 to directly obtain an effective object for positioning.

As shown in fig. 17, the first camera 71 has a field of view for taking an image, and the angle b7 of the field of view of the first camera 71 in the vertical direction crosses a truncated cone of 90-120 degrees. This angular range can prevent an excessively large field of view from causing excessive distortion while ensuring the field of view of the first camera 71.

As shown in fig. 17, in the present embodiment, a concave structure 76 is recessed below the top surface 72, and the concave structure 76 may be integrally formed to be recessed downward from the top surface 72.

As shown in fig. 17, the first camera 71 is disposed within the recessed structure 76. The first camera 71 has a lens, the lens of the first camera 71 does not protrude above the top surface 72-i.e. the lens of the first camera 71 may be located completely below the top surface 72, or the lens of the first camera 71 may be just flush with the top surface 72.

In this embodiment, by providing two cameras, the first camera 71 for positioning and the second camera 78 for recognizing an object, the two cameras can be arranged in the vertical direction, and particularly, the mirror 77 is installed directly between the first camera 71 and the second camera 78, and the parts are collectively provided, making the most of the space.

Eleventh embodiment

As shown in fig. 18 and 19, the self-moving apparatus 800 of the eleventh embodiment includes a main body 80 and a camera provided on the main body 80. The body 80 has a top surface 82, a bottom surface 83 opposite the top surface 82, and a sidewall 84 connecting the top surface 82 and the bottom surface 83. The main body 80 has a front portion in the driving direction 85 and a rear portion opposite the front portion. The camera is used for shooting at a predetermined angle of view. The cameras are mounted inclined upwardly relative to the top surface 82 such that the optical axes of the cameras are aligned at an acute angle to the top surface 82, and include two, first and

second cameras

81 and 88, respectively, disposed on the top surface 82 and adjacent the side walls.

As shown in fig. 19, the first camera 81 has a first optical axis 841. The first camera 81 is mounted obliquely upward with respect to the top surface 82 such that the optical axis 841 of the first camera 81 is aligned at an acute angle with the top surface 82, and the aiming direction of the first camera 81 is inclined obliquely upward perpendicular to the driving direction with respect to the top surface 82. The aiming direction of the first camera 81 is obliquely arranged towards the obliquely upper direction perpendicular to the driving direction, so that the visual field faces the area on one side of the driving direction of the mobile device 800, the positioning precision and the robustness are improved, meanwhile, the optical axis 841 of the first camera 81 is obliquely and upwardly arranged, so that more objects above the mobile device 800 can be shot by the first camera 81, and the positioning of the mobile device 800 is facilitated.

As shown in fig. 19, the angle a8 between the optical axis 841 of the first camera 81 and the top surface 82 ranges from 30-60 degrees. The angle range can acquire more objects used for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the view field of the first camera 81 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, most of the view field of the first camera 81 acquires an image of the boundary area between the ceiling and the wall, which has fewer objects that can be used for positioning.

Further, in one embodiment, the angle a8 between the optical axis 841 of the first camera 81 and the top surface 82 is in the range of 40-50 degrees. This angular range, which is obtained in combination with the area and spatial height of the working environment of a typical mobile device, allows the first camera 81 to directly obtain an effective object for positioning.

As shown in fig. 19, the first camera 81 has a field of view for taking an image, and an angle b8 of the field of view of the first camera 81 in the vertical direction crosses a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion due to an excessive field of view while ensuring the field of view of the first camera 81.

As shown in fig. 19, the second camera 88 has a second optical axis 842. The second camera 88 is mounted obliquely upward relative to the top surface 82 such that the optical axis 842 of the second camera 88 is aligned at an acute angle with the top surface 82, and the aiming direction of the second camera 88 is tilted obliquely upward perpendicular to the driving direction relative to the top surface 82. The aiming direction of the second camera 88 is obliquely arranged towards the obliquely upper direction perpendicular to the driving direction, so that the visual field faces the area on one side of the driving direction of the mobile device 800, the positioning precision and the robustness are improved, meanwhile, the optical axis 842 of the second camera 88 is obliquely and upwardly arranged, so that more objects above the mobile device 800 can be shot by the second camera 88, and the positioning of the mobile device 800 is facilitated.

With the camera optical axis arranged parallel to the top surface, the features visible in the center of the camera field of view may increase in scale as the robot moves toward the features, and the 3D structure of the features in the center of the camera field of view may be difficult to determine from a series of images captured as the robot moves forward toward the features from the mobile device 800. This situation is particularly serious for an indoor cleaning robot. The positional accuracy of the camera may be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, and furthermore, increasing the field of view makes the distortion of the lens severe and the angular resolution of the image captured by the camera minimal. The present embodiment, however, increases the parallax observed across the field of view of the camera when the camera is moved toward the object by setting the optical axis of the camera obliquely upward, a portion of the field of view of the camera having the highest angular resolution; positioning of the self-moving device 800 is further facilitated by the fact that the optical axis of the camera is tilted relative to the top surface, enabling the camera to capture more reliable static, feature-rich objects from above the mobile device 800 (such as a picture frame hanging on a wall in the home and other features that do not shift). The self-moving device 800 can use features of reliable static objects located at specific ranges of heights above the floor to build a map of the environment and navigate using vision-based sensors and vision-based simultaneous localization and mapping (or VSLAM).

Placing the optical axis of the camera obliquely with respect to the top surface enables the self-moving device 800 to more accurately determine the 3D structure of the underside of an object hanging on a wall, allows the self-moving device 800 to focus on areas within a typical indoor environment where features are unchanged, such as those imaged around door frames, photo frames, and other static furniture and objects, allows the self-moving device 800 to repeatedly identify reliable landmarks, thereby accurately locating and mapping within the environment.

As shown in FIG. 19, the angle c3 between the optical axis 842 of the second camera 88 and the top surface 82 ranges from 30-60 degrees. The angle range can acquire more objects used for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the view field of the second camera 88 is obtained from the ground, and cannot be used for positioning, and the angle is too large, most of the view field of the second camera 88 is obtained from the ceiling and wall boundary area, and fewer objects can be used for positioning.

In one embodiment, further, the angle c3 between the optical axis 842 of the second camera 88 and the top surface 82 is in the range of 40-50 degrees. This angular range, which is obtained in combination with the area and spatial height typically obtained from the mobile device operating environment, allows the second camera 88 to directly obtain an effective object for positioning.

As shown in fig. 19, the second camera 88 has a field of view for taking an image, and the angle d3 of the field of view of the second camera 88 in the vertical direction spans a frustum of 90-120 degrees. This range of angles can avoid excessive distortion due to an excessive field of view while ensuring the field of view of the first camera 81.

As shown in fig. 18, the aiming directions of the first camera 81 and the second camera 88 are oppositely arranged. The optical axes of the first camera 81 and the second camera 88 are connected through a vertical plane from the center 89 of the mobile device 800. So configured, loss of features may be avoided when spinning from the mobile device 800, and in addition, relocation from the mobile device 800 may be facilitated.

As shown in fig. 19, in the embodiment, the top surface 82 has a protruding structure 86 thereon, the protruding structure 86 may be integrally formed to protrude upward from the top surface 82, but the protruding structure 86 may also be a separate structure, and the protruding structure 86 and the top surface 82 are fixed together by a fixing bolt after holes are drilled on the protruding structure 86 and the top surface 82.

As shown in fig. 19, the protruding structure 86 includes two, and the first camera 81 and the second camera 88 are respectively disposed in the two protruding structures 86. The first camera 81 and the second camera 88 each have a lens, the lenses of the first camera 81 and the second camera 88 at least partially protruding from the top surface 82.

The present embodiment can increase the positioning accuracy of the mobile device 800 by arranging two cameras for positioning, namely the first camera 81 and the second camera 88, on two sides of the driving direction 85 of the mobile device 800, and the aiming directions of the two cameras are oppositely arranged, and meanwhile, when an object which can be used for positioning is not captured by one of the cameras, the other camera can be used for positioning the mobile device 800 according to the capturing situation of the other camera, so that the positioning of the mobile device 800 can be ensured to the greatest extent.

Twelfth embodiment

As shown in fig. 20 and 21, the self-moving apparatus 900 according to the twelfth embodiment includes a main body 90 and a camera provided on the main body 90. The body 90 has a top surface 92, a bottom surface 93 opposite the top surface 92, and a sidewall 94 connecting the top surface 92 and the bottom surface 93. The main body 90 has a front portion in the driving direction 95, and a rear portion opposite the front portion. The camera is used for shooting at a predetermined angle of view. The cameras are mounted inclined upwardly with respect to the top surface 92 such that the optical axes of the cameras are aligned at an acute angle to the top surface 92, and include two, first and

second cameras

91 and 98, respectively, disposed on the top surface 92 and near the side walls, respectively.

As shown in fig. 21, the first camera 91 has a first optical axis 941. The first camera 91 is mounted obliquely upward with respect to the top surface 92 such that an optical axis 941 of the first camera 91 is aligned at an acute angle with the top surface 92, and the aiming direction of the first camera 91 is perpendicular to the driving direction, the aiming direction of the first camera 91 is tilted obliquely upward with respect to the top surface 92 perpendicular to the driving direction. The aiming direction of the first camera 91 is obliquely arranged towards the obliquely upper direction perpendicular to the driving direction, so that the visual field faces the area on one side of the driving direction of the mobile device 900, the positioning precision and the robustness are improved, meanwhile, the optical axis 941 of the first camera 91 is obliquely and upwards arranged, more objects above the mobile device 900 can be shot by the first camera 91, and the positioning of the mobile device 900 is facilitated.

As shown in fig. 21, the angle a9 between the optical axis 941 of the first camera 91 and the top surface 92 ranges from 30-60 degrees. The angle range can acquire more objects used for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the view field of the first camera 91 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, most of the view field of the first camera 91 acquires an image of the boundary area between the ceiling and the wall, which has fewer objects that can be used for positioning.

With the camera optical axis arranged parallel to the top surface, the features visible in the center of the camera field of view may increase in scale as the robot moves toward the features, and the 3D structure of the features in the center of the camera field of view may be difficult to determine from a series of images captured as one moves forward toward the features from the mobile device 900. This situation is particularly serious for an indoor cleaning robot. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, and furthermore, increasing the field of view causes the distortion of the lens to be severe and the angular resolution of the image captured by the camera to be minimal. The present embodiment, however, increases the parallax observed across the field of view of the camera when the camera is moved toward the object by setting the optical axis of the camera obliquely upward, a portion of the field of view of the camera having the highest angular resolution; positioning of the self-moving device 900 is further facilitated by the oblique placement of the optical axis of the camera relative to the top surface, enabling the camera to capture more reliable static, feature-rich objects from above the mobile device 900 (such as a picture frame hanging on a wall in the home and other features that do not shift). The self-moving device 900 can use features of reliable static objects located at specific ranges of heights above the floor to build a map of the environment and navigate using vision-based sensors and vision-based simultaneous localization and mapping (or VSLAM).

Placing the optical axis of the camera obliquely with respect to the top surface enables the self-moving device 900 to more accurately determine the 3D structure of the underside of an object hanging on a wall, allows the self-moving device 900 to focus on areas within a typical indoor environment where features are unchanged (such as those imaged around door frames, photo frames, and other static furniture and objects), allows the self-moving device 900 to repeatedly identify reliable landmarks, thereby accurately locate and map within the environment.

In one embodiment, further, the angle a9 between the optical axis 941 of the first camera 91 and the top surface 92 is in the range of 40-50 degrees. This angular range, which is obtained in combination with the area and spatial height of the working environment of a typical mobile device, allows the first camera 91 to directly obtain an effective object for positioning.

As shown in fig. 21, the first camera 91 has a field of view for taking an image, and the angle b9 of the field of view of the first camera 91 in the vertical direction crosses a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by an excessive field of view while ensuring the field of view of the first camera 91.

As shown in fig. 21, the second camera 98 has a second optical axis 942. The second camera 98 is mounted obliquely upward with respect to the top surface 92 such that an optical axis 942 of the second camera 98 is aligned at an acute angle with the top surface 92, and the aiming direction of the second camera 98 is perpendicular to the driving direction, the aiming direction of the second camera 98 being inclined obliquely upward with respect to the top surface 92, which is perpendicular to the driving direction. The aiming direction of the second camera 98 is obliquely arranged towards the obliquely upper direction perpendicular to the driving direction, so that the visual field faces the area on one side of the driving direction of the mobile device 900, the positioning precision and the robustness are improved, meanwhile, the optical axis 942 of the second camera 98 is obliquely arranged upwards, so that more objects above the mobile device 900 can be shot by the second camera 98, and the positioning of the mobile device 900 is facilitated.

As shown in fig. 21, the angle c4 between the optical axis 942 of the second camera 98 and the top surface 92 ranges from 30-60 degrees. The angle range can acquire more objects used for positioning obliquely above, such as a picture frame hung on a wall. For example, for a self-moving device located indoors, the angle is too small, most of the view field of the second camera 98 is obtained from the ground, and cannot be used for positioning, and the angle is too large, most of the view field of the second camera 98 is obtained from the ceiling and wall boundary area, and fewer objects can be used for positioning.

In one embodiment, further, the angle c4 between the optical axis 942 of the second camera 98 and the top surface 92 is in the range of 40-50 degrees. This angular range, which is typically obtained from the area and spatial height of the mobile device operating environment, allows the second camera 98 to directly obtain an effective object for positioning.

As shown in fig. 21, the second camera 98 has a field of view of the captured image, and the angle d4 of the field of view of the second camera 98 in the vertical direction spans a frustum of 90-120 degrees. This range of angles can avoid excessive distortion caused by an excessive field of view while ensuring the field of view of the first camera 91.

As shown in fig. 20, the aiming directions of the first camera 91 and the second camera 98 are oppositely arranged. The optical axes of the first camera 91 and the second camera 98 are connected through a vertical plane from the center 99 of the mobile device 900. So configured, loss of features may be avoided when spinning from the mobile device 900, and in addition, relocation from the mobile device 900 may be facilitated.

As shown in fig. 21, in the present embodiment, two concave structures 96 are recessed below the top surface 92, and the concave structures 96 may be integrally formed to be recessed downward from the top surface 92.

As shown in fig. 21, the first camera 91 is disposed within one of the recessed structures 96. The first camera 91 has a lens, the lens of the first camera 91 does not protrude above the top surface 92, i.e. the lens of the first camera 91 may be located completely below the top surface 92, or the lens of the first camera 91 may be just flush with the top surface 92.

As shown in fig. 21, a second camera 98 is disposed within another recessed structure 96. The second camera 98 has a lens that does not protrude from the top surface 92, i.e., the lens of the second camera 98 may be located entirely below the top surface 92 or the lens of the second camera 98 may be just flush with the top surface 92.

In a further scheme of each embodiment, a glass plate (not shown) can be arranged on the outer side of the lens of the camera, and the glass plate not only can provide a transparent environment, but also can play a good dustproof effect, so that the lens is well cleaned in the viewing field direction, and the cleanability of the glass plate in the viewing field range is ensured. An airtight space is formed between the glass plate and the lens, and the airtightness is ensured through the soft structure arrangement. The angle between the plane of the glass plate and the optical axis of the camera is in the range of 80-100 degrees.

In other embodiments, the self-moving device may be provided with a plurality of cameras, and the arrangement of the plurality of cameras may be arbitrarily selected and combined in the above embodiments, for example, one camera with an optical axis inclined upward and a viewing field direction opposite to the driving direction and a pair of cameras respectively located at two sides of the driving direction of the self-moving device may be provided, a mirror may be provided at the front end of the viewing field of the camera with the viewing field direction the same as the driving direction, and a pair of cameras may be provided at two sides of the driving direction of the self-moving device, and the positioning effect may be increased by using a plurality of combinations.

The beneficial effects of the embodiments are as follows: compared with the scheme of directly aiming the camera at the right front, the optical path can be increased by arranging the reflector in front of the visual field of the camera for identification, so that the camera can capture a wider and wider object for positioning, namely the width and the breadth can be increased; the aiming direction of the camera for positioning is arranged towards the rear, so that the visual field faces to the passing area, and the camera is spacious and free of shielding, and is more favorable for improving the positioning precision and robustness; through setting up two cameras that are used for the location from the both sides of mobile device drive direction, and the direction of aim of two cameras sets up relatively, can increase the accuracy from the mobile device location, simultaneously, when one of them camera appears and does not catch the object that can be used for the location, another camera can be used for the location from the mobile device according to the seizure condition of oneself, can furthest's assurance from the location of mobile device.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An autonomous mobile device, comprising:

a body having a top wall and a bottom wall;

the self-moving equipment comprises a main body, an optical sensing assembly and a protective barrier, wherein the optical sensing assembly is arranged in the front of the main body and located between a top wall and a bottom wall, an opening is formed in the front side wall of the main body, the optical sensing assembly detects an image in front of the self-moving equipment through the opening to provide reference information for cruising of the self-moving equipment, the self-moving equipment comprises the protective barrier, the optical sensing assembly is located in the protective barrier, the angle of view of the optical sensing assembly penetrating through the opening in the vertical direction is 45-100 degrees, and the height of the opening in the vertical direction is not more than 2/3 of the height of the front side wall.

2. The self-moving device according to claim 1, wherein a transparent member is arranged at the opening, and the optical sensing component captures images through the transparent member.

3. The self-moving apparatus according to claim 2, wherein a seal is provided between the opening and the optical sensing assembly.

4. The self-moving apparatus according to claim 1, wherein a central axis of the vertical field angle is substantially horizontal.

5. The self-moving apparatus according to claim 1, wherein an angle between a central axis of the vertical field angle and a horizontal line is ± 15 degrees.

6. The self-propelled device of claim 1, wherein the optical sensing assembly is disposed proximate the front 20% of the front of the body.

7. The self-moving device of claim 1, wherein the optical sensing component comprises a camera having a shooting direction disposed toward the opening.

8. The self-moving apparatus according to claim 7, wherein a shooting direction of the camera is perpendicular to the opening.

9. The self-moving device as claimed in claim 7, wherein the center of the camera is at a vertical distance of 2-5CM from the opening.

10. The self-moving apparatus according to claim 1, wherein the optical sensing assembly comprises a camera and a mirror, a projection direction of the mirror is toward a photographing direction of the camera, and an incident direction of the mirror is toward the opening.

11. The self-moving apparatus according to claim 10, wherein the mirror is located above the camera, an extension line of one end of the mirror intersects the top wall, and an angle formed in a direction approaching the opening is an obtuse angle.

12. The self-propelled device of claim 11, wherein the obtuse angle is 100 and 130 degrees.

13. The self-moving apparatus according to claim 10, wherein the camera is mounted on the bottom wall.

14. The self-moving apparatus according to claim 10, wherein an angle formed by a shooting direction of the camera perpendicular to the top wall or the top wall in a direction close to the opening is an acute angle.

15. The self-moving device of claim 10, wherein an effective field angle formed by a shooting direction of the camera and the reflector is 35-65 degrees.

16. The self-moving apparatus according to claim 10, wherein a vertical distance between a center of the mirror and the opening is 3-6 CM.

17. The self-moving device of claim 10, wherein a bottom end of the mirror is at a vertical distance of 2-5cm from the camera.

18. The self-moving apparatus of claim 10, wherein the vertical height of the mirror is 4-8 centimeters.

19. The self-moving apparatus according to claim 14, wherein the camera body intersects the bottom wall when an angle formed by a shooting direction of the camera and the top wall in a direction close to the opening is an acute angle, and the angle formed in the direction close to the opening is 8 to 12 degrees.