CN106258166A - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN106258166A CN106258166A CN201510246561.4A CN201510246561A CN106258166A CN 106258166 A CN106258166 A CN 106258166A CN 201510246561 A CN201510246561 A CN 201510246561A CN 106258166 A CN106258166 A CN 106258166A
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Abstract
The invention discloses a kind of self-movement robot, including: optical transmitting set, launch the light of particular range of wavelengths earthward；Image collecting device, is equipped with the light receiving described particular range of wavelengths mutually, forms the image of light based on described particular range of wavelengths with described optical transmitting set；Described controller includes floor type identification module, and described floor type identification module extracts the feature in image to identify the type on the ground in described image.The transmission that matched by setting and receive the optical transmitting set of light and the image collecting device of particular range of wavelengths, reduce the ambient light impact on image, make self-movement robot in each time and position, even can accurately identify floor type night does not has light source when.
Description
Technical field
The present invention relates to self-movement robot field, particularly relate to a kind of movement certainly being capable of identify that floor type
Robot.
Background technology
At present, the working range of self-movement robot is generally made up of physical boundary or fence, physics
The adaptation occasion on border is less；And the layout of fence is pretty troublesome, need extra time or cost.For
This, industry is attempted by image recognition mode Intelligent Recognition floor type, accordingly in suitable working region
Middle work, such as, automatic mower is by identifying whether ground image is meadow, realizes being maintained at meadow
Upper work, will not leave lawn.But, one of problem of this technology is only under preferable lighting environment
Can be only achieved enough accuracy.Such as, at dusk or cloudy day, ambient light colour temperature and intensity are all serious partially
From standard illumination situation, color of image brightness will serious distortion accordingly, cause image recognition failure.And for example,
In the case of night is dark, self-movement robot will cannot work completely.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of can accurately identify floor type from moving machine
Device people.
The present invention solves prior art problem and be the technical scheme is that a kind of self-movement robot, including:
Housing；Drive module, be installed on described housing drive shell relative to ground moving；Operational module, peace
It is loaded on described housing, performs the task set；Controller, is installed on described housing, connects and controls
Drive module and operational module work；Described self-movement robot also includes: optical transmitting set, launches earthward
The light of particular range of wavelengths；Image collecting device, is equipped with the described specific wavelength of reception mutually with described optical transmitting set
The light of scope, forms the image of light based on described particular range of wavelengths；Described controller includes floor type
Identification module, described floor type identification module extracts the feature in image to identify the ground in described image
Type.
Further, described self-movement robot is horticultural machine people, and described floor type identification module is grass
Ground identification module, the type on the ground in the identification module identification image of described meadow is meadow or non-meadow.
Further, described meadow identification module at least include dispersion recognition component, frequency domain element and
One of them of texture recognition element.
Further, described image collecting device includes filter layer, and described filter layer filters described specific wavelength
Light outside scope.
Further, described optical transmitting set is black light emitter.
Further, described optical transmitting set is infrared transmitter, and described filter layer is infrared absorption filter photosphere.
Further, described optical transmitting set is visible light emitter, and described filter layer is visible ray filter layer.
Further, described optical transmitting set is ultra violet light emitter, and described filter layer is ultraviolet filtering layer.
Further, described optical transmitting set is generating laser.
Further, the laser that the light source of described generating laser sends is penetrated from described from mobile from an opening part
Robot, the distance between described light source and described opening is more than or equal to 3 centimetres.
Further, described optical transmitting set includes line source.
Further, the quantity of described line source is multiple.
Further, described optical transmitting set and image collecting device towards ground same identification region.
Further, described same identification region is positioned at ground, housing front.
Further, the width of the viewfinder range of described image collecting device is more than or equal to 0.5 case width.
Further, the quantity of described image collecting device and/or described optical transmitting set is multiple.
Further, it is provided with isolation between described image collecting device and/or described optical transmitting set and described ground
Part.
Further, described image collecting device and/or described optical transmitting set are externally provided with guard shield.
Further, the time of exposure of described image collecting device is less than 0.1 second.
Further, described controller also includes driving controlling element, and described driving controls element according to ground
The recognition result of type identification module controls to drive the driving direction of module.
Further, described self-movement robot is robot hay mover, and described operational module is mowing module.
Compared with prior art, the invention have the benefit that the transmission matched by setting and receive specific
The optical transmitting set of the light of wave-length coverage and image collecting device, reduce the ambient light impact on image, makes certainly
Mobile robot, in each time and position, even can accurately identify ground night does not has light source when
Type.
Accompanying drawing explanation
The purpose of invention described above, technical scheme and beneficial effect can by following can be real
The detailed description of the specific embodiment of the existing present invention.
Identical label and symbol in accompanying drawing and description are used for representing element that is identical or that be equal to.
Fig. 1 is the automatic working system figure of the first embodiment of the present invention.
Fig. 2 is the module map of self-movement robot shown in Fig. 1.
Fig. 3 is the side view of the self-movement robot shown in Fig. 2.
Fig. 4 is the top view of the self-movement robot shown in Fig. 2.
Fig. 5 is the shooting area schematic diagram shown in Fig. 4.
Fig. 6 is that the optical transmitting set throw light in Fig. 3 is to smooth ground image.
Fig. 7 is optical transmitting set throw light in Fig. 3 to the image on meadow.
1, self-movement robot；4, bus stop；5, working region；
6, border；7, non-active area；31, controller；
11, housing；13, wheels；15, image collecting device；
17, module is driven；19, operational module；21, optical transmitting set
23, irradiation area ABCD, viewfinder range EF, the incident line
33, energy module；35, floor type identification module 37, driving control element
Detailed description of the invention
Fig. 1 show the self-movement robot work system of first embodiment of the invention.
Self-movement robot work system is arranged on the ground, and ground includes but not limited to the meadow of outdoor, soil
Ground, concrete floor etc.；The floor tile face of indoor, carpet surface, floor etc..In the present embodiment, ground divides
For working region 5 and non-active area 7, the boundary line of working region 5 and non-active area 7 forms border 6.
Working region 5 is different with the type of non-active area 7, if one is meadow, another be non-grass soil or
Concrete floor.Automatic working system includes self-movement robot 1 and bus stop 4.Self-movement robot 1 is permissible
For automatic cleaner, automatic mower, automatic pruning machine etc..In the present embodiment, self-movement robot 1
For horticultural machine people, being more specifically robot hay mover, bus stop 4 is arranged in the border of working region 5
On 6.Self-movement robot is by identifying that floor type judges self to be positioned at working region 5 or nonclient area
Territory 7, thus keep self being positioned in working region 5.
Such as Fig. 2, self-movement robot 1 includes optical transmitting set 21 and image collecting device 15, also includes control
Device 31 processed, driving module 17, operational module 19, energy module 33.Described controller 31 includes ground class
Type identification module 35 and driving control unit 37.Controller 31 with drive module 17, operational module 19,
Energy module 33, image collecting device 15 and optical transmitting set 21 are all connected to enter with control self-movement robot 1
Row work in every.
The operational module 19 of self-movement robot 1 is installed on described housing 11, performs the task set.
In the present embodiment, operational module 19 is specially cutting module, including the cutting part (not shown) for mowing
With the cutting motor (not shown) driving cutting part.
In conjunction with Fig. 3, module 17 is driven to be installed on described housing drive shell relative to ground moving, including
Wheels 13 and the running motor of driving wheels 13.Wheels 13 can have multiple method to set up.Generally wheels
13 include that the driving wheel driven by running motor and auxiliary support the auxiliary wheel of housing 11, the quantity of driving wheel
Can be 1,2 or more.In the present embodiment, the driving wheel of self-movement robot 1 is 2,
Respectively it is positioned at the revolver in left side and is positioned at the right wheel on right side.After revolver and right wheel are preferably located at housing 11
Portion, auxiliary wheel is positioned at front portion, can also replace setting the most in other embodiments.
Energy module 33 is for providing energy to the operation of self-movement robot 1.The energy of energy module 33
Can be gasoline, battery bag etc., arrange in energy module 33 is included in housing 11 in the present embodiment can
Rechargeable battery bag.Work when, battery bag release electric energy is to maintain self-movement robot 1 to work.?
The when of inoperative, battery may be coupled to external power source with electric energy supplement.Especially, for more humane
Design, when detecting the electricity deficiency of battery, self-movement robot 1 can searching bus stop 4 voluntarily
Electric energy supplement.
With continued reference to Fig. 3, self-movement robot 1 has housing 11, optical transmitting set 21 and image collector
Put 15 to be arranged on housing 11.Optical transmitting set 21 launches the light of particular range of wavelengths, image acquisition earthward
Device 15 is equipped with the light receiving this particular range of wavelengths mutually with optical transmitting set, is formed based on described specific wavelength model
The image of the light enclosed.The optical transmitting set 21 matched is set and image collecting device 15 can reduce ambient light pair
The impact of imaging.
Herein it is to be appreciated that the light that image collecting device 15 receives particular range of wavelengths is not meant to image
Harvester 15 does not receive the light of other wave-length coverages, and the image of light based on described particular range of wavelengths is the most not
Mean image does not include the light of other wave-length coverages.Because owing to the performance of optical material limits, completely
Filter out just being difficult to and unnecessary in engineering of other wave-length coverages.Image collecting device
15 need can at least partly filter the light beyond particular range of wavelengths, can significantly reduce ambient light interference i.e.
Can, and the actual reception ratio of the light of particular range of wavelengths and other light is according to concrete application scenarios and work
Journey technology, the reality of software algorithm and determine.
In order to protect the optical module of precision, in a kind of alternative of the present embodiment, image collecting device
15 and/or optical transmitting set 21 on be provided with guard shield, it is to avoid image collecting device 15 and/or optical transmitting set 21 quilt
Make dirty or damage.Guard shield is at least partly transparent, finds a view for image collecting device 15, or for optical transmitting set
21 throw lights.
Optical transmitting set 21 and the matching towards setting of image collecting device 15, so that optical transmitting set 21
The light sent can return image collecting device 15 from ground return.In the present embodiment, optical transmitting set 21 He
Light is projected to this by image collecting device 15 both facing to the same identification region on ground, i.e. optical transmitting set 21
Identifying region, image collecting device 15 shoots the image in this identification region.Certainly, the photograph of optical transmitting set 21
The viewfinder range penetrating scope and image collecting device can be different, only needs them all to include aforementioned same knowledge
Other region.
In the present embodiment, optical transmitting set 21 and image collecting device 15 are all disposed within the front portion of housing 11, know
Other region is positioned at the ground, front of housing 11, and this is to identify its direction of advance for the ease of self-movement robot 1
On floor type.
Concrete, image collecting device 15 is arranged on the anterior upper position outside housing 11, optical transmitting set
21 are arranged on front portion in housing 11.Housing 11 has before light projects by opening for optical transmitting set 21
Ground, side.
In another kind of embodiment, optical transmitting set 21 and image collecting device 15 are all arranged on outside housing 11
Top position, front portion, be preferably centrally located, and all towards front lower place, to gather aforesaid housing
The image identifying region in 11 ground, fronts.In another optional embodiment, optical transmitting set 21 and image
On the front end face of the housing 11 that harvester 15 is installed, and all towards front lower place.In the present embodiment, light is sent out
The projection scope of emitter 21 and the viewfinder range of image collecting device 15 are fixing, but optional at other
In embodiment, they can also be movable.
Optical transmitting set 21 is line source, if i.e. its light projection can be formed as shown in Figure 4 on flat surfaces
Article one, incident line EF.It may be noted that in reality, this incident line EF certainly exists certain width, line source
Implication be its projection light see that geometry is linear on the whole.It is smooth that Fig. 6 is that line source is incident upon
The actual picture on surface.Owing in the present embodiment, the ground of working region 5 is meadow, the blade height of thick grass
Rising and falling, the grass that light can project actually distance is different, and the position on grass face is the most different, therefore linear light
Can be formed when source projects on ground and be elongated in the vertical, a most substantially stationary irradiation area 23,
As shown in Figure 5.Fig. 7 is the actual picture that line source is incident upon on meadow.
The benefit using line source is the meadow image that can obtain and have specific characteristic.Meadow has own
Density spacing feature, line source projection straight line to the pattern formed on meadow while can reflecting this feature,
Also correspond to the information that is optionally extracted on a light projecting direction and filtered other information, simplify
Pattern, reduces the process load of controller 31.
In the optional embodiment of one, generating laser includes multiple line source, and multiple line sources can
With parallel or angled layout.So can increase process range, process the ground of nearby and faraway；
Can also reduce the possibility identifying mistake, such as, the image synthesis formed by multiple line sources processes and obtains
Result is to improve accuracy；Or process the image that multiple line source is formed respectively, comprehensive according to multiple results
Judge the floor type in front.
In other alternative-embodiments, optical transmitting set 21 can also be area source, if i.e. light is incident upon flat
A face can be formed on smooth surface.The projection scope of this light emitters is a ground face, this face
Rear and front end can form irregularly shaped because of the fluctuating on meadow.
Such as Fig. 3 and Fig. 4, the viewfinder range ABCD region of image collecting device 15 is positioned at self-movement robot
The ground of the dead ahead of 1, and and self-movement robot 1 be spaced a small distance.Viewfinder range ABCD's
The axis of the housing 11 of axis and self-movement robot 1 overlaps.The width of viewfinder range ABCD is extremely
Being the width of 0.5 housing 11 less, in the present embodiment, the width of viewfinder range ABCD is slightly larger than from moving
The width of mobile robot 1.So ensure that self-movement robot 1 can gather its dead ahead nearby
The image information in face, judges floor type for controller 31.
Image collecting device 15 has filter layer with the light beyond filter specific wavelengths scope, and filter layer is image
The optical filter being separately provided in harvester, but other embodiment China and foreign countries filter layers can also be the plating on camera lens
Film.Foregoing, optical filter reduces the ambient light beyond particular range of wavelengths, but cannot it be gone completely
Remove.It is to say, in one embodiment, the wavelength of the light of the filtration of optical filter non-specific wavelength model
Whole wavelength beyond enclosing, and simply part；Further, the filterability of the optical filter wavelength to being filtered is not
Absolutely.
In the present embodiment, optical transmitting set is black light emitter, uses black light can reduce system
Interference to user, such as, when meadow work at night, will not form light pollution.More specifically, this reality
Executing in example, optical transmitting set 21 is infrared transmitter, outwards projects infrared light, i.e. particular range of wavelengths and is positioned at
Among the wave-length coverage (760nm to 1mm) of infrared light, if particular range of wavelengths is that 5 μm are to 50 μm.Phase
Joining, image collecting device 15 is infrared image acquisition device, and filter layer is that infrared absorption filter photosphere is red excessively to filter
Light beyond outer light, preferably filters out the light beyond particular range of wavelengths, as filtered 5 μm accordingly
Light beyond 50 μm.
Owing to infrared light is the part that in the common light sources such as daylight, intensity is more weak, select infrared transmitter permissible
Facilitate filter layer to filter out as much as possible for the common light sources such as daylight, obtain and preferably reduce ambient light interference
Effect.As it was previously stated, infrared absorption filter photosphere cannot absolutely filter other light, but can be significant
Reduce the intensity of other light to alleviate the interference of ambient light.
Arrange to be positioned at by particular range of wavelengths and also have some other benefit in the range of infrared light wavelength, such as,
Foregoing, owing to infrared light is non-visible light, the therefore floor type detection action of self-movement robot
Do not interfere with the normal productive life of user.
Certainly, in other alternative-embodiments, particular range of wavelengths can also be positioned at visible wavelength range
Among (400nm～760nm), if particular range of wavelengths is 500nm to 550nm；Or ultraviolet wavelength
Among scope (10nm～400nm), if particular range of wavelengths is 50nm to 100nm.Optional at these
In embodiment, only need the light outside image collecting device also corresponding filter specific wavelengths scope, the most accordingly
There is ultraviolet filter or visible filter, it is also possible to play the effect reducing ambient light interference.
In the present embodiment, optical transmitting set 21 is generating laser, outwards projects the laser of particular range of wavelengths.
The directionality of generating laser is good, and intensity is high, can highlight the light of particular range of wavelengths, carry in ambient light
High imaging effect.In order to reduce the generating laser potential danger to human body, the light source of generating laser sends
Laser penetrate from an opening part and be more than from the distance between described self-movement robot, light source and described opening
In 3 centimetres.If generating laser is positioned in housing 11, opening is positioned on housing 11；If generating laser
Being positioned at outside housing 11, opening is positioned on generating laser body.
In the present embodiment, the time of exposure of image collecting device 15 is less than 0.1 second.Under such combination,
Each two field picture of image collecting device 15 shooting can receive the light of sufficient intensity such that it is able to photographs
Preferably image.
In the present embodiment, controller 31 includes floor type identification module 35, floor type identification module
35 images receiving image collecting device 15 shooting, extract the feature in image to identify the ground in image
Type.Floor type identification module 35 is specially meadow identification module, floor type specifically include meadow and
Non-meadow.
The ground of each type has the most different features.Such as meadow is green, has irregular bar shaped
Texture；And carpet has densification, there is the net formula texture of certain rule.Floor type identification module 35 extracts energy
After enough reflecting the feature of these features, substituted into the algorithm model in other words preset, come according to operation result
Judge the type on ground.
Concrete, meadow identification module 35 has at least one recognition component, and each recognition component is for being carried
A kind of feature of correspondence taken performs corresponding algorithm or model.In the present embodiment, floor type identification mould
Block 35 at least include dispersion recognition component, frequency domain element, texture recognition unit one of them, it
Be respectively used to identify that whether the dispersion feature of ground image is consistent, frequently with default condition model in other words
Whether characteristic of field is consistent with the condition model in other words preset, textural characteristics whether and the condition preset in other words
Model is consistent.Dispersion, frequency domain character, texture mathematically can be reflected as Fourier transformation eigenvalue,
Gabor transformation eigenvalue, Haar-like eigenvalue, particular matrix statistical characteristics, specific portion eigenvalue
Waiting, corresponding meadow identification module 35 can include that Fourier transformation eigenvalue recognition unit, Gabor become
Change eigenvalue recognition unit, Haar-like eigenvalue recognition unit, particular matrix statistical characteristics identification list
Unit, specific portion eigenvalue recognition unit.
In one embodiment, the recognition component quantity that meadow identification module 35 has is multiple, to improve knowledge
Other accuracy.
Meadow identification module 35, based on default rule, judges ground according to the judged result of each recognition component
Whether it is meadow.Such as, preset rules is that the judgement structure of all recognition components is when being consistent, then judge
The type on the ground in image is meadow, if the judged result of any one recognition component is not for corresponding, then judges
The type on the ground in image is non-meadow；Or, preset rules can also sentencing for several recognition components
When disconnected structure is for being consistent, it is judged that the type on the ground in image is meadow, is otherwise non-meadow.Meadow identifies
After module 35 obtains the type on the ground in image, send result to controller 31 main control unit or
Miscellaneous part.
In the present embodiment, controller 31 includes driving control element 37.Drive and control element 37 base area
The recognition result of face type identification module 35 controls to drive the driving direction of module 17, by avoiding from moving
Mobile robot 1 travels towards non-meadow, makes robot remain in working region 5.Such as, meadow is worked as
Identification module judges the ground in image, and when i.e. the type on ground, front is meadow, the most corresponding control drives mould
Block 17 keeps current direction to move on；If meadow identification module judges when ground, front is non-meadow, then phase
Should control to drive module 17 to turn to, and the type on the ground, front after simultaneously real-time judge turns to, until front
It is further continued for advancing for meadow.
The second embodiment of the present invention introduced below.
The self-movement robot structure of the second embodiment and first embodiment are substantially similar, and it has work equally
Module.Its difference is, sets between image collecting device 15 and/or described optical transmitting set 21 and described ground
There is separator.
Concrete, separator in the vertical direction keeps apart image collecting device 15 and/or described optical transmitting set
21 and ground, pollution image harvester 15 and/or optical transmitting set 21 during to avoid operational module 19 to work.
Such as, when self-movement robot 1 is robot hay mover, operational module 19 is mowing assembly, separator
Image collecting device 15 and/or optical transmitting set 21 and ground are separated, it is to avoid mowing assembly is kicked up when mowing
Grass cuttings or earth, stone hit to image collecting device 15 and/or optical transmitting set 21.And for example, when from mobile
When robot 1 is robot cleaner, operational module 19 is dust suction subassembly, and separator is by image collecting device
15 and/or optical transmitting set 21 and ground separate, it is to avoid the dust kicked up during dust suction subassembly dust suction or other are miscellaneous
Thing hits to image collecting device 15 or optical transmitting set 21.
The third embodiment of the present invention introduced below.
Self-movement robot structure and the first embodiment of the 3rd embodiment are substantially similar, and its difference is, from
The quantity of the image collecting device 15 of mobile robot 1 is multiple, or the quantity of optical transmitting set 21 is many
Individual.Such as, self-movement robot 1 can have the multiple optical transmitting sets 21 and image collector matched one by one
Put 15, its towards identification region the most overlapping, with expand detection scope.
Concrete, in a kind of scheme, self-movement robot 1 arranges many group optical transmitting sets 21 and figure in front portion
As harvester 15, the detection visual angle in self-movement robot 1 front will be brought up to more than 120 ° even
180°；Or, in another kind of scheme, self-movement robot 1 in front portion, and left side, right side, after
At least one of side is respectively arranged one group or organizes optical transmitting set 21 and image collecting device 15 more, with
The type on the ground in detection all directions.
Being similar to, often group optical transmitting set 21 and image collecting device 15 are all towards same identification region.
Improve the advantage that can bring of detection range a lot, after the terrestrial information of collection is more, it is possible to use
More flexible path policy, turns to judgement on opportunity etc. more accurately.Such as, light emission is set in the wings
Device and image collector postpone, and self-movement robot 1 is it can be avoided that select running into obstacle or border when
Select suitable direction to retreat, it is to avoid retreat out-of-bounds.
The fourth embodiment of the present invention introduced below.
Structure and the first embodiment of the self-movement robot 1 of the 4th embodiment are substantially similar, and its difference is,
Self-movement robot 1 is Robot cleaner.
The type that the floor type identification module 35 of Robot cleaner is identified be carpet, floor tile,
One or several in plate.Such as, floor type identification module 35 be capable of identify that floor type be carpet,
Non-carpet；Or identification floor type is floor tile, non-floor tile；Or identification floor type is floor, non-
Plate；Or identification floor type is carpet, floor tile, floor；Etc..
Owing to having wall as natural boundary, Robot cleaner often need not distinguish working region and non-
Working region.But, after collecting floor type information, the controller 31 of Robot cleaner
Direct of travel or other working strategies can be determined, to improve floor cleaning according to the floor type recognized
Work efficiency.
For instance, it is possible to identify after carpet, floor, floor tile, Robot cleaner can control from
Work on carpet in certain period of time, work on floor in certain period of time；Or work on carpet
Shi Caiyong low speed is walked, and high power cleans the mode of operation on ground；Floor uses when working walking at a high speed,
Low-power cleans the mode of operation etc. on ground.Possible strategy is a lot, repeats no more.
The present invention is not limited to lifted specific embodiment structure, and structure based on present inventive concept belongs to this
Invention protection domain.
Claims (16)
1. a self-movement robot, including:
Housing；
Drive module, be installed on described housing drive shell relative to ground moving；
Operational module, is installed on described housing, performs the task set；
Controller, is installed on described housing, connects and controls to drive module and operational module work；
It is characterized in that, described self-movement robot also includes:
Optical transmitting set, launches the light of particular range of wavelengths earthward；
Image collecting device, is equipped with the light receiving described particular range of wavelengths mutually with described optical transmitting set, is formed
The image of light based on described particular range of wavelengths；
Described controller includes floor type identification module, and described floor type identification module extracts in image
Feature is to identify the type on the ground in described image.
Self-movement robot the most according to claim 1, it is characterised in that described self-movement robot
For horticultural machine people, described floor type identification module is meadow identification module, and described meadow identification module is known
The type on the ground in other image is meadow or non-meadow.
Self-movement robot the most according to claim 1, it is characterised in that described meadow identification module
At least include one of them of dispersion recognition component, frequency domain element and texture recognition element.
Self-movement robot the most according to claim 1, it is characterised in that described image collecting device
Including filter layer, described filter layer filters the light outside described particular range of wavelengths.
5. according to the self-movement robot described in claim 1 or 4, it is characterised in that described optical transmitting set
For black light emitter.
Self-movement robot the most according to claim 4, it is characterised in that described optical transmitting set is red
Outer optical transmitting set, described filter layer is infrared absorption filter photosphere.
Self-movement robot the most according to claim 1, it is characterised in that described optical transmitting set is sharp
Optical transmitting set.
Self-movement robot the most according to claim 7, it is characterised in that described generating laser
The laser that light source sends is penetrated between described self-movement robot, described light source and described opening from an opening part
Distance more than or equal to 3 centimetres.
Self-movement robot the most according to claim 1, it is characterised in that described optical transmitting set includes
Line source.
Self-movement robot the most according to claim 1, it is characterised in that described optical transmitting set and figure
Picture harvester is same identification region towards ground.
11. self-movement robots according to claim 10, it is characterised in that described same cog region
Territory is positioned at ground, housing front.
12. self-movement robots according to claim 1, it is characterised in that described image collecting device
The width of viewfinder range more than or equal to 0.5 case width.
13. self-movement robots according to claim 1, it is characterised in that described image collector
Put and/or the quantity of described optical transmitting set is multiple.
14. self-movement robots according to claim 1, it is characterised in that described image collector
Put and/or be provided with separator between described optical transmitting set and described ground.
15. self-movement robots according to claim 1, it is characterised in that described image collecting device
Time of exposure less than 0.1 second.
16. self-movement robots according to claim 1, it is characterised in that described controller also includes
Driving and control element, described driving controls element and controls to drive according to the recognition result of ground type identification module
The driving direction of module.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510246561.4A CN106258166A (en) | 2015-05-14 | 2015-05-14 | Self-movement robot |
| PCT/CN2015/090468 WO2016045593A1 (en) | 2014-09-23 | 2015-09-23 | Self-moving robot |
| JP2017534872A JP2017535279A (en) | 2014-09-23 | 2015-09-23 | Automatic mobile robot |
| US15/513,106 US10609862B2 (en) | 2014-09-23 | 2015-09-23 | Self-moving robot |
| EP15845392.8A EP3199009B1 (en) | 2014-09-23 | 2015-09-23 | Self-moving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510246561.4A CN106258166A (en) | 2015-05-14 | 2015-05-14 | Self-movement robot |
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| Publication Number | Publication Date |
|---|---|
| CN106258166A true CN106258166A (en) | 2017-01-04 |
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ID=57631872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510246561.4A Pending CN106258166A (en) | 2014-09-23 | 2015-05-14 | Self-movement robot |
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| CN (1) | CN106258166A (en) |
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| WO2021135673A1 (en) * | 2020-01-03 | 2021-07-08 | 苏州宝时得电动工具有限公司 | Self-moving device |
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