CN109717796A - Intelligent cleaning equipment - Google Patents
Intelligent cleaning equipment Download PDFInfo
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- CN109717796A CN109717796A CN201811392777.1A CN201811392777A CN109717796A CN 109717796 A CN109717796 A CN 109717796A CN 201811392777 A CN201811392777 A CN 201811392777A CN 109717796 A CN109717796 A CN 109717796A
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Abstract
The present disclosure relates to an intelligent cleaning device. The intelligent cleaning device comprises a camera device, wherein an optical axis of the camera device is aimed to the direction opposite to the advancing direction of the intelligent cleaning device and is used for acquiring image information containing target characteristics in the direction opposite to the advancing direction of the intelligent cleaning device; and the walking device drives the intelligent cleaning equipment to move along the advancing direction in the advancing plane. In this disclosure, when intelligent cleaning device moved towards the target location, the farther away the distance between camera device and the target feature was, the bigger the parallax was, the corresponding improvement of the degree of recognition of the target feature in the image information to be favorable to intelligent cleaning device to discern scene type or positional information.
Description
Technical field
This disclosure relates to field of terminal technology more particularly to a kind of intelligent cleaning equipment.
Background technique
With the development of technology, there is diversified intelligent cleaning equipment, for example automatic sweeping machine device people, drag automatically
Floor-washing robot etc..Intelligent cleaning equipment can automatically carry out clean operation, facilitate user.With the artificial example of automatic sweeping machine device,
Be by directly brush sweep, the technologies such as vacuum cleaning realize the automatic cleaning for treating purging zone.
But the camera of existing intelligent cleaning equipment is generally directed toward the front of intelligent cleaning equipment, so that when intelligence
When cleaning equipment is moved towards target position, between camera and target signature in front of intelligent cleaning equipment away from
Reduce from close, parallax, can get that image range is smaller, to be unfavorable for the identification of target signature.
Therefore, it is necessary to a kind of intelligent cleaning equipment be proposed, at least to be partially solved problems of the prior art.
Summary of the invention
The disclosure provides a kind of intelligent cleaning equipment, to solve deficiency in the related technology.
According to present disclose provides a kind of intelligent cleaning equipment, comprising:
Cam device, the optical axis of the cam device concentrate one's gaze on the side opposite with the intelligent cleaning equipment direction of travel
To, for obtain on the direction opposite with the intelligent cleaning equipment direction of travel include target signature image information；
And
Running gear, the running gear drive the intelligent cleaning equipment to transport in travel plane along the direction of travel
It is dynamic.
Optionally, the intelligent cleaning equipment further include:
Distance measuring sensor device, the distance measuring sensor device is for obtaining in the intelligent cleaning equipment and local environment
Spacing distance between barrier, to construct the scene map about the intelligent cleaning equipment local environment；And
Controller, when the controller is mutated for the intelligent cleaning device location described in described image information representation, weight
Newly determine the intelligent cleaning equipment the location of in the scene map.
Optionally, the intelligent cleaning equipment further include:
Cleaning device, scene type that the working strategies of the cleaning device can be characterized with described image information and
Scene map match constructed by the distance measuring sensor device.
Optionally, the working strategies include at least one of purging zone and cleaning mode.
Optionally, the cam device is obliquely installed relative to the travel plane of the intelligent cleaning equipment.
Optionally, angle formed by travel plane of the optical axis of the cam device with the intelligent cleaning equipment is sharp
Angle, and the angle is not less than 40 ° or the angle is not more than 30 °.
Optionally, the field angle of the cam device is not less than 65 ° or the field angle of the cam device is less than
45°。
Optionally, the intelligent cleaning equipment includes upper capping, and the upper capping includes opening, the cam device packet
Camera lens is included, the camera lens is stretched out from the opening, to obtain described image information.
Optionally, the intelligent cleaning equipment includes upper capping and equipment body, and the cam device is located on described
In the accommodation space that capping and the equipment body surround；
Wherein, the upper capping includes opening, and the cam device is located at the opening, the cam device
Camera lens obtains described image information by the opening.
Optionally, on the optical axis direction of the cam device, the wall for being used to form the opening of the upper capping
Surface is located at except the angular field of view of the cam device.
It optionally, further include bracket, the bracket includes fixing seat, mounting base and the connection fixing seat and the installation
The interconnecting piece of seat；
Wherein, the fixing seat is fixed on the equipment body, the traveling of the mounting base and the intelligent cleaning equipment
Plane is at an acute angle, and the mounting base is connect with the cam device.
Optionally, the intelligent cleaning equipment includes press-key structure, the press-key structure, the cam device and described
The center of distance measuring sensor device is located on same horizontally extending straight line.
Optionally, the press-key structure is between the cam device and the distance measuring sensor device；
Alternatively, the cam device is between the press-key structure and the distance measuring sensor device.
Technical solution provided by the disclosure can include the following benefits:
When intelligent cleaning equipment is moved towards target position, the distance between cam device and target signature are more
Far, parallax is bigger, and the identification of the target signature in image information correspondinglys increase, to be conducive to intelligent cleaning equipment to scene
Type or location information are identified.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is a kind of structural schematic diagram of intelligent cleaning equipment shown according to an exemplary embodiment.
Fig. 2 is the structural schematic diagram of another intelligent cleaning equipment shown according to an exemplary embodiment.
Fig. 3 is a kind of structural block diagram of intelligent cleaning equipment shown according to an exemplary embodiment.
Fig. 4 is a kind of schematic cross-section of intelligent cleaning equipment shown according to an exemplary embodiment.
Fig. 5 is a kind of application scenario diagram of intelligent cleaning equipment shown according to an exemplary embodiment.
Fig. 6 is the structural schematic diagram of another intelligent cleaning equipment shown according to an exemplary embodiment.
Fig. 7 is a kind of top view of intelligent cleaning equipment shown according to an exemplary embodiment.
Fig. 8 is the cooperation schematic diagram of a kind of upper capping and cam device shown according to an exemplary embodiment.
Fig. 9 is the top view of another intelligent cleaning equipment shown according to an exemplary embodiment.
Figure 10 is a kind of partial cross-sectional view of intelligent cleaning equipment shown according to an exemplary embodiment.
Figure 11 is a kind of structural schematic diagram of bracket shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
Fig. 1 is a kind of structural schematic diagram of intelligent cleaning equipment shown according to an exemplary embodiment, and Fig. 2 is according to one
The structural schematic diagram of another intelligent cleaning equipment shown in exemplary embodiment.As depicted in figs. 1 and 2, intelligent cleaning equipment
100 may include cam device 1 and running gear 2.Wherein, running gear 2 can drive according to the travel commands received
Intelligent cleaning equipment 100 is moved in travel plane along direction of travel.The running gear 2 can be in the form of driving wheel
Walking or the running gear 2 are also possible to walk in a manner of caterpillar, and the disclosure is limited not to this.
Further, the optical axis of cam device 1 concentrates one's gaze on the direction opposite with 100 direction of travel of intelligent cleaning equipment, with
Obtain the image information on the direction opposite with 100 direction of travel of intelligent cleaning equipment.It can wrap in the image information containing mesh
Feature is marked, so that intelligent cleaning equipment 100 can determine the scene type being presently according to the target signature or be basis
Default aspect ratio pair in the target signature and database, can determine whether the position of current intelligent cleaning equipment 100 occurs
Mutation.It is understood that " target signature " that is mentioned above refers to the mesh selected in 100 local environment of intelligent cleaning equipment
Mark object.
The cam device 1 of present embodiment is towards the rear of intelligent cleaning equipment 100 as a result, and can obtain
Target signature is located at the rear of intelligent cleaning equipment 100, thus when intelligent cleaning equipment 100 is moved towards target position
When, the distance between cam device 1 and target signature are remoter, and parallax is bigger, the identification of the target signature in image information
It correspondinglys increase, scene type or location information is identified to be conducive to intelligent cleaning equipment 100.
In the present embodiment, as shown in figure 3, intelligent cleaning equipment 100 can also include distance measuring sensor device 3 and control
Device 4, controller 4 can be connect with 3 signal of distance measuring sensor device, to control the working condition of distance measuring sensor device 3 and connect
Receive the signal that distance measuring sensor device 3 is fed back.Distance measuring sensor device 3 can be used for obtaining intelligent cleaning equipment 100 with it is locating
Spacing distance in environment between barrier, thus scene map of the building about 100 local environment of intelligent cleaning equipment.According to
Constructed scene map, intelligent cleaning equipment 100 can cook up walking path, avoid strikes obstacles.Wherein, ranging passes
Sensor arrangement 3 may include LDS (laser distance sensor) component.
It further, can be according to electronics such as sensor or odometers in the walking process of intelligent cleaning equipment 100
Element obtains the travel distance of intelligent cleaning equipment 100, to determine the institute in scene map of intelligent cleaning equipment 100 in real time
The position at place；Alternatively, can also be according to the interval distance that in 100 walking process of intelligent cleaning equipment, distance measuring sensor device 3 is obtained
From determining intelligent cleaning equipment 100 the location of in scene map.It is of course also possible to be according to distance measuring sensor device
3, the data of the related elements such as odometer, velocity sensor, duration-acceleration transducer, determine locating for intelligent cleaning equipment 100
Position.It is understood that the elements such as above-mentioned " odometer " referred to, " velocity sensor " are included in intelligent cleaning equipment
In 100.
In the present embodiment, it is contemplated that when kidnapping (hijack) event occurs for intelligent cleaning equipment 100 or because of other
When violating normal working strategies under the influence of event and change in location occurs, i.e., intelligent cleaning equipment 100 is acted on by external event
And when position mutation occurs, due to the error and noise of sensor, usually make intelligent cleaning equipment 100 that can not understand itself quilt
Kidnapping to where in addition its may think that the position of itself does not change, thus to swept region carry out weight
It is new to clean, and there are some regions not to be cleaned.Therefore, provided controller 4 can be used in the disclosure
When image information characterization 100 position of the intelligent cleaning equipment mutation that cam device 1 is got, intelligent cleaning equipment is redefined
100 the location of in scene map information.
Specifically, controller 4 can also be connect with 1 signal of cam device, to control the work shape of cam device 1
State and the signal for receiving the feedback of cam device 1.Controller 4 can compare image information twice adjacent in timing, according to figure
As the matching degree between information determines whether self-position mutates；Alternatively, controller 4 be also possible to according to image information with
Preset image information is matched, and thinks that there is no mutation for position if matching；If mismatching it may be considered that intelligence is clear
The position of clean equipment 100 mutates.
When the image information got according to cam device 1 and by determining intelligent cleaning under the action of controller 4
Equipment 100 occur position mutation when, controller 4 can be measured according to distance measuring sensor device 3 between barrier between
Gauge is from redefining out intelligent cleaning equipment 100 the location of in scene map.Then, intelligent cleaning equipment 100 can
To execute cleaning using corresponding cleaning modes pair purging zone corresponding with scene map.
Further, as shown in figure 4, intelligent cleaning equipment 100 can also include cleaning device 5, the work of the cleaning device 5
Make scene map constructed by the tactful image information that can be got with cam device 1 and distance measuring sensor device 3
Match.Thereby, it is possible to ensure that intelligent cleaning equipment 100 is worked in different scenes with suitable strategy, intelligent cleaning is improved
The intelligence of equipment 100, autonomy-oriented.In present embodiment, " working strategies " can be the cleaning for cleaning device 5
At least one of region and cleaning mode.For example, cleaning device 5 can select corresponding purging zone according to different scenes
(walking path) and cleaning mode.
In above-mentioned each embodiment, the direction of travel that optical axis L concentrates one's gaze on intelligent cleaning equipment 100 can be understood as optical axis L
It is parallel with travel plane；It or it can be appreciated that is that can have a sharp angle α between optical axis L and travel plane, to obtain
Take the image information of 100 oblique upper of intelligent cleaning equipment.In other words, cam device 1 can be relative to intelligent cleaning equipment 100
Travel plane be obliquely installed so that the travel plane of the optical axis of cam device 1 and intelligent cleaning equipment 100 is capable of forming one
Sharp angle α avoids cam device 1 from being blocked by other component, obtains the image information of 100 oblique upper of intelligent cleaning equipment.
Specifically, controller 4 can also be connect (referring to Fig. 3), to control the work of cleaning device 5 with 5 signal of cleaning device
Make state.Controller 4 can be believed according to the image in 100 local environment of intelligent cleaning equipment that the cam device 1 is got
Breath controls cleaning device 5 with the matched working strategies of the scene type characterized with image information and executes the course of work.As a result,
It can ensure that intelligent cleaning equipment 100 is worked in different scenes with suitable strategy, improve intelligent cleaning equipment 100
Intelligent, autonomy-oriented.
It is following " working strategies " of cleaning device 5 to be described in detail in conjunction with concrete scene.
In one embodiment, as shown in Figure 2 and Figure 5, it is assumed that intelligent cleaning equipment 100 is in scenario A, and intelligent cleaning
Equipment 100 is advanced along direction shown in arrow F, so as to think direction shown in arrow F for before intelligent cleaning equipment 100
Side, the direction shown in the arrow F are the rear of intelligent cleaning equipment 100.So, the optical axis L of cam device 1 can be with row
Into plane α in an acute angle, the image information positioned at 100 rear of intelligent cleaning equipment can be obtained.
Further, the optical axis of cam device 1 can be 40 ° with sharp angle α formed by direction shown in arrow F is deviated from, and
Cam device 1 is arranged towards the rear of intelligent cleaning equipment 100, and the field angle of cam device 1 is 40 °.Cam device 1
It can be at interval of a fixed duration；Alternatively, obtaining once after the mobile fixed displacement of intelligent cleaning equipment 100 about scenario A
Image information, the corresponding picture material of image information acute angle as formed by cam device 1 and travel plane and camera shooting
The visual field scope of head device 1 determines.
Wherein, the scene type that intelligent cleaning equipment 100 is characterized according to the image information that cam device 1 is got is i.e.
For the type of scenario A.For example, when the image information got according to cam device 1 recognizes sofa, tea table, entry etc.,
It can determine that scenario A locating for intelligent cleaning equipment 100 is parlor, so that it is determined that purging zone corresponding to parlor and cleaning mould
Formula.For example, when intelligent cleaning equipment 100 is sweeping robot, it, may since parlor is usually the more region of personnel's dealing
Biggish cleaning dynamics is needed relative to other regions, so, the cleaning mode of sweeping robot can be high-power cleaning mould
Formula, to improve cleaning intensity.
For another example, when the image information got according to cam device 1 can determine sleeping when determining that scenario A is bedroom
Purging zone corresponding to room and cleaning mode.For example, personnel's dealing is less since bedroom is usually the region of user's rest,
So the cleaning mode of sweeping robot can be low-power mode, to avoid user's rest is bothered.
In another embodiment, as shown in fig. 6, the optical axis of cam device 1 and the formed folder in the direction shown in the arrow F
Angle α can be 30 °, and the field angle of cam device 1 towards the setting of the rear of intelligent cleaning equipment 100, cam device 1 is
65°；Cam device 1 can be at interval of a fixed duration；Alternatively, being obtained after the mobile fixed displacement of intelligent cleaning equipment 100
Take the image information once about scenario A, the corresponding picture material of the image information by cam device 1 and travel plane institute at
Acute angle and cam device 1 visual field scope determine.
For example it is assumed that user setting thinks that parlor is purging zone, toilet is without purging zone.So, work as basis
Whens the image information that cam device 1 is got recognizes sofa, tea table, entry etc., it can determine locating for sweeping robot
Scenario A is parlor, so as to clean to parlor.During cleaning to parlor, cam device 1 can be with every
An image information is obtained every the fixed duration such as 2s or 5s, and determines scene type corresponding to the image information.
If the scene type identified remains as parlor, sweeping robot continues cleaning works；If according to image
When information identifies toilet, sweeping robot can stop cleaning works；Alternatively, can also correspond to according in image information
The gray value of the feature of toilet estimates itself spacing distance between toilet, and switches to relatively slow speed and continue clearly
It sweeps, the distance between itself and toilet may further be estimated herein according to the image information of subsequent acquisition, until determining
Borderline region between parlor and toilet, sweeping robot can guarantee itself not across extremely health according to the borderline region
Between, artificial the step of virtual wall is set can be eliminated, user experience is promoted.
It should be understood that can identify corresponding scene type according to image information, intelligent cleaning equipment 100 can be
Corresponding scene type is identified according to target signature corresponding in image information, for example, parlor is determined as according to sofa, according to
Closestool is determined as toilet；Alternatively, being also possible to the default scene for comparing image information with being pre-stored in intelligent cleaning equipment 100
Information is determined, which may include parlor scene information, toilet scene information, toy for children area scene
Information and kitchen scene information etc..The acquisition of the default scene information can be before the work of intelligent cleaning equipment 100, camera shooting
Head device 1 is advanced one time around each scene in advance and is obtained.No doubt, image information institute table can also be determined by other means
The scene type of sign, this is no longer going to repeat them.
Formed angle α is acute angle and can also be greater than 40 ° between the optical axis and travel plane of cam device 1, example
Such as, 45 °, 50 ° etc., in order to obtain the image information of position higher position；Alternatively, the angle α is acute angle and might be less that
30 °, for example, 25 °, 28 ° etc., in order to obtain the image information of position lower；The disclosure is to this and is not limited.For
The field angle of cam device 1 is also possible to be greater than 65 °, such as 70 °, 72 ° etc.；Or the field angle might be less that 45 °, example
Such as 40 °, 43 °, the disclosure is to this and is not limited.Cam device 1 is obtaining the image information on forward or backward
When, corresponding to can be the unspecified angle in range described in above-described embodiment with acute angle formed by travel plane；Accordingly
Ground, the field angle of cam device 1 may be the unspecified angle in range described in above-described embodiment, and the disclosure is not to this
It is limited.
Technical solution based on the disclosure, for installation and positioning of the cam device 1 in intelligent cleaning equipment 100,
As shown in fig. 7, intelligent cleaning equipment 100 can also include upper capping 6 and press-key structure 7, the press-key structure 7, distance measuring sensor
Device 3 and cam device 1 protrude from capping 6, or the either flush with upper capping 6 in the presence of at least part.Its
In, the center of press-key structure 7, distance measuring sensor device 3 and cam device 1 is located at same horizontally extending straight line
On, in order to improve the aesthetics of intelligent cleaning equipment 100.
In one embodiment, as shown in Figure 7 and Figure 8, press-key structure 7 is located at cam device 1 and distance measuring sensor device 3
Between, upper capping 6 may include opening 61, and the camera lens of 1 (not shown) of cam device can be stretched out from the opening 61, with
Obtain image information.It in other words, is to be obliquely installed relative to travel plane due to the optical axis of cam device 1, in order to avoid upper
Capping 6 or other dependency structures block the visual field of cam device 1, and the camera lens of cam device 1 is protruded from upper capping 6 and is set
It sets, to ensure that cam device 1 can get image information.
In another embodiment, as shown in Figure 9 and Figure 10, cam device 1 can be located at distance measuring sensor device 3 and press
Between bond structure 7.Intelligent cleaning equipment 100 can also include equipment body 8, and the equipment body 8 and upper capping 6 can surround one
Accommodation space, the accommodation space can be used for accommodating cam device 1.Also, upper capping 6 may include opening 61', camera
Device 1 is located at opening 61', and the camera lens of cam device 1 can get image information by opening 61'.Into one
The eyeglass of step ground, opening 61' and cam device 1 cooperates.
In the present embodiment, the wall surface for being used to form opening 61' of upper capping 6 is located at the visual angle model of cam device 1
Except enclosing.On the optical axis direction of cam device 1, sectional area of the 61' at each position that be open is positively correlated with this each
Set the distance between camera lens；Also, at same position, the sectional area of the cam device angular field of view is no more than described
The sectional area of opening 61', so as to avoid the inner wall for surrounding opening 61' from blocking cam device 1, it is ensured that cam device 1
Image information can be got.Wherein, which can be the optical axis based on cam device 1, the view with fixed angle
Rink corner rotates the cone to be formed；In some other embodiment, it is also possible to four sides centrum, the disclosure is limited not to this
System.
It, should still with shown in Figure 10, the intelligent cleaning equipment 100 can also include bracket 9 in above-mentioned each embodiment
Bracket 9 can be used for assembling cam device 1, and cam device 1 is fixed to equipment body 8.Specifically, such as Fig. 1 institute
Show, bracket 9 may include fixing seat 91, mounting base 92 and the interconnecting piece 93 for being connected and fixed seat 91 Yu mounting base 92.Wherein, fixed
Seat 91 can be fixed on equipment body 8, and mounting base 92 is tilted relative to the travel plane of intelligent cleaning equipment 100, and with
Travel plane is in an acute angle.Since the mounting base 92 is attached with cam device 1, so the inclined direction of mounting base 92 can
To be determined according to the camera lens inclined direction of cam device 1.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (13)
1. a kind of intelligent cleaning equipment characterized by comprising
Cam device, the optical axis of the cam device concentrate one's gaze on the direction opposite with the intelligent cleaning equipment direction of travel,
For obtain on the direction opposite with the intelligent cleaning equipment direction of travel include target signature image information；And
Running gear, the running gear drive the intelligent cleaning equipment to move in travel plane along the direction of travel.
2. intelligent cleaning equipment according to claim 1, which is characterized in that further include:
Distance measuring sensor device, the distance measuring sensor device is for obtaining obstacle in the intelligent cleaning equipment and local environment
Spacing distance between object, to construct the scene map about the intelligent cleaning equipment local environment；And
Controller, when the controller is mutated for the intelligent cleaning device location described in described image information representation, again really
The fixed intelligent cleaning equipment is the location of in the scene map.
3. intelligent cleaning equipment according to claim 2, which is characterized in that further include:
Cleaning device, scene type that the working strategies of the cleaning device can be characterized with described image information and described
Scene map match constructed by distance measuring sensor device.
4. intelligent cleaning equipment according to claim 3, which is characterized in that the working strategies include purging zone and clear
At least one of clean mode.
5. intelligent cleaning equipment according to claim 1, which is characterized in that the cam device is relative to the intelligence
The travel plane of cleaning equipment is obliquely installed.
6. intelligent cleaning equipment according to claim 5, which is characterized in that the optical axis of the cam device and the intelligence
Angle formed by the travel plane of energy cleaning equipment is acute angle, and the angle is not less than 40 ° or the angle is not more than
30°。
7. intelligent cleaning equipment according to claim 1, which is characterized in that the field angle of the cam device is not less than
The field angle of 65 ° or the cam device is less than 45 °.
8. intelligent cleaning equipment according to claim 1, which is characterized in that the intelligent cleaning equipment includes upper capping,
The upper capping includes opening, and the cam device includes camera lens, and the camera lens is stretched out from the opening, to obtain the figure
As information.
9. intelligent cleaning equipment according to claim 1, which is characterized in that the intelligent cleaning equipment include it is upper capping and
Equipment body, the cam device are located in the accommodation space that the upper capping is surrounded with the equipment body；
Wherein, the upper capping includes opening, and the cam device is located at the opening, the camera lens of the cam device
Described image information is obtained by the opening.
10. intelligent cleaning equipment according to claim 9, which is characterized in that the upper capping is used to form described open
The wall surface of mouth is located at except the angular field of view of the cam device.
11. intelligent cleaning equipment according to claim 9, which is characterized in that further include bracket, the bracket includes fixing
The interconnecting piece of seat, mounting base and the connection fixing seat and the mounting base；
Wherein, the fixing seat is fixed on the equipment body, the travel plane of the mounting base and the intelligent cleaning equipment
It is at an acute angle, and the mounting base is connect with the cam device.
12. intelligent cleaning equipment according to claim 2, which is characterized in that the intelligent cleaning equipment includes by bond
Prolong in the horizontal direction positioned at same at the center of structure, the press-key structure, the cam device and the distance measuring sensor device
On the straight line stretched.
13. intelligent cleaning equipment according to claim 12, which is characterized in that
The press-key structure is between the cam device and the distance measuring sensor device；
Alternatively, the cam device is between the press-key structure and the distance measuring sensor device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811392777.1A CN109717796A (en) | 2018-11-21 | 2018-11-21 | Intelligent cleaning equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811392777.1A CN109717796A (en) | 2018-11-21 | 2018-11-21 | Intelligent cleaning equipment |
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| CN109717796A true CN109717796A (en) | 2019-05-07 |
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| CN111158378A (en) * | 2020-01-16 | 2020-05-15 | 珠海格力电器股份有限公司 | Sweeping method of sweeping robot and sweeping robot |
| CN111474541A (en) * | 2020-03-25 | 2020-07-31 | 珠海格力电器股份有限公司 | Area cleaning method and device, electronic equipment and computer readable medium |
| CN111476098A (en) * | 2020-03-06 | 2020-07-31 | 珠海格力电器股份有限公司 | Method, device, terminal and computer readable medium for identifying target area |
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