CN206399422U - Multifunctional vision sensor and mobile robot - Google Patents
Multifunctional vision sensor and mobile robot Download PDFInfo
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- CN206399422U CN206399422U CN201621276211.9U CN201621276211U CN206399422U CN 206399422 U CN206399422 U CN 206399422U CN 201621276211 U CN201621276211 U CN 201621276211U CN 206399422 U CN206399422 U CN 206399422U
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Abstract
The utility model discloses a kind of multifunctional vision sensor, it includes the light source to detected space emitting structural light, there is the imaging device of certain positional relationship with light source, and the processor being connected with light source and imaging device, imaging device includes camera lens, optical filter switching component and the image inductor being connected with processor, optical filter switching component includes moveable slide plate and the first optical filter being arranged on slide plate, first optical filter is used to prevent the light of interference structure light from exposing to described image inductor, when the first optical filter is located at the first operating position, first optical filter is with the camera lens and image inductor in same optical axis, when the first optical filter is located at the second operating position, first optical filter staggers with image inductor.The multifunctional vision sensor realizes navigation feature and monitoring function using same camera lens and image inductor.The invention also discloses a kind of mobile robot, the mobile robot has the multifunctional vision sensor.
Description
Technical field
The utility model is related to smart machine field, more particularly to a kind of multifunctional vision sensor, multi-functional with this
The mobile robot of vision sensor.
Background technology
The mobile robot of mobile robot, especially indoor service, such as clean robot, will generally configure vision
Sensor, to create map and be navigated, structured light vision sensor is so that its amount of calculation is small, real-time is high, measurement away from
The advantages of being used directly to set up map and avoidance from information and gain great popularity.
Structure light measurement technology (Structured Light) is a kind of active optical e measurement technology, general principle be by
Structured light projector projects controllable luminous point, striation or smooth surface structure to testee surface, and (is such as taken the photograph by image inductor
Camera) image is obtained, by system geometrical relationship, the three-dimensional coordinate for obtaining object is calculated using triangle principle.Structure light includes
Light-spot type, light formula and smooth surface formula three types.Light-spot type needs point by point scanning object, and speed is slow；Light formula then only needs one dimensional line
Scanning can obtain object depth information；Smooth surface formula is then to carry out two-dimensional projection to object, and measuring speed is most fast.Wherein, due to
Light formula structure light is (i.e.：Line-structured light) it is simple in construction, it is with low cost, it has also become a kind of structure light vision most widely used at present
Sensor.Line structure optical sensor it is main by：Laser projecting apparatus, optical lens, image inductor composition.Regarded using line-structured light
Feel sensors towards ambient barrier measurement, indoor service robot can realize map building, navigation with it is synchronous position etc., i.e.,
Realize SLAM (Simultaneous Localization and Mapping).
When line structure optical sensor is using Mobile Robotics Navigation indoors, in order to prevent the interference of natural light in environment,
And security, laser is generally using infrared laser.In order to strengthen the effect and stability of laser image in image inductor,
Generally only infrared laser filtering is come in using infrared filter, and other spectrum segments are masked.
For indoor mobile robot, except vision guided navigation function, user also wants to the function with video monitoring, i.e.,
By the camera on indoor mobile robot, user can pass through mobile phone or computer monitor or remote monitoring indoor situations.
In the prior art, in order to realize both functions, using line structured light vision sensor, in addition it is also necessary to configure a camera in addition
Realize that indoor environment is monitored, using the similar image inductor of two specifications, independently realize different functions, add design
Complexity and manufacturing cost are also higher to the processor requirement of mobile robot.
Utility model content
Technical problem to be solved in the utility model is there is provided a kind of vision sensor and with the vision sensor
Mobile robot, the vision sensor and the mobile robot have optical filter switching component, and the optical filter switching component can
To switch optical filter, so as to realize navigation feature and monitoring function in the case where using same camera lens and image inductor
Switching, i.e.,：Navigation and two kinds of functions of video are realized using same camera lens and image inductor, structure design is simplified, saves material
Expect and reduce cost.
Embodiment of the present utility model additionally provides a kind of control method of mobile robot.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme：
On the one hand, embodiment of the present utility model provides a kind of vision sensor, and it is included to detected space emitter junction
The light source of structure light, there is the imaging device of certain positional relationship with the light source, and with the light source and the imaging device
The processor of connection, the imaging device receives the visible ray or the structure light of the detected space, forms optical imagery, institute
Processor is stated to fill with the imaging for handling the view data of the optical imagery and calculating barrier in the detected space
Depth distance between putting, the imaging device includes camera lens, optical filter switching component and the image being connected with the processor
Inductor, the optical filter switching component includes moveable slide plate and the first optical filter being arranged on the slide plate, described
First optical filter is used to prevent the light of the interference structure light from exposing to described image inductor, and first optical filter has
First operating position and the second operating position, when first optical filter is located at first operating position, first filter
Mating plate and the camera lens and described image inductor are in same optical axis, so that described in after the reflection of the barrier through detected space
Structure light exposes to described image inductor, when first optical filter is located at second operating position, first filter
Mating plate staggers with described image inductor, so as to expose to the light of described image inductor without first optical filter.
Wherein, first operating position is set up in parallel with second operating position, the multifunctional vision sensor
It is set to include distance measurement mode and video mode；
When the multifunctional vision sensor is in distance measurement mode, first optical filter is located at the first operating position,
The barrier that the light source is launched to the detected space in the structure light, the detected space reflects the structure light, quilt
The structure light of reflection is irradiated to described image inductor after first optical filter, forms the optics of the barrier
Image, the processor is closed according to the pixel displacement of the optical imagery, the ad-hoc location of the light source and the imaging device
The focal length of system and camera lens calculates the barrier to the depth distance between the light source；
When the multifunctional vision sensor is in video mode, first optical filter is located at second working position
Put, so that the radiation of visible light in detected space forms the quilt to described image inductor on described image inductor
The optical imagery for the barrier surveyed in space, described image inductor sends the view data of the optical imagery to the place
Device is managed, the processor will be sent to its host computer after described image data processing.
Wherein, the optical filter switching component also includes load bearing seat, the magnet coil being arranged on the load bearing seat and company
The driving lever of the slide plate and the magnet coil is connect, the slide plate is arranged on the load bearing seat, when the magnet coil has electricity
Circulation is out-of-date, and the magnet coil drives the driving lever movement, and the driving lever drives the slide plate to slide.
Wherein, the through hole arranged side by side with first optical filter is additionally provided with the slide plate, when first optical filter position
When second operating position, the optical axis and described image inductor coaxial of the through hole and the camera lens.
Wherein, the second optical filter is additionally provided with the slide plate, second optical filter is installed on the through hole, described
Two optical filters are transparent glass sheet or the optical filter for ending infrared light.
On the other hand, embodiment of the present utility model also provides a kind of mobile robot, and the mobile robot includes machine
Device human agent and the central processing module being arranged on the robot body, and the Multifunctional visual sense biography described in any of the above
Sensor, and display module, the multifunctional vision sensor and the display module communicate with the central processing module
Connection, the mobile robot is set to navigation pattern and monitoring mode；
When the mobile robot starts navigation pattern, first optical filter is located at first operating position, institute
The processor for stating multifunctional vision sensor sends the depth distance of described image data and the barrier to described
Central processing module, so that the central processing module builds the environmental map of the detected space and is the mobile robot
Navigation；
When the mobile robot starts monitoring mode, first optical filter is located at second operating position, institute
Described image data are transferred to the central processing module, the centre by the processor for stating multifunctional vision sensor
Described image data are converted to vision signal by reason module, and give the display module by the video signal transmission, described aobvious
Show that module is used for the video for showing the detected space.
Wherein, the multifunctional vision sensor is set to include distance measurement mode and video mode, when the mobile machine
When people starts navigation pattern, the multifunctional vision sensor is in distance measurement mode, when the mobile robot starts monitoring mould
During formula, the multifunctional vision sensor is in video mode；
When the multifunctional vision sensor is in distance measurement mode, first optical filter is located at the first operating position,
The barrier that the light source is launched to the detected space in the structure light, the detected space reflects the structure light, extremely
The structure light that small part is reflected is irradiated to described image inductor after being filtered through first optical filter, form the barrier
Hinder the optical imagery of thing, the processor is according to the pixel displacement, the light source and the imaging device of the optical imagery
The focal length of certain positional relationship and camera lens calculates the barrier to the depth distance between the light source；
When the multifunctional vision sensor is in video mode, first optical filter is located at second working position
Put, so that the radiation of visible light in detected space forms the quilt to described image inductor on described image inductor
The optical imagery for the barrier surveyed in space, described image inductor sends the view data of the optical imagery to the place
Device is managed, the processor will be sent to the central processing module after described image data processing, the central processing module will
Described image data are converted to vision signal.
Wherein, the optical filter switching component of the multifunctional vision sensor also includes load bearing seat, is arranged at the carrying
The driving lever of magnet coil and the connection slide plate and the magnet coil on seat, the slide plate is arranged on the load bearing seat,
When the magnet coil have electric current by when, the magnet coil drives the driving lever movement, and the driving lever drives the slide plate
Slide, the magnet coil is electrically connected with the central processing module.
Wherein, the through hole arranged side by side with first optical filter is additionally provided with the slide plate, when the mobile robot is opened
During dynamic monitoring mode, the through hole and the camera lens and described image inductor coaxial.
Wherein, it is provided with transparent glass sheet on the through hole.
Wherein, the second optical filter, second optical filter, the through hole and first filter are additionally provided with the slide plate
Side by side, second optical filter is the optical filter for ending infrared light to mating plate three.
Alternatively, the display module is arranged at the terminal separated with the robot body, and the robot body is also
Including the first communication module being connected with the central processing module, the terminal includes second be connected with the display module
The vision signal is sent to the second communication module, the second communication mould by communication module, the first communication module
The video signal transmission is given the display module by block, to show the situation of the detected space.
Another further aspect, embodiment of the present utility model also provides the controlling party of the mobile robot described in any of the above
Method, including step：
Start navigation pattern, the first optical filter of multifunctional vision sensor is placed in the first operating position, so that described
First optical filter is with camera lens and image inductor in same optical axis；
To detected space emitting structural light, structure light is set to be reflected by the barrier in detected space；
The structure light reflected is entered imaging device, filtered through first optical filter, prevent the interference knot
The light of structure light exposes to described image inductor, the structure light is formed optical imagery on described image inductor；
The barrier is calculated to the depth distance for the light source for launching the structure light, and build according to the depth distance
The environmental map of the detected space, and navigated；
Monitoring mode is switched to, the first optical filter of the multifunctional vision sensor is placed in the second operating position, made
Light into the imaging device is shone directly on described image inductor without first optical filter, forms optics
Image；And
The view data of the optical imagery is converted into vision signal, and is shown in display module.
Wherein, described " preventing the light of the interference structure light from exposing to described image inductor ", be specially：
Only make the structure light by being irradiated to described image inductor after first optical filter；
" depth distance for calculating light source of the barrier to the structure light ", be specially：
According to the certain positional relationship and mirror of the pixel displacement of the optical imagery, the light source and the imaging device
The focal length of head calculates the barrier to the depth distance between the light source；
It is described " light into the imaging device is shone directly into described image sense without first optical filter
Answer on device ", be specially：
The visible ray of the detected space is entered the imaging device and without first optical filter, and it is described can
See that illumination is mapped on described image inductor.
Wherein, described " the first optical filter of multifunctional vision sensor is placed in into the first operating position " is specially：
Apply first direction electric current for the magnet coil in optical filter switching component, make the magnet coil drive slide plate to move
It is dynamic so that first optical filter on the slide plate to the direction of described image inductor towards just moving, and then make camera lens,
First optical filter and described image inductor are located in same optical axis；
Described " the first optical filter of multifunctional vision sensor is placed in the second operating position ", be specially：
Apply second direction electric current for the magnet coil in the optical filter switching component, magnet coil is driven the cunning
Piece is toward the direction movement away from described image inductor, so that first optical filter staggers with described image inductor, with
The light into the imaging device is set to shine directly into described image inductor without first optical filter, described second
The direction of directional current is opposite with the first direction sense of current.
Wherein, in addition to step：
When starting monitoring mode, the light source is controlled to stop emitting structural light.
Wherein, in addition to step：
In the monitoring mode, and during daytime or the detected space ambient light are sufficient, the second optical filter is placed in
Just to the position of image inductor, the camera lens, the second optical filter and described image inductor is set to be located in same optical axis, to hinder
Only the infrared light in environment enters described image inductor.
Compared with prior art, the technical solution of the utility model at least has the advantages that：
In embodiment of the present utility model, because the imaging device of the vision sensor has optical filter switching component,
The optical filter switching component includes moveable slide plate and the first optical filter for being arranged on the slide plate, and due to described the
One optical filter has the first operating position, and when first optical filter is located at first operating position, described first filters
Piece and the camera lens and described image inductor are in same optical axis, to prevent to disturb the light of the structure light from exposing to institute
Image inductor is stated, so that structure light is irradiated to image inductor, is not disturbed by other light, accurately measures and calculates
Barrier in detected space, so as to create the environmental map of detected space, realizes navigation feature to the depth distance of light source；
Again because first optical filter has the second operating position, and the slide plate can be slided, when the described first filter
When mating plate slides into second operating position, first optical filter staggers with described image inductor, so as to enter described
The light of imaging device is shone directly on described image inductor without first optical filter, so that in detected space
Multi-faceted light enters image inductor, and a wide range of space progress image of detected space is shown, image information is changed
After video, monitoring function is realized.Therefore, the multifunctional vision sensor is realized using same camera lens and image inductor
Navigation and two kinds of functions of video, without increasing camera lens and image inductor in addition for video monitoring, simplify Multifunctional visual
Feel the structure design of sensor, save material and reduce cost.
Equally, using the mobile robot of the vision sensor, navigation mould is also achieved with the optical filter switching component
The switching of formula and video mode, that is, realize the purpose that navigation and two kinds of functions of video are realized using same vision sensor, letter
Structure design is changed, has saved material and reduce cost.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The accompanying drawing used required in description is briefly described, it should be apparent that, drawings in the following description are only that this practicality is new
Some embodiments of type, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other variants are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of multifunctional vision sensor in one embodiment of the present utility model；
Fig. 2 is the exploded perspective view of the structure of multifunctional vision sensor in one embodiment of the present utility model；
Fig. 3 a be multifunctional vision sensor in one embodiment of the present utility model optical filter switching component in
One optical filter is in structural representation during the first operating position；
Fig. 3 b be multifunctional vision sensor in first embodiment of the present utility model optical filter switching component in first
Optical filter is in structural representation during the second operating position；
Fig. 4 a are work when multifunctional vision sensor is in distance measurement mode in one embodiment of the present utility model
Process schematic；
Fig. 4 b are the range measurement principle schematic diagrames of multifunctional vision sensor in one embodiment of the present utility model；
Fig. 5 to Fig. 9 is multifunctional vision sensor imaging and the position of barrier in one embodiment of the present utility model
Put and size between relation schematic diagram；
Figure 10 is work when multifunctional vision sensor is in video mode in one embodiment of the present utility model
Process schematic；
Figure 11 a are the of the optical filter switching component of multifunctional vision sensor in second embodiment of the present utility model
Two optical filters are in structural representation during operating position；
Figure 11 b are the of the optical filter switching component of multifunctional vision sensor in second embodiment of the present utility model
Two optical filters are in structural representation during off-position；
Figure 12 is the structural representation of mobile robot in the 3rd embodiment of the present utility model；
Figure 13 is the structural representation of mobile robot in the 4th embodiment of the present utility model.And
Figure 14 is the schematic flow sheet of the control method of mobile robot described in embodiment of the present utility model.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
It is explicitly described, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole implementation
Example.Based on the embodiment in the utility model, those of ordinary skill in the art are obtained under the premise of creative work is not made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Fig. 1 and Fig. 2 are referred to, Fig. 1 is the structure of multifunctional vision sensor in one embodiment of the present utility model
Schematic diagram, Fig. 2 is the exploded perspective view of the structure of multifunctional vision sensor in one embodiment of the present utility model.This reality
Apply in example, the multifunctional vision sensor includes having to the light source 100 of detected space emitting structural light, with the light source 100
There are the imaging device 200 of certain positional relationship, and the processor 300 being connected with the light source 100 and imaging device 200.Institute
State the preferred generating laser of light source 100, the preferred line-structured light of structure light.
Imaging device 200 receives the structure light that the light source 100 is launched when meeting preparatory condition, forms accurate
Optical imagery, to calculate the barrier of detected space to the depth distance of imaging device 200；Under other preparatory condition,
Imaging device 200 receives the visible ray of detected space, or receives the visible ray and the structure light simultaneously, forms light image.
The processor 300 is used to handle described image data or calculates the depth distance of barrier in the detected space.
The imaging device includes camera lens 210, optical filter switching component 220, the image sense being connected with the processor 300
Answer device 230, and mounting seat 240.The camera lens 210, optical filter switching component 220 are installed in the mounting seat 240, described
Light source 100 can be installed in the mounting seat 240, and the light source 100 is set to tool with the camera lens and image inductor 230
There is specific geometric position.Preferably, the optical axis of the light source 100 is parallel with the optical axis of the camera lens.
Further, it is Multifunctional visual sense in one embodiment of the present utility model to refer to Fig. 3 a and Fig. 3 b, Fig. 3 a
Structural representation when the first optical filter is in the first operating position in the optical filter switching component of sensor, Fig. 3 b are this practicalities
The first optical filter is in the second working position in the optical filter switching component of multifunctional vision sensor in new first embodiment
Structural representation when putting.The optical filter switching component 220 includes moveable slide plate 221 and is arranged at the slide plate 221
On the first optical filter 222.Further, the optical filter switching component can also include load bearing seat 223, be arranged at it is described
The driving lever 225 of magnet coil 224 and the connection slide plate 221 and the magnet coil 224 on load bearing seat 223.The slide plate
221 are arranged on the load bearing seat 223, specifically, and the surface on load bearing seat 223 towards the slide plate 221 can be provided with cunning
Groove, the correspondence chute, the surface of the direction load bearing seat 223 of slide plate 221 is provided with raised line, and the raised line is embedded in the cunning
Groove and reciprocatingly slide, as shown in four-headed arrow in Fig. 3 a and Fig. 3 b.The magnet coil 224 includes the lead 229 outwards drawn,
For connecting the circuit of processor 300 or the circuit of host computer, to apply electric current to the magnet coil 224.When the electricity
Magnetic coil 224 have electric current by when, the magnet coil 224 produces gravitation or thrust to driving lever 225, so as to drive the driving lever
225 movements, the driving lever drives the slide plate 221 to move back and forth.Camera aperture 227 is additionally provided with load bearing seat 223, is used to and mirror
First 210 alignment.The both sides of load bearing seat 223 also include installation portion 228, and optical filter switching component 220 is solid by the installation portion 228
Due in the mounting seat 240.
The first optical filter 222 on the slide plate 221 is used to end the light that can interfere the structure light, prevents
The light of this meeting interference structure light enters image inductor 230.In the present embodiment, light source 100 is laser projecting apparatus, light source
Send the line-structured light of laser, it is preferable that in order to accurately and quickly measure the barrier in detected space to imaging device 200
Distance, only allows infrared laser to pass through first optical filter 222.
First optical filter 222 has the first operating position 2221 and the second operating position 2222, it is preferable that described the
One operating position 2221 is arranged side by side with second operating position 2222.When first optical filter 222 is located at described first
During operating position 2221 (as shown in Figure 3 a), first optical filter 222 is oppositely arranged with described image inductor 230, and with
The camera aperture 227 is coaxial so that the camera lens 210, the first optical filter 222 and described image inductor 230 are in same optical axis
On, to prevent to disturb the light (such as visible ray) of the structure light from exposing to described image inductor 230.When the described first filter
When being located at second operating position 2222 (as shown in Figure 3 b), first optical filter 222 and described image sense mating plate 222
Device 230 staggers so that into the imaging device 200 light shone directly into without first optical filter 222 it is described
On image inductor 230, that is to say, that now the first optical filter 222 does not work, to enter imaging device in light without
Filtering, now visible ray can expose to described image inductor 230.In the present embodiment, it is additionally provided with the slide plate 221
The through hole 2211 being arranged side by side with first optical filter 222, when first optical filter 222 is located at second operating position
When 2222, the through hole 2211 is just to described image inductor 230, and through hole 2211 and camera aperture are coaxial, i.e., described camera lens 210,
Through hole 2211 and image inductor 230 are coaxial, wider (big visual angle) any light in detected space is exposed to
Described image inductor 230, forms the image of greater room scope.It is understood that can be set on the through hole 2211
There is transparent glass sheet.
Further, the multifunctional vision sensor is set to include distance measurement mode and video mode.
The distance measurement mode is used to measure barrier in detected space to the distance of multifunctional vision sensor, with reference to upper
The control of machine, determines the position of each barrier, so as to for setting up map and being navigated, it is necessary to accurate under the pattern
Imaging data, accordingly, it would be desirable to which the light for filtering out the structure light for disturbing the light source to send enters image inductor.
The video mode is used to monitor the situation in detected space, it is necessary to carry out multi-faceted shooting figure to detected space
Picture, forms video, accordingly, it would be desirable to sufficient light.
First the distance measurement mode is illustrated below.
It is multifunctional vision sensor in one embodiment of the present utility model to refer to Fig. 3 a and Fig. 4 a, Fig. 4 a Fig. 3 a
Optical filter switching component in the first optical filter be in the first operating position when structural representation, be of the present utility model first
Course of work schematic diagram when multifunctional vision sensor is in distance measurement mode in individual embodiment.When Multifunctional visual sense sensing
When device is in distance measurement mode, first optical filter 222 is located at first operating position 2221, and the light source 100 is to described
The barrier 400 that detected space is launched in the structure light, the detected space reflects the structure light, and at least a portion is described
Structure light is reflected in the imaging device 200, and the imaging device 200 receives the structure light reflected, and makes this
A little structure lights pass through first optical filter 222, are then irradiated to described image inductor 230, form the barrier 400
Optical imagery, and form the view data of the optical imagery and be sent to the processor 300.The processor 300 is according to described
The certain positional relationship and the focometer of camera lens of the pixel displacement of optical imagery, the light source 100 and the imaging device 200
The barrier is calculated to the depth distance between the light source.Anticipate as shown in Figure 4 b, Fig. 4 b are first realities of the present utility model
Apply the range measurement principle schematic diagram of multifunctional vision sensor in example, it is seen then that the barrier can be arrived using triangulation
Depth distance between the light source is calculated, i.e. formed optical picture in the distance and image inductor 230 of barrier 40
The displacement of picture has following geometrical relationship：
Wherein, h is the distance between optical axis of camera lens 210 of optical axis and the imaging device 200 of light source 100, and f is camera lens
210 focal length, x be on image inductor into optical imagery pixel displacement, accordingly, barrier 400 can be calculated relative
The displacement L (so that can also further calculate distance of the barrier 400 relative to other reference substances) of light source 100, so that really
Determine the position of barrier 400.
For example, referring to Fig. 5 to Fig. 9, Fig. 5 to Fig. 9 is Multifunctional visual sense biography in one embodiment of the present utility model
Sensor uses the relation schematic diagram between the image formed during structure light measurement and the position of barrier and size.Referring to Fig. 5,
The illumination that (a) light source 100 shown partially is sent in figure is mapped to (b) in barrier 400 and background object 500, figure and partially illustrated
The image that image-forming assembly 200 is shot, wherein, image 600 is illustrated as the optical imagery of background object 500, and image 700 is illustrated as barrier
Hinder the optical imagery of thing 400.Because the distance of barrier 400 and background object 500 to light source 100 is unequal, light source 100 is sent
The image 700 that is formed respectively in imaging device 200 in the reflected light of barrier 400 and background object 500 of structure light and figure
The different line segment of vertical position is rendered as 600.
Referring to Fig. 6, when barrier 400 is not present in the field range of imaging device 200, or it is not present in light
When in the range of the irradiation of source 100, the company of being rendered as of image 600 of reflected light formation in imaging device 200 of background object 500
Continuous, continual line segment.
Referring to Fig. 7, the difference in Fig. 7 in the size and Fig. 5 of barrier 400 in the horizontal direction, now, barrier 400
The image 700 that is formed in imaging device 200 of reflected light in be rendered as the shorter line segment of size in the horizontal direction.
Referring to Fig. 8, barrier 400 is horizontally offset from the optical axis of light source in Fig. 8 so that barrier 400 it is anti-
Penetrate the image 700 that light formed in imaging device 200 and be rendered as the position of position and image 700 in Fig. 7 in the horizontal direction not
Two sections of same line segments, the bearing of trend of two sections of line segments is different and connects.
Referring to Fig. 9, the distance of barrier 400 and light source 200 is farther relative to the respective distance in Fig. 8 in Fig. 9 so that
The image 700 that the reflected light of barrier 400 is formed in imaging device 200 is rendered as in the vertical direction and image 700 in Fig. 7
The different line segment in position.
Position and/or the different barriers 400 of size are formed in imaging device in Fig. 5 to Fig. 9, detected space
Position and size of the optical imagery on horizontal or vertical direction be different, according to the principle, the structure light of light source 100
The size of barrier 400 and the position at place can accurately be measured.
Video mode is illustrated below.
Refer to the optical filtering that Fig. 3 b and Figure 10, Fig. 3 b are multifunctional vision sensors in first embodiment of the present utility model
Structural representation when the first optical filter is in the second operating position in piece changeover module, Figure 10 is first of the present utility model
Course of work schematic diagram when multifunctional vision sensor is in video mode in embodiment.When the multifunctional vision sensor
During in video mode, first optical filter 222 is located at second operating position 2222, now, through hole 2211 and camera lens
Hole 227 is alignd, i.e. the optical axis and described image inductor coaxial of through hole 2211 and the camera lens so that in detected space can
See that light enters the image inductor 230 of imaging device 200, i.e., the visible ray that the barrier 400 in detected space reflects enters into
As device 200, the optical imagery of the barrier 400 is formed on image inductor 230, described image inductor 230 is by institute
Optical imagery is stated to be converted to image electronic signal and send the processor 300 to (it is of course also possible to by processor by the light
Learn image and be converted to image electronic signal or other kinds of data), the processor 300 sends described image electronic signal
To host computer, the host computer refer to control using the terminal of the processor 300 or other have operation or control ability portion
Part.In the video mode, light source 100 can be stopped, into image inductor 230 be in detected space it is a wide range of in
Ambient light, ambient light passes through through hole 2211, needs not move through the first optical filter 222 and is filtered, so as to form more complete environment
Picture, is converted into being more beneficial for monitoring of the user to environment after vision signal.
It can be seen that, it is described when the multifunctional vision sensor is in distance measurement mode in the present embodiment (one embodiment)
Light source launches the structure light for measurement distance to detected space, and first optical filter is located at first operating position, institute
Camera lens, first optical filter and described image inductor are stated in same optical axis, can prevent to disturb the light of the structure light
Line exposes to described image inductor, so that the structure light of the barrier reflection in detected space is irradiated to image inductor,
Do not disturbed by other light, accurately measure and calculate the barrier in detected space to the depth distance of light source, so that
Host computer can create the environmental map of detected space according to this, realize navigation feature；
Again because first optical filter has the second operating position, and the slide plate can be slided, when the described first filter
When mating plate slides into second operating position, first optical filter staggers with described image inductor, so as to enter described
The light of imaging device is shone directly on described image inductor without first optical filter, so that detected space
Visible ray enters image inductor on a large scale, a wide range of space progress image of detected space is shown, so as to realize video
Monitoring function.Therefore, the vision sensor realizes two kinds of navigation and video using using same camera lens and image inductor
Function, simplifies structure design, saves material and reduces cost.
It is multifunctional vision sensor in second embodiment of the present utility model to refer to Figure 11 a and Figure 11 b, Figure 11 a
Structural representation when being in operating position of the second optical filter of optical filter switching component, Figure 11 b are of the present utility model the
Knot when the second optical filter of the optical filter switching component of multifunctional vision sensor is in off-position in two embodiments
Structure schematic diagram.Many work(in the 26S Proteasome Structure and Function and first embodiment of multifunctional vision sensor in the present embodiment (second embodiment)
The 26S Proteasome Structure and Function of energy vision sensor is essentially identical, and difference is：The filter of the multifunctional vision sensor of the present embodiment
The second optical filter 226, second optical filter 226, the through hole are additionally provided with the slide plate 221 of mating plate changeover module 220
2211 and the three of the first optical filter 222 side by side, second optical filter 226 be used for end infrared light.Described second filters
Piece 226 has operating position and off-position (not indicated in figure), when second optical filter 226 and camera aperture 227 are coaxial,
When i.e. described second optical filter 226 is with 210 same optical axis of camera lens, second optical filter 226 is in operating position, this
When, the light for inciding imaging device 200 from detected space is filtered by the second optical filter 226, prevents infrared ray from entering imaging
The image inductor 230 of device 200, so as to filter out interference of the infrared ray to visual light imaging.In the present embodiment, on daytime or
Under the sufficient video mode of ambient light, the second optical filter 226 is set to be in operating position, filtering environmental infrared light is done to visible ray
Disturb, so as to form the picture rich in detail of the barrier 400 on daytime.
It is understood that second optical filter 226 can be installed on the through hole 2211, so as to reduce the cunning of slide plate
Dynamic area.
It is understood that being also provided with the 3rd optical filter (not shown) on the slide plate 221, the 3rd filters
Piece be used for night during video mode in, filter out visible ray, only allow common Infrared irradiation to image inductor 230,
So as to form the picture rich in detail of the barrier 400 at night.
Embodiment of the present utility model also provides a kind of mobile robot with any of the above-described Multifunctional visual video sensor,
Indoor cleaning machine people for example for cleaning ground.
Figure 12 is referred to, Figure 12 is the structural representation of mobile robot in the 3rd embodiment of the present utility model.Institute
State mobile robot including robot body 10 and the central processing module 102 that is arranged on the robot body 10 and on
State any Multifunctional visual video sensor 101.The Multifunctional visual video sensor 101 is connected with central processing module 102.The machine
The display module 103 communicated to connect with central processing module 102, drive module 105, storage are additionally provided with device human agent 10
Module 106 and functional module (not shown).The functional module is the mould for the actual functional capability for realizing the mobile robot
Block, such as cleaning module.The central processing module 102 is used to control the Multifunctional visual video sensor 101, the display mould
Block 103, drive module 105, memory module 106 and functional module.The Multifunctional visual video sensor 101 is the center processing
The environmental map that module 102 creates detected space provides data foundation, and provides video letter for the monitoring function of mobile robot
Breath.The display module 103 is at least used for the image information (video information) for showing that Multifunctional visual video sensor 101 is obtained.Institute
Stating drive module 105 is used to drive the robot body 10 to move, for example, drive module 105 can be drive wheel assemblies.Deposit
Storage module 106 is used to store data or information that central processing module 102 is received or formed, for example, Multifunctional visual video sensor
101 images sended over or video information, or the map that central processing module 102 is created.
The mobile robot is set to navigation pattern and monitoring mode, and the navigation pattern and monitoring mode can be with
Respectively by different (not shown) startups of button, the button can be arranged at the surface of the robot body 10, also may be used
To be arranged on remote control or intelligent terminal, when pressing navigation mode key, central processing module 102 receives startup navigation mould
The instruction of formula, so as to start navigation pattern, similarly, when pressing monitoring mode button, central processing module 102 receives startup prison
The instruction of control pattern, so as to start monitoring mode.
The lead 229 of the magnet coil 224 of the optical filter switching component 220 of Multifunctional visual video sensor 101 is connected to institute
Central processing module 102 is stated, when central processing module 102 receives the instruction for starting navigation pattern or starting monitoring mode,
Control is applied to sense of current on the magnet coil 224, magnet coil 224 is driven the driving lever 225 to correct
Direction is moved, and the driving lever 225 drives the slide plate 221 to slide, so as to realize first optical filter or second optical filtering
The position switching of piece.
Please refer to Figure 12 and Fig. 1 to Figure 11 b.When the mobile robot starts navigation pattern, the centre
Reason module 102 controls the optical filter switching component 220 that first optical filter 222 is placed in into first operating position
2221, first optical filter 222 is in same optical axis, and the center processing mould with camera lens 210 and image inductor 230
Block 102 controls the light source 100 to environment (i.e. above-mentioned detected space) emitting structural light, and the structure light is by the obstacle in environment
Thing reflexes to imaging device 200, and the structure light is filtered by first optical filter 222 in imaging device 200, filtered out
Other light of the structure light are disturbed, the structure light is exposed on image inductor 230, optical imagery is formed.Institute
The processor 300 for stating multifunctional vision sensor 101 calculates the barrier to imaging dress according to the data of the optical imagery
Depth distance between putting, and the depth distance of the data of the optical imagery and the barrier is sent to the centre
Manage module 102 so that the central processing module builds the map of the environment and is the Mobile Robotics Navigation, it is described in
The map of the structure can be stored in the memory module 106 by centre processing module, be called during for using.When the map
After foundation, central processing module 102 can be the mobile route that the mobile robot plans operation according to the map, and
The drive module 102 is controlled to drive the robot body 10 to be moved along the mobile route and carry out operation.
When the mobile robot starts monitoring mode, the central processing module 102 controls the optical filter to switch
First optical filter 222 is placed in second operating position 2222 by component 220, make the first optical filter 222 and camera lens 210 and
Image inductor 230 staggers, and makes the through hole 2211 or transparent glass sheet with camera lens 210 and image inductor 230 same
On optical axis；In order to save energy consumption, the central processing module 102 controls the stopping of the light source 100 emitting structural light (to be appreciated that
, in other embodiments, light source can continue to emitting structural light)；Light (being generally visible ray) in environment is through obstacle
Thing is reflected into imaging device 200, and enters image inductor 230 all by leading to, 2211, forms complete optical imagery,
The view data of the optical imagery is transferred to the center and handled by the processor 300 of the multifunctional vision sensor 101
Described image data are converted to vision signal by module 102, central processing module 102, and by the video signal transmission to institute
Display module 103 is stated, the display module 103 is used for the video for showing the environment (detected space), realizes monitoring function.Institute
The memory module can be stored in by stating video, be called during for needing.
I.e.：When the mobile robot starts navigation pattern, the multifunctional vision sensor is in distance measurement mode, when
When the mobile robot starts monitoring mode, the multifunctional vision sensor is in video mode.
Specifically, the processor 300 is according to the pixel displacement of the optical imagery, the light source 100 and the imaging
Barrier is between the light source 100 in the certain positional relationship of device 230 and the focal length calculating environment of camera lens 210
Depth distance.
In one embodiment, the monitoring mode of the mobile robot can also include Night and daytime mould
Formula.When the mobile robot is in daytime pattern, second optical filter 226 is in operating position, i.e. the second optical filter 226
The light being in camera lens 210 and image inductor in same optical axis, environment passes through described second when entering in imaging device 200
Common infrared light in optical filter 226, filtering environmental, prevents infrared light from disturbing visual light imaging quality, so as to be formed clearly
Optical imagery.Similarly, when the mobile robot is in Night, the 3rd optical filter (not shown) and camera lens are set
210 and image inductor be in same optical axis, the light in environment enters after imaging device 200 through the 3rd optical filter, filter
Except visible ray, only allow common Infrared irradiation to image inductor 230, thus night formed environment in barrier it is clear
Clear image, improves video monitoring quality.
It can be seen that, the mobile robot of the present embodiment (3rd embodiment) is realized using same camera lens and image inductor
Navigation and two kinds of functions of video monitoring, without increasing a camera lens and an image sense in addition because of increase video monitoring function
Device is answered, the structure design of mobile robot is simplified, material is saved, reduces cost.
Figure 13 is referred to, Figure 13 is the structural representation of mobile robot in the 4th embodiment of the present utility model.This
The structure and function of mobile robot described in embodiment (the 4th embodiment) and the mobile robot described in 3rd embodiment
Structure and function it is essentially identical, difference is：The display module 103 of the mobile robot of the present embodiment is arranged at and institute
The terminal 20 of the separation of robot body 10 is stated, the robot body 10 also includes first communication module 104, and the terminal 20 is wrapped
The second communication module 201 being connected with the display module 103 is included, the first communication module 104 sends out the vision signal
The second communication module 201 is given, the video signal transmission is given the display module by the second communication module 201
103, to show the environmental aspect of the detected space.The terminal 20 can be can be with Remote such as mobile phone, computer
Machine.When the mobile robot stays at home operation, user be on duty or other it is outgoing in the case of, mobile phone can be passed through
The monitoring mode that APP enables the mobile robot checks the situation of family, the safety of remote monitoring family, and according to being seen
Situation the robot is suitably operated, safe ready.
It is understood that in another embodiment, the display module can include the first display sub-module and
Second display sub-module, first display sub-module is set on robot body 10, and second display sub-module is arranged at
In the terminal 20.
Embodiment of the present utility model also provides the control method of any of the above-described mobile robot.
Figure 14 is referred to, Figure 14 is that the flow of the control method of mobile robot described in embodiment of the present utility model is shown
It is intended to.The control method of the mobile robot is main by central processing module control, in one embodiment, the moving machine
The control method of device people at least includes step S100, S200, S300, S400, S500 and S600, it is necessary to explanation, these steps
Not necessarily run in the following sequence between rapid.
S100：Start navigation pattern, the first optical filter of multifunctional vision sensor is placed in the first operating position, makes it
With camera lens and image inductor in same optical axis.
In the present embodiment, start navigation instruction specifically, receiving, be that the magnet coil in optical filter switching component applies
First direction electric current, makes magnet coil drive slide plate movement, so that first optical filter on slide plate is towards just to the figure
As the direction movement of inductor, and then camera lens, first optical filter and described image inductor is set to be located in same optical axis.
S200：To detected space (i.e. environment) emitting structural light, so that structure light is reflected by the barrier in environment.
S300：The structure light reflected is entered imaging device, filtered through first optical filter, prevent interference institute
The light for stating structure light exposes to described image inductor, the structure light is formed optical picture on described image inductor
Picture；
That is, the structure light is irradiated to described image inductor by first optical filter, think multi-functional
Vision sensor calculates distance and provides accurate view data.
S400：The barrier is calculated to the depth distance for the light source for launching the structure light, the detected space is built
Environmental map, and navigated.
Specifically, closed according to the ad-hoc location of the pixel displacement of the optical imagery, the light source and the imaging device
The focal length of system and camera lens calculates the barrier to the depth distance between the light source.
S500：Monitoring mode is switched to, the first optical filter of multifunctional vision sensor is placed in the second operating position, made
Light into the imaging device is irradiated on described image inductor without first optical filter, forms optical picture
Picture；
Specifically, after navigation pattern switching to monitoring mode, light source can be made to stop emitting structural light, and be the filter
Magnet coil in mating plate changeover module applies second direction electric current, the second direction sense of current and the first direction
Sense of current is on the contrary, make magnet coil drive the slide plate to be moved toward opposite direction, so that first optical filter and institute
Image inductor is stated to stagger so that into the imaging device light shone directly into without first optical filter it is described
Image inductor.
That is, through hole is in same optical axis with camera lens and image inductor, the visible ray of the detected space is entered institute
State imaging device and without first optical filter, and the radiation of visible light is on described image inductor, so as to be formed
Complete optical imagery.
S600：The view data of the optical imagery is converted into vision signal, and be shown in display module or
It is stored in memory module.
In another embodiment, in the monitoring mode, during the daytime or in the case that ambient visible light is sufficient, by the
Two optical filters are placed in the position just to image inductor, make the camera lens, second optical filter and described image inductor position
In in same optical axis, to prevent infrared light from entering image inductor, so that it is during the daytime or ambient visible light is sufficient
In the case of avoid the interference of infrared light, form clearly image.
In the description of this specification, reference term " one embodiment ", " one embodiment ", " some embodiments ",
The description of " example ", " specific example " or " some examples " etc. means to combine specific features, the knot that the embodiment or example are described
Structure, material or feature are contained at least one embodiment of the present utility model or example.In this manual, to above-mentioned art
The schematic representation of language is not necessarily referring to identical embodiment or example.Moreover, description specific features, structure, material or
Feature can in an appropriate manner be combined in any one or more embodiments or example.
Embodiments described above, does not constitute the restriction to the technical scheme protection domain.It is any in above-mentioned implementation
Modifications, equivalent substitutions and improvements made within the spirit and principle of mode etc., should be included in the protection model of the technical scheme
Within enclosing.
Claims (11)
1. a kind of multifunctional vision sensor, it is characterised in that including the light source to detected space emitting structural light and the light
Source has the imaging device of certain positional relationship, and a processor being connected with the light source and the imaging device, it is described into
As device receives the visible ray or the structure light of the detected space, optical imagery is formed, the processor is used to handle institute
State the depth distance between barrier and the imaging device, institute in the view data and the calculating detected space of optical imagery
Stating imaging device includes camera lens, optical filter switching component and the image inductor being connected with the processor, and the optical filter is cut
Changing component includes moveable slide plate and the first optical filter being arranged on the slide plate, and first optical filter is used to prevent to do
The light for disturbing the structure light exposes to described image inductor, and first optical filter has the first operating position and the second work
Make position, when first optical filter is located at first operating position, first optical filter and the camera lens and described
Image inductor is in same optical axis, so that the structure light after the reflection of the barrier through detected space exposes to described image
Inductor, when first optical filter is located at second operating position, first optical filter and described image inductor
Stagger, so as to expose to the light of described image inductor without first optical filter.
2. multifunctional vision sensor as claimed in claim 1, it is characterised in that first operating position and described second
Operating position is set up in parallel, and the multifunctional vision sensor is set to include distance measurement mode and video mode；
When the multifunctional vision sensor is in distance measurement mode, first optical filter is located at the first operating position, described
The barrier that light source is launched to the detected space in the structure light, the detected space reflects the structure light, is reflected
The structure light be irradiated to described image inductor after first optical filter, form the optical picture of the barrier
Picture, the processor is according to the pixel displacement of the optical imagery, the certain positional relationship of the light source and the imaging device
And the focal length of camera lens calculates the barrier to the depth distance between the light source；
When the multifunctional vision sensor is in video mode, first optical filter is located at second operating position,
So that the radiation of visible light in detected space forms the tested sky to described image inductor on described image inductor
The optical imagery of interior barrier, described image inductor sends the view data of the optical imagery to the processing
Device, the processor will be sent to its host computer after described image data processing.
3. multifunctional vision sensor as claimed in claim 1 or 2, it is characterised in that the optical filter switching component is also wrapped
Load bearing seat, the magnet coil being arranged on the load bearing seat and the driving lever for connecting the slide plate and the magnet coil are included, it is described
Slide plate is arranged on the load bearing seat, when the magnet coil have electric current by when, the magnet coil drives the driving lever to move
Dynamic, the driving lever drives the slide plate to slide.
4. multifunctional vision sensor as claimed in claim 3, it is characterised in that be additionally provided with the slide plate and described
One optical filter through hole arranged side by side, when first optical filter is located at second operating position, the through hole and the camera lens
Optical axis and described image inductor coaxial.
5. multifunctional vision sensor as claimed in claim 4, it is characterised in that the second optical filtering is additionally provided with the slide plate
Piece, second optical filter is installed on the through hole, and second optical filter is transparent glass sheet or for ending infrared light
Optical filter.
6. a kind of mobile robot, during the mobile robot includes robot body and is arranged on the robot body
Entreat processing module, it is characterised in that the mobile robot also includes the multifunctional vision sensor described in claim 1, with
And display module, the multifunctional vision sensor and the display module communicate to connect with the central processing module, institute
Mobile robot is stated to be set to navigation pattern and monitoring mode；
When the mobile robot starts navigation pattern, first optical filter is located at first operating position, described many
The processor of function vision sensor sends the depth distance of described image data and the barrier to the center
Processing module, so that the central processing module builds the environmental map of the detected space and led for the mobile robot
Boat；
When the mobile robot starts monitoring mode, first optical filter is located at second operating position, described many
Described image data are transferred to the central processing module, the center processing mould by the processor of function vision sensor
Described image data are converted to vision signal by block, and give the display module, the display mould by the video signal transmission
Block is used for the video for showing the detected space.
7. mobile robot as claimed in claim 6, the multifunctional vision sensor is set to include distance measurement mode and regarded
Frequency pattern, when the mobile robot starts navigation pattern, the multifunctional vision sensor is in distance measurement mode, when described
When mobile robot starts monitoring mode, the multifunctional vision sensor is in video mode；
When the multifunctional vision sensor is in distance measurement mode, first optical filter is located at the first operating position, described
The barrier that light source is launched to the detected space in the structure light, the detected space reflects the structure light, at least portion
Divide the structure light reflected to be irradiated to described image inductor after being filtered through first optical filter, form the barrier
Optical imagery, the processor is specific with the imaging device according to pixel displacement, the light source of the optical imagery
The focal length of position relationship and camera lens calculates the barrier to the depth distance between the light source；
When the multifunctional vision sensor is in video mode, first optical filter is located at second operating position,
So that the radiation of visible light in detected space forms the tested sky to described image inductor on described image inductor
The optical imagery of interior barrier, described image inductor sends the view data of the optical imagery to the processing
Device, the processor will be sent to the central processing module after described image data processing, the central processing module is by institute
State view data and be converted to vision signal.
8. mobile robot as claimed in claim 6, it is characterised in that the optical filter switching of the multifunctional vision sensor
Component also includes load bearing seat, the magnet coil being arranged on the load bearing seat and connects group of the slide plate and the magnet coil
Bar, the slide plate is arranged on the load bearing seat, when the magnet coil have electric current by when, the magnet coil drives described
Driving lever is moved, and the driving lever drives the slide plate to slide, and the magnet coil is electrically connected with the central processing module.
9. mobile robot as claimed in claim 8, it is characterised in that be additionally provided with and filtered with described first on the slide plate
Piece through hole or transparent glass sheet arranged side by side, when the mobile robot starts monitoring mode, the through hole or the transparent glass
Glass piece and the camera lens and described image inductor coaxial.
10. mobile robot as claimed in claim 9, it is characterised in that the second optical filter, institute are additionally provided with the slide plate
State through hole or the transparent glass sheet and second optical filter and the first optical filter three are arranged side by side, second optical filter
It is the optical filter for ending infrared light.
11. the mobile robot as described in any one of claim 6 to 10, it is characterised in that the display module be arranged at
The terminal of robot body's separation, the robot body also includes the first communication being connected with the central processing module
Module, the terminal includes the second communication module that is connected with the display module, and the first communication module is by the video
Signal is sent to the second communication module, and the video signal transmission is given the display module by the second communication module,
To show the situation of the detected space.
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| CN201621276211.9U CN206399422U (en) | 2016-11-25 | 2016-11-25 | Multifunctional vision sensor and mobile robot |
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| CN201621276211.9U CN206399422U (en) | 2016-11-25 | 2016-11-25 | Multifunctional vision sensor and mobile robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106382920A (en) * | 2016-11-25 | 2017-02-08 | 深圳悉罗机器人有限公司 | Multifunctional visual sensor, mobile robot and control method of mobile robot |
| CN108406854A (en) * | 2018-03-07 | 2018-08-17 | 深圳市东恒达智能科技有限公司 | A kind of robot visual sensor |
| CN110896468A (en) * | 2018-09-13 | 2020-03-20 | 郑州雷动智能技术有限公司 | Time information output system for depth camera equipment |
| CN115279170A (en) * | 2020-01-06 | 2022-11-01 | 苏州宝时得电动工具有限公司 | Automatic working system |
-
2016
- 2016-11-25 CN CN201621276211.9U patent/CN206399422U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106382920A (en) * | 2016-11-25 | 2017-02-08 | 深圳悉罗机器人有限公司 | Multifunctional visual sensor, mobile robot and control method of mobile robot |
| CN108406854A (en) * | 2018-03-07 | 2018-08-17 | 深圳市东恒达智能科技有限公司 | A kind of robot visual sensor |
| CN110896468A (en) * | 2018-09-13 | 2020-03-20 | 郑州雷动智能技术有限公司 | Time information output system for depth camera equipment |
| CN115279170A (en) * | 2020-01-06 | 2022-11-01 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN115279170B (en) * | 2020-01-06 | 2024-05-10 | 苏州宝时得电动工具有限公司 | Automatic working system |
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Address after: 518110, Longhua New District incubator building, 1301 sightseeing Road, Guanlan District, Longhua New District, Guangdong, Shenzhen province C901 Patentee after: Shenzhen flying mouse Power Technology Co., Ltd Patentee after: Shenzhen Silver Star Intelligent Technology Co.,Ltd. Address before: 518110, Longhua New District incubator building, 1301 sightseeing Road, Guanlan District, Longhua New District, Guangdong, Shenzhen province C901 Patentee before: Shenzhen Xiluo Robot Co.,Ltd. Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |