CN208355340U - A kind of sweeping robot and its camera light-supplementing system - Google Patents
A kind of sweeping robot and its camera light-supplementing system Download PDFInfo
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- CN208355340U CN208355340U CN201720748961.XU CN201720748961U CN208355340U CN 208355340 U CN208355340 U CN 208355340U CN 201720748961 U CN201720748961 U CN 201720748961U CN 208355340 U CN208355340 U CN 208355340U
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Abstract
A kind of sweeping robot and its camera light-supplementing system, comprising: camera, ambient light sensor, controller, drive module and light compensating lamp.Since the application acquires ground image using camera in real time, controller is recycled to be compared ground image brightness value with predetermined luminance value, when the difference of image brightness values and predetermined luminance value is greater than the threshold difference of setting, obtain the brightness value of current environment light, according to the brightness value, image brightness values and predetermined luminance value of environment light, the light filling for carrying out respective strengths, so that the light adaptation mended is adjustable in environment light, intensity.
Description
Technical field
This application involves sweeping robot fields, and in particular to a kind of sweeping robot and its camera light-supplementing system.
Background technique
Sweeping robot is called lazyboot's sweeper, is a kind of controlling intelligent household appliances that automatic dust absorption can be carried out to ground.Energy
By certain artificial intelligence, completes floor sweeping, dust suction in the room automatically and wipe ground work, ground sundries is received into entrance
The rubbish storage box of itself, completes the function of land clearing.
Existing sweeping robot detects barrier often through infrared induction or ultrasonic wave bionics techniques, to barrier into
Row is avoided, and by rubbish or suction or is swept or is wiped and clear up.Infrared transmission distance is remote, but has quite high want to use environment
Ask, when meeting light color or dark household objects, it can not be reflected, can not effective avoidance, will cause machine and household
Article collides；And robot can only be made to learn in front there is barrier using infrared detection, robot cannot be made quasi-
The specific location for determining barrier, can not make anticipation, effective avoidance in time.For ultrasonic wave, detection visual angle is smaller, by
Environmental disturbances are bigger, can't detect the short and tiny barrier in ground, easily lead to sweeping robot and wound by small objects,
Avoidance effect is bad, and ultrasonic wave module quantity need to additionally be increased by improving visual angle, so that higher cost.
If the quasi- location information progress avoidance using camera detection barrier, when camera collection image, work as environment
Light is insufficient, and the brightness of image of shooting is usually excessively dark, needs to carry out light filling.For existing camera light compensation method, often through
A reference value is set, when environmental light brightness is less than the reference value, with regard to carrying out light filling, such mode does not add concrete condition
With difference, light filling intensity is often fixed brightness, the phenomenon that excessive light filling easily occurs.
Summary of the invention
The application provides a kind of sweeping robot and its camera light-supplementing system, and the image for avoiding camera from shooting occurred
The phenomenon that spending light filling, when light filling, so that the light adaptation mended is adjustable in environment light, intensity.
According to the application in a first aspect, the application provides a kind of sweeping robot camera light-supplementing system, comprising: camera shooting
Head, ambient light sensor, controller, drive module and light compensating lamp；
The camera for acquiring ground image in real time；
The ambient light sensor is connected with controller, for acquiring the brightness value information of current environment light；
The controller is connected with camera, for comparing camera collected ground image brightness value and pre- in real time
If brightness value, when the difference of image brightness values and predetermined luminance value is greater than the threshold difference of setting, the bright of current environment light is obtained
Angle value calculates driving current value according to the brightness value, image brightness values and predetermined luminance value of current environment light；
The drive module is connected with controller, light compensating lamp, according to the driving current value size that controller exports, driving
The infrared light of light compensating lamp sending corresponding bright.
In some embodiments, light compensating lamp includes the left light filling for being respectively arranged at the camera lens horizontal radial direction two sides of camera
Lamp and right light compensating lamp, wherein left light compensating lamp and right light compensating lamp are infrared lamp.
In some embodiments, the luminous visual angle of left light compensating lamp is identical as the luminous visual angle of right light compensating lamp, is greater than or equal to camera
Shooting visual angle.
In some embodiments, the controller is also used to set when the difference of described image brightness value and predetermined luminance value is greater than
When fixed threshold difference, daylighting order is exported to ambient light sensor；The ambient light sensor is also used to be ordered according to the daylighting
It enables, acquires the brightness value information of current environment light, and send it to controller.
In some embodiments, the controller includes: first comparator, the second comparator and route marker；
First comparator positive input terminal connects camera, incoming image brightness value signal, and negative input end accesses predetermined luminance
Value signal；
Second comparator positive input terminal connects first comparator output end, the difference of incoming image brightness value and predetermined luminance value
Value signal, the threshold value difference signal of negative input end access setting, the difference and if only if image brightness values and predetermined luminance value are greater than
When the threshold difference of setting, significant level is exported；
Route marker first input end connects the second comparator output terminal, when route marker first input end accesses significant level
When, the second input terminal of route marker incoming image brightness value signal and predetermined luminance value signal, route marker third output end access ring
The brightness value signal of the current environment light of border optical sensor acquisition, according to the brightness value of current environment light, image brightness values and pre-
If brightness value, calculates and export corresponding driving current.
According to the application second aspect, the application provides a kind of sweeping robot characterized by comprising such as the application
Sweeping robot camera light-supplementing system described in first aspect.
Having the beneficial effect that for the application acquires ground image using camera due to the application in real time, recycles controller
Ground image brightness value is compared with predetermined luminance value, when the difference of image brightness values and predetermined luminance value is greater than setting
When threshold difference, the brightness value of current environment light is obtained, according to the brightness value, image brightness values and predetermined luminance value of environment light, into
The light filling of row respective strengths, so that the intensity of light filling is adjustable, is adapted to environment light.
Detailed description of the invention
Fig. 1 is a kind of sweeping robot camera light-supplementing system structure chart；
Fig. 2 is the camera and light compensating lamp schematic diagram of a kind of embodiment；
Fig. 3 is the camera shooting visual angle and light filling area schematic diagram of a kind of embodiment；
Fig. 4 is a kind of controller structure diagram of embodiment；
Fig. 5 is a kind of course of work schematic diagram of sweeping robot camera light-supplementing system.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.Wherein different embodiments
Middle similar component uses associated similar element numbers.In the following embodiments, many datail descriptions be in order to
The application is better understood.However, those skilled in the art can recognize without lifting an eyebrow, part of feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please it is relevant it is some operation there is no in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, these relevant operations, which are described in detail, not to be necessary, they
Relevant operation can be completely understood according to the general technology knowledge of description and this field in specification.
It is to detect obstacle according to image information using camera collection image for the sweeping robot of the application
Object determines the location information of barrier and detects the short and tiny object in ground, therefore, not to the brightness requirement of image
Special height, in some cases can not light filling, it is enough as long as it can distinguish barrier from image.Moreover, sweeping the floor
Robot work is dependent on internal battery, and charging is primary, and electric energy is specified, if as in the state of the art, working as environment
When brightness is less than the reference value, indiscriminate light filling is just carried out, the waste of electric energy is be easy to cause, reduces the work of robot
Also easily there is excessive light filling in time, so that image exposure is excessive, leads to not distinguish barrier from image, to robot
Avoidance has an impact.
In the embodiment of the present application, a kind of sweeping robot camera light-supplementing system, method and readable storage medium are provided
Matter first compares ground image brightness values A and predetermined luminance value B, and as A-B > C, (C is the threshold difference of setting, and expression can be from image
The middle brightness of image critical value for distinguishing barrier), it may cause when can not distinguish barrier from image, take light filling measure,
As A-B≤C, indicate that captured brightness of image although slightly insufficient, can clearly distinguish barrier from image, this
When, without light filling, electric energy can be saved, also can avoid light compensating lamp occur being frequently used the problem of leading to device failure.
Referring to FIG. 1, a kind of sweeping robot camera light-supplementing system structure chart, the system include: camera 1, environment
Optical sensor 5, controller 4, drive module 3, light compensating lamp 2.
Camera 1 for acquiring ground image in real time.
Ambient light sensor 5 is connected with controller 4, for acquiring the brightness value information of current environment light.
Controller 4 is connected with camera 1, for comparing the collected ground image brightness value A and pre- in real time of camera 1
If brightness value B, when image brightness values and the difference A-B of predetermined luminance value are greater than the threshold difference C of setting, current environment light is obtained
Brightness value D the drive of drive module 3 is calculated according to the brightness value D, image brightness values A and predetermined luminance value B of current environment light
Streaming current value i.
Drive module 3 is connected with controller 1, light compensating lamp 2, according to controller 1 export driving current value i size,
Light compensating lamp 2 is driven to issue the infrared light of corresponding bright.
It can be seen that the application first passes through the acquisition ground image in real time of camera 1, recycle controller 4 by ground image
Brightness value A is compared with predetermined luminance value B, is greater than the threshold value of setting in image brightness values and the difference A-B of predetermined luminance value
When poor C, the brightness value D of current environment light is obtained, according to the brightness value D, image brightness values B and predetermined luminance value A of environment light, into
The light filling of row respective strengths.
As shown in Fig. 2, in some embodiments, light compensating lamp 2 includes the camera lens horizontal radial side for being respectively arranged at camera 1
To the left light compensating lamp 21 and right light compensating lamp 22 of two sides.Wherein, left light compensating lamp 21 and right light compensating lamp 22 are infrared lamp, lower mask body
Explanation.
It should be pointed out why the light compensating lamp of the application uses infrared lamp, be because of existing visible light light compensating lamp,
It is relatively good to dark surrounds light filling effect, but to bright environment, when environment illumination intensity is preferable, it is easy to appear overexposure phenomenon, is made
Can not from image cognitive disorders object.In addition, why the application uses two light compensating lamps, i.e., left light compensating lamp 2 and right light filling
Lamp 3, and the camera lens horizontal radial direction two sides of camera 1 are respectively arranged at, it is because single light compensating lamp easily causes light filling not
Equal problem, and be to acquire ground image and distinguished from image by the acquisition image of camera 1 because of sweeping robot
Other barrier carries out light filling to horizontal direction, therefore two light compensating lamps are respectively arranged at if necessary to light filling
The camera lens horizontal radial direction two sides of camera 1, meet the needs of sweeping robot camera light filling enough, can not set
Set more than two light compensating lamps.
As shown in figure 3, in one embodiment, left light compensating lamp 21 visual angle and right light compensating lamp 22 visual angle that shines that shines is identical,
It is indicated with α, α is greater than or equal to the shooting visual angle β of camera 1.In a particular embodiment, camera 1 is common CMOS camera lens,
Its diameter is no more than 15mm；Left light compensating lamp 21 is symmetrically disposed on 1 two sides of camera with right light compensating lamp 22, at a distance from camera 1
No more than 2mm, therefore, the light overlay region (i.e. light filling area) and camera 1 of left light compensating lamp area of illumination and right light compensating lamp area of illumination
Shooting visual angle range it is essentially identical, realize light filling when, uniform illumination.
In some embodiments, controller 4 is also used to be greater than setting when image brightness values and the difference A-B of predetermined luminance value
Threshold difference C when, to ambient light sensor 5 export daylighting order.Ambient light sensor 5 is also used to according to daylighting order, acquisition
The brightness value information of current environment light, and send it to controller 4.In this way, which ambient light sensor 5 is only needing light filling
When, it is connected to the brightness value information for acquiring current environment light after daylighting order again, can not be in running order always, not only favorably
In the working time for saving energy increase robot, also can avoid occurring leading to device because ambient light sensor 5 works long hours
The problem of damage.
With reference to Fig. 4, in some embodiments, controller 4 includes: first comparator 41, the second comparator 42 and route marker
40。
41 positive input terminal of first comparator connects camera 1, incoming image brightness value signal A, and negative input end access is preset
Brightness value signal B；
Second comparator, 42 positive input terminal connects 41 output end of first comparator, incoming image brightness value and predetermined luminance value
Difference signal A-B, the threshold value difference signal C of negative input end access setting, and if only if image brightness values and predetermined luminance value
When difference is greater than the threshold difference of setting, significant level is exported；
40 first input end of route marker connects 42 output end of the second comparator, when the access of 40 first input end of route marker is effective
When level, 40 second input terminal incoming image brightness value signal A of route marker and predetermined luminance value signal B, 40 third of route marker are defeated
The brightness value signal D for the current environment light that outlet access environment optical sensor 5 acquires, according to the brightness value of current environment light, figure
Image brightness value and predetermined luminance value calculate using existing algorithm and export corresponding driving current i.In an embodiment, control
Device 4 first calculates the difference A-B of image brightness values and predetermined luminance value, further according to the sum of the brightness value of the difference and current environment light
A-B+D calculates the driving current value i of drive module 3.
In conclusion with reference to Fig. 5, a kind of sweeping robot camera light-supplementing system of the application, the course of work are as follows:
Firstly, acquiring ground image information in real time using camera 1；
Secondly, acquired image brightness value A is compared by controller 4 with predetermined luminance value B,
As the difference A-B≤C of the two, without light filling；
As the difference A-B > C of the two, light filling measure is taken, comprising: acquire current environment light using ambient light sensor 5
Brightness value D, controller 4 calculate driving current value further according to current environment shading value D, image brightness values A and predetermined luminance value B
I, size of the last drive module 3 according to driving current value i, the infrared light of the driving sending corresponding bright of light compensating lamp 2.
Correspondingly, present invention also provides a kind of sweeping robots, including sweeping the floor described in any one of above-described embodiment
Robot camera light-supplementing system.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (4)
1. a kind of sweeping robot camera light-supplementing system characterized by comprising camera, ambient light sensor, control
Device, drive module and light compensating lamp；
The camera for acquiring ground image in real time；
The ambient light sensor is connected with controller, for acquiring the brightness value information of current environment light；
The controller is connected with camera, for compare camera in real time collected ground image brightness value with preset it is bright
Angle value obtains the brightness value of current environment light when the difference of image brightness values and predetermined luminance value is greater than the threshold difference of setting,
According to the brightness value, image brightness values and predetermined luminance value of current environment light, driving current value is calculated；
The drive module is connected with controller, light compensating lamp, according to the driving current value size that controller exports, drives light filling
The infrared light of lamp sending corresponding bright；
The controller includes: first comparator, the second comparator and route marker；
First comparator positive input terminal connects camera, incoming image brightness value signal, and negative input end accesses predetermined luminance value letter
Number；
Second comparator positive input terminal connects first comparator output end, the difference letter of incoming image brightness value and predetermined luminance value
Number, the threshold value difference signal of negative input end access setting is greater than setting and if only if the difference of image brightness values and predetermined luminance value
Threshold difference when, export significant level；
Route marker first input end connects the second comparator output terminal, when route marker first input end accesses significant level, changes
The second input terminal of device incoming image brightness value signal and predetermined luminance value signal are calculated, route marker third output end access environment light passes
The brightness value signal of the current environment light of sensor acquisition, according to the brightness value, image brightness values and predetermined luminance of current environment light
Value, calculates and exports corresponding driving current.
2. the system as claimed in claim 1, which is characterized in that light compensating lamp includes the horizontal diameter of camera lens for being respectively arranged at camera
To the left light compensating lamp and right light compensating lamp of direction two sides, wherein left light compensating lamp and right light compensating lamp are infrared lamp.
3. system as claimed in claim 2, which is characterized in that the luminous visual angle of left light compensating lamp and the luminous visual angle phase of right light compensating lamp
Together, more than or equal to the shooting visual angle of camera.
4. a kind of sweeping robot characterized by comprising sweeping robot as claimed in any one of claims 1-3 is taken the photograph
As head light-supplementing system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720748961.XU CN208355340U (en) | 2017-06-26 | 2017-06-26 | A kind of sweeping robot and its camera light-supplementing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720748961.XU CN208355340U (en) | 2017-06-26 | 2017-06-26 | A kind of sweeping robot and its camera light-supplementing system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111063195A (en) * | 2019-11-19 | 2020-04-24 | 珠海市德宇辉煌信息科技有限公司 | License plate recognition device and system |
| CN114532919A (en) * | 2022-01-26 | 2022-05-27 | 深圳市杉川机器人有限公司 | Multi-mode target detection method and device, sweeper and storage medium |
| CN114680736A (en) * | 2020-12-29 | 2022-07-01 | 深圳乐动机器人有限公司 | Control method of cleaning robot and cleaning robot |
| CN117292399A (en) * | 2023-09-11 | 2023-12-26 | 广州市坤盛信息科技有限公司 | Device for recognizing wild protection animals by RGB (red, green and blue) cameras based on infrared light supplementing |
-
2017
- 2017-06-26 CN CN201720748961.XU patent/CN208355340U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111063195A (en) * | 2019-11-19 | 2020-04-24 | 珠海市德宇辉煌信息科技有限公司 | License plate recognition device and system |
| CN114680736A (en) * | 2020-12-29 | 2022-07-01 | 深圳乐动机器人有限公司 | Control method of cleaning robot and cleaning robot |
| CN114532919A (en) * | 2022-01-26 | 2022-05-27 | 深圳市杉川机器人有限公司 | Multi-mode target detection method and device, sweeper and storage medium |
| CN117292399A (en) * | 2023-09-11 | 2023-12-26 | 广州市坤盛信息科技有限公司 | Device for recognizing wild protection animals by RGB (red, green and blue) cameras based on infrared light supplementing |
| CN117292399B (en) * | 2023-09-11 | 2024-04-05 | 广州市坤盛信息科技有限公司 | Device for recognizing wild protection animals by RGB (red, green and blue) cameras based on infrared light supplementing |
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Effective date of registration: 20190121 Address after: Room 201, Building A, No. 1 Qianwan Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen Yuanfu Technology Co., Ltd. Address before: 518000 Nanshan Street Nanshan Avenue New Green Island Building 3A36, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Pusi Yingcha Technology Co. Ltd. |