CN219289361U - Identification device and cleaning robot - Google Patents

Abstract

The utility model discloses an identification device and a cleaning robot, wherein the identification device comprises a face shell, a camera and a light supplementing lamp, wherein a containing space is formed on one side of the face shell, a containing groove is formed on the other side of the face shell, the camera is arranged in the containing space and is exposed out of the face shell, the light supplementing lamp is arranged in the containing groove, and a light filter is arranged on the face shell and is used for shielding at least part of light emitted by the light supplementing lamp, so that the light emitted by the light supplementing lamp and close to a working face can be shielded, the influence of the excessive light close to the working face on capturing of a complete image by the camera is avoided, the effect of the acquired image of the surrounding environment is better, and further the acquisition of the surrounding environment information is more accurate.

Description

Identification device and cleaning robot

Technical Field

The utility model relates to the technical field of intelligent home, in particular to an identification device and a cleaning robot.

Background

As technology has evolved, a variety of robots having intelligent systems, such as cleaning robots, have emerged that can automatically travel and perform cleaning or scavenging operations without user manipulation. In the process of moving, the robot is required to measure the distance between the robot and an obstacle through a distance measuring device, so that obstacle avoidance operation is performed. The distance measuring device can only detect the distance of the obstacle, and cannot identify the type of the obstacle, so that no accurate strategy can be made to influence the planning of the travelling route.

At present, a camera is arranged on a robot to acquire and analyze an image of an obstacle, so that the type of the obstacle can be identified, and an accurate strategy is made for the type of the obstacle. But the dependence of the camera on the environment is higher, for example, the influence of light on the use of the camera is larger, and when the light is darker, the effect of the camera for obtaining the obstacle image is poorer, so that the recognition accuracy of the obstacle is influenced. If the light supplementing lamp is added to supplement light to the camera, the light close to the working surface area is too bright, and the camera is affected to capture a complete image.

Disclosure of Invention

The utility model provides an identification device and a cleaning robot, which are used for solving the technical problem that a camera of the cleaning robot in the prior art acquires an image which is greatly influenced by ambient light.

In order to solve the technical problem, the technical scheme adopted by the utility model is to provide an identification device, which comprises:

a shell, wherein one side of the shell is provided with a containing space, and the other side is provided with a containing groove;

the camera is arranged in the accommodating space and exposed out of the face shell;

the light supplementing lamp is arranged in the accommodating groove, and the face shell is provided with a light filter which is used for shielding at least part of light rays emitted by the light supplementing lamp.

In a specific embodiment, the bottom surface of the accommodating groove is provided with a concave portion and a mounting portion which are arranged at intervals, the light supplementing lamp is arranged in the concave portion, part of the light supplementing lamp is exposed from the concave portion, the light filter is partially arranged in the mounting portion, and the other part of the light filter is exposed from the mounting portion and is used for shielding part of the exposed part of the light supplementing lamp.

In a specific embodiment, the face shell is made of an opaque material, the concave portion is used for shielding a part of the light supplementing lamp, the concave portion shields 10% -70% of the light emitting area of the light supplementing lamp, the optical filter is in a cuboid shape, the width of the optical filter in the horizontal direction is 0.5-3 mm, and the length of the exposed part of the optical filter in the vertical direction is 2-5 mm.

In a specific embodiment, the optical filter is disposed corresponding to a middle position of the light supplementing lamp.

In a specific embodiment, the light transmittance of the light beam emitted by the light filling lamp by the optical filter is 10% to 90%.

In a specific embodiment, the light transmittance of each part of the optical filter is the same; or alternatively

The optical filter comprises at least two optical filtering parts, and the light transmittance of the at least two optical filtering parts is different.

In a specific embodiment, the area of the optical filter is greater than or equal to the area of the light emitting surface of the light supplementing lamp, at least two kinds of the optical filtering parts include a first optical filtering part and two second optical filtering parts, the two second optical filtering parts are located at two sides of the first optical filtering part, and the light transmittance of the first optical filtering part is smaller than that of the second optical filtering part.

In a specific embodiment, the area of the optical filter is greater than or equal to the area of the light emitting surface of the light supplementing lamp, and the at least two optical filtering portions include a third optical filtering portion and a fourth optical filtering portion, the third optical filtering portion is located at the top of the fourth optical filtering portion, and the light transmittance of the third optical filtering portion is greater than the light transmittance of the fourth optical filtering portion.

In a specific embodiment, the area of the optical filter is greater than or equal to the area of the light emitting surface of the light supplementing lamp, and the at least two optical filtering parts include a fifth optical filtering part, a sixth optical filtering part and a seventh optical filtering part, wherein in the vertical direction, the sixth optical filtering part is arranged at a position above the fifth optical filtering part, the seventh optical filtering part is arranged between the fifth optical filtering part and the sixth optical filtering part, and in the horizontal direction, the seventh optical filtering part corresponds to the middle position of the light supplementing lamp;

the light transmittance of the sixth filtering part is greater than or equal to the light transmittance of the fifth filtering part, and the light transmittance of the fifth filtering part is greater than or equal to the light transmittance of the seventh filtering part.

In order to solve the technical problem, another technical scheme adopted by the utility model is to provide a cleaning robot, which comprises a cleaning robot main body and a recognition device arranged on the cleaning robot main body, wherein the cleaning robot main body is used for cleaning a working surface, and the recognition device is used for acquiring surrounding environment information of the cleaning robot.

The identification device comprises a face shell, a camera and a light supplementing lamp, wherein a containing space is formed on one side of the face shell, a containing groove is formed on the other side of the face shell, the camera is arranged in the containing space and exposed out of the face shell, the light supplementing lamp is arranged in the containing groove, and a light filter is arranged on the face shell and is used for shielding at least part of light emitted by the light supplementing lamp, so that the light emitted by the light supplementing lamp and close to a working surface can be shielded, the effect of capturing a complete image by the camera due to the fact that the light close to the working surface is too bright is avoided, the effect of capturing the image of the surrounding environment is better, and further the surrounding environment information is more accurately obtained.

Drawings

For a clearer description of the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:

FIG. 1 is a schematic perspective view of an embodiment of an identification device according to the present utility model;

FIG. 2 is a schematic view of an exploded view of an embodiment of an identification device of the present utility model;

FIG. 3 is an enlarged schematic view of a part of the construction of an embodiment of the identification device of the present utility model;

FIG. 4 is a schematic view of an exploded view of an embodiment of an identification device of the present utility model;

FIG. 5 is a schematic perspective view of another embodiment of the identification device of the present utility model;

FIG. 6 is a schematic view of an exploded view of another embodiment of the identification device of the present utility model;

FIG. 7 is an enlarged schematic view of a part of the structure of another embodiment of the identification device of the present utility model;

FIG. 8 is an enlarged schematic view showing an exploded state of a part of the structure of another embodiment of the identification device of the present utility model;

FIG. 9 is a schematic perspective view of another embodiment of an identification device according to the present utility model;

FIG. 10 is a schematic view of an exploded view of another embodiment of the identification device of the present utility model;

FIG. 11 is a schematic perspective view of another embodiment of the identification device of the present utility model;

FIG. 12 is a schematic view of an exploded view of another embodiment of the identification device of the present utility model;

FIG. 13 is an enlarged schematic view of a part of the structure of another embodiment of the identification device of the present utility model;

FIG. 14 is a schematic cross-sectional view of another embodiment of the identification appliance of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.

The terms "first," "second," and the like in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. And the term "and/or" is merely an association relation describing the association object, and indicates that three relations may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Referring to fig. 1 to 3, an embodiment of an identification device 10 of the present utility model includes a face shell 110, a camera 120 and a light supplementing lamp 130, where a receiving space 111 is formed on one side of the face shell 110, a receiving groove 112 is formed on the other side of the face shell 110, a bottom surface of the receiving groove 112 is a shielding surface 113, the camera 120 is disposed in the receiving space 111 and is exposed out of the face shell 110, the light supplementing lamp 130 is disposed in the receiving groove 112, the shielding surface 113 is used for shielding at least part of light emitted by the light supplementing lamp 130, so that light emitted by the light supplementing lamp 130 near a working surface can be shielded, the light near the working surface is prevented from being too bright to affect the camera 120 to capture a complete image, the effect of the acquired image of the surrounding environment is better, the acquisition of the surrounding environment information is more accurate, and the accuracy of identifying the obstacle is particularly beneficial.

In the embodiment of the utility model, the light supplementing lamp 130 is arranged at the bottom of the camera 120, that is, the light supplementing lamp 130 is arranged at one side of the camera 120 close to the working surface, so that a better light supplementing effect on the working surface environment can be achieved.

In other embodiments, the light supplement lamp 130 may be disposed on the top or the side of the camera 120, which is not limited herein.

In the embodiment of the present utility model, the light emitting surface of the light compensating lamp 130 may be rectangular, and the length direction of the light emitting surface of the light compensating lamp 130 extends along the horizontal direction, so that the range of the light emitted by the light compensating lamp 130 on the working surface is wider, and the camera 120 is convenient to obtain a clear image with a larger range.

In the embodiment of the present utility model, the shielding surface 113 is disposed obliquely downward with respect to the horizontal direction. Specifically, the height of the shielding surface 113 gradually decreases from one side to the other side of the face housing 110 (i.e., the surface of the face housing 110 faces the recess direction of the accommodating groove 112), so as to form the shielding surface 113 at the bottom of the light compensating lamp 130, and play a role in shielding the bottom of the light emitted by the light compensating lamp 130.

In the embodiment of the present utility model, both the top surface and the two side surfaces of the receiving groove 112 may be disposed in an inclined manner. For example, the top surface of the accommodating groove 112 may be disposed obliquely downward with respect to the horizontal direction, and in particular, the top surface gradually decreases in height from the surface of the face case 110 toward the recess direction of the accommodating groove 112. For example, two side surfaces of the receiving groove 112 may be disposed obliquely with respect to the vertical direction, and in particular, the two side surfaces of the receiving groove 112 gradually approach each other from the surface of the face case 110 toward the recess direction of the receiving groove 112. The light that light filling lamp 130 emitted can be convenient for out-spread to make the light filling scope to the environment near recognition device 10 bigger, the light filling effect is better, and the image that camera 120 obtained is clearer.

In the embodiment of the present utility model, the length of the shielding surface 113 is 0 to 10mm, for example, 5mm, 8mm or 10mm, from one side to the other side of the face housing 110, so that the shielding surface 113 can play a role of shielding the light emitted by the light supplement lamp 130.

In the embodiment of the present utility model, the size of the light emitting area of the light compensating lamp 130 covered by the shielding surface 113 is inversely related to the installation height value of the light compensating lamp 130, that is, the higher the installation height value of the light compensating lamp 130 is, the less and weaker the light emitted to the working surface is, so that the smaller the light emitting area of the light compensating lamp 130 is required to be shielded by the shielding surface 113, so as to achieve a better shielding effect.

In the embodiment of the utility model, the shielding surface 113 shields the light emitting area of the light compensating lamp 130 from 10% to 70%, for example, from 10%, 40% or 70%, so as to achieve a better shielding effect.

In the embodiment of the present utility model, the installation height value of the light supplement lamp 130 is 30mm to 70mm, for example, 30mm, 50mm or 70mm, which can provide a good light supplement effect for the surrounding environment of the identification device 10.

In the embodiment of the present utility model, the divergence angle of the light compensating lamp 130 ranges from 60 degrees to 150 degrees, for example, 60 degrees, 100 degrees, 150 degrees, etc., so that a better light compensating effect can be achieved for the surrounding environment of the recognition device 10.

In the embodiment of the present utility model, the size of the light emitting area of the light compensating lamp 130 covered by the shielding surface 113 is in a positive relation with the divergence angle of the light compensating lamp 130, that is, the larger the divergence angle of the light compensating lamp 130 is, the wider the range of light emitted by the light compensating lamp 130 is, so that the larger the light emitting area of the light compensating lamp 130 is required to be covered by the shielding surface 113, so as to achieve a better shielding effect.

In the embodiment of the present utility model, the cover 110 may further be provided with a shielding member 140, where the shielding member 140 is disposed on the shielding surface 113 and is located in the middle of the light supplementing lamp 130, so as to play a role in shielding the light emitted from the lower middle part of the light supplementing lamp 130, so as to avoid the influence of the light near the working surface being too bright and the center light being too exposed on capturing the complete image by the camera 120, and play a role in uniformly capturing the light of objects, for example, each position of the obstacle, so that the obtained effect of capturing the image of the object, for example, the obstacle is better, and is helpful for improving the accuracy of obtaining the surrounding environment information.

In the embodiment of the present utility model, the shielding member 140 is made of a non-transparent material, such as a metal material, a non-transparent plastic material, or the like.

In other embodiments, the shielding member 140 may be made of a translucent material, such as translucent plastic, without limitation.

In the embodiment of the utility model, the shielding member 140 may be arranged in a semicircular shape, and the radius of the shielding member 140 is 0.6mm to 1.5mm, for example, 0.6mm, 1mm or 1.5mm, so that the shielding member can shield the part of the light supplementing lamp 130, and a better shielding effect is achieved.

In other trials, the shielding member 140 may be provided in other shapes such as rectangular, circular, triangular, etc., without limitation.

In the embodiment of the utility model, the shielding element 140 and the face shell 110 can be integrally formed, so that the position of the shielding element 140 is more stable, and the shielding effect is prevented from being influenced by the movement of the shielding element 140.

In other embodiments, the shielding member 140 may be fixedly connected to the face housing 110 by means of adhesion, fastening, or other fixing methods, which are not limited herein.

In another embodiment, the shielding surface 113 may be provided with a recess (not shown), the light-compensating lamp 130 may be disposed in the recess, so that the light-compensating lamp 130 is more stable in the accommodating groove 112, and a portion of the light-compensating lamp 130 is exposed from the recess, so as to emit light outwards to realize the light-compensating function.

In the embodiment of the present utility model, the identification device 10 further includes two laser transmitters 150 and a laser receiver 160, where the two laser transmitters 150 are respectively disposed at two sides of the face shell 110, and are used to form cross line laser, so that accuracy of measuring distance can be improved, accuracy of obtaining surrounding environment information can be improved, and the laser receiver 160 is disposed at a middle part of the face shell 110 and near the camera 120, so as to be beneficial to receiving laser emitted by the laser transmitters 150 at two sides.

In the embodiment of the present utility model, the camera 120 and the laser receiver 160 are respectively disposed at two sides of the central axis of the face shell 110, so that the camera 120 can take pictures and the laser receiver 160 can receive laser.

In the embodiment of the present utility model, the light compensating lamp 130 is disposed at the bottom of the middle between the camera 120 and the laser receiver 160, specifically, the light compensating lamp 130 may be located on the central axis of the panel shell 110, so that the light emitted by the light compensating lamp 130 is more uniform, which is beneficial for the camera 120 to shoot a clearer and uniform image.

In the embodiment of the present utility model, the identification device 10 may further include indicator lights 170 respectively disposed on the face shell 110, where the indicator lights 170 are used to indicate whether the camera 120 works, so as to facilitate a user to determine whether the camera 120 works normally.

In the embodiment of the present utility model, the indicator light 170 may be disposed at the middle portion of the face housing 110, so as to facilitate the user's observation.

In this embodiment of the present utility model, the identification device 10 may further include a recharging signal receiver 180, where the recharging signal receiver 180 is configured to receive a recharging guiding signal transmitted by a base station (not shown in the figure), so that the cleaning robot can timely recharge the base station, and avoid the cleaning robot from staying in a half way due to electric quantity exhaustion.

In the embodiment of the present utility model, the number of recharging signal receivers 180 may be two, and the two recharging signal receivers 180 are respectively disposed at two sides of the indicator light 170, so that it is able to avoid that the recharging signal receivers 180 cannot receive recharging guiding signals in time due to the problems of angles and the like, and the reliability of the identification device 10 is enabled to be higher.

Referring to fig. 4, in the embodiment of the present utility model, the identification device 10 may further include a cover plate 114, where the cover plate 114 is disposed on the face shell 110, and can play a role in protecting the face shell 110 or the components exposed from the face shell 110 from water, dust, collision, etc.

In the embodiment of the present utility model, the cover 114 may be made of a transparent material, such as transparent plastic, so as to avoid blocking the camera 120 and the light compensating lamp 130.

Referring to fig. 5 to 7, another embodiment of the identification device 20 of the present utility model includes a face shell 210, a camera 220 and a light compensating lamp 230, wherein a receiving space 211 is formed on one side of the face shell 210, a receiving groove 212 is formed on the other side of the face shell, the camera 220 is disposed in the receiving space 211 and is exposed out of the face shell 210, the light compensating lamp 230 is disposed in the receiving groove 212, and a light filter 240 is disposed on the face shell 210, wherein the light filter 240 is used for shielding at least part of light emitted by the light compensating lamp 230, so that light emitted by the light compensating lamp 230 near a working surface can be shielded, the light near the working surface is prevented from being too bright to influence the camera 220 to capture a complete image, the effect of the acquired image of the surrounding environment is better, the acquisition of the surrounding environment information is more accurate, and the accuracy of identifying obstacles is particularly beneficial.

Referring to fig. 8, in the embodiment of the present utility model, the bottom surface of the accommodating groove 212 is provided with the recess 213 and the mounting portion 214 which are disposed at intervals, the light compensating lamp 230 is disposed in the recess 213, part of the light compensating lamp is exposed from the recess 213, the light filter 240 is partially disposed in the mounting portion 214, and the other part of the light compensating lamp is exposed from the mounting portion 214, so that the light compensating lamp 230 and the light filter 240 can be more stable in the accommodating groove 212 by disposing the recess 213 and the mounting portion 214.

In the embodiment of the present utility model, the filter 240 may be fixed in the mounting portion 214 by an interference fit, adhesion, or the like.

In other embodiments, the filter 240 may be fixed in the mounting portion 214 by other fixing methods such as a buckle, which is not limited herein.

In another embodiment, the optical filter 240 and the face shell 210 may be integrally formed, so that the position of the optical filter 240 is more stable, and the shielding effect is prevented from being affected due to movement of the optical filter 240.

In the embodiment of the present utility model, the face shell 210 is made of an opaque material, and the recess 213 is used for shielding a portion of the light compensating lamp 230, so as to further play a role in shielding the light emitted by the light compensating lamp 230.

In the embodiment of the utility model, the light emitting area of the light compensating lamp 230 is 10% to 70%, for example, 10%, 40% or 70%, which is blocked by the concave portion 213, so that a better blocking effect can be achieved.

In the embodiment of the utility model, the light supplementing lamp 230 is arranged at the bottom of the camera 220, that is, the light supplementing lamp 230 is arranged at one side of the camera 220 close to the working surface, so that a better light supplementing effect on the working surface environment can be achieved.

In other embodiments, the light filling lamp 230 may also be disposed on the top or side of the camera 220, which is not limited herein.

In the embodiment of the present utility model, the light emitting surface of the light compensating lamp 230 may be rectangular, and the length direction of the light emitting surface of the light compensating lamp 230 extends along the horizontal direction, so that the range of the light emitted by the light compensating lamp 230 on the working surface is wider, and the camera 220 can obtain a clear image with a larger range.

In the embodiment of the present utility model, the optical filter 240 is disposed at a position corresponding to the middle of the light-compensating lamp 230, so as to play a role in shielding the light emitted from the lower part of the light-compensating lamp 230, so as to avoid the influence of the over-bright light near the working surface and the over-exposure of the central light on the capturing of the complete image by the camera 220, play a role in uniformly capturing the object, such as the light of each position of the obstacle, so that the obtained object, such as the image of the obstacle, has a better effect, and is helpful for improving the accuracy of identifying the obstacle.

In the embodiment of the present utility model, the optical filter 240 may be disposed in a cuboid, and the length direction of the optical filter 240 extends along the vertical direction (as shown in fig. 5), so as to better block the light emitted by the light-compensating lamp 230.

In other embodiments, the filter 240 may be provided in other shapes such as a circle, a semicircle, or a triangle, which is not limited herein.

In the embodiment of the present utility model, the width of the optical filter 240 along the horizontal direction (as shown in fig. 5) is 0.5mm to 3mm, for example, 0.5mm, 2mm or 3mm, so that the portion of the light compensating lamp 230 can be shielded, and a better shielding effect can be achieved.

In the embodiment of the utility model, the length of the exposed part of the optical filter 240 in the vertical direction is 2mm to 5mm, for example, 2mm, 3mm or 5mm, so that the part of the light supplementing lamp 230 can be shielded, and a better shielding effect is achieved.

In an embodiment of the present utility model, the filter 240 may be made of a translucent material, such as translucent plastic, translucent glass, etc., which is not limited herein.

In other embodiments, the filter 240 may also be made of a non-transparent material, such as a metal material, a non-transparent plastic material, etc.

In the embodiment of the present utility model, the light transmittance of the light emitted by the light-compensating lamp 230 by the optical filter 240 may be 10% to 90%, for example, 10%, 50% or 90%, so as to better play a role in shielding the light emitted by the light-compensating lamp 230.

In the embodiment of the present utility model, the light transmittance of each part of the optical filter 240 is the same, so that the light filtering is more uniform.

In other embodiments, the optical filter 240 may also include at least two filtering portions, where the light transmittance of the at least two filtering portions is different, so as to be able to adapt to different filtering requirements.

In the embodiment of the present utility model, the identification device 20 further includes two laser transmitters 250, a laser receiver 260, an indicator light 270, a recharging signal receiver 280 and a cover plate (not shown in the drawings), wherein the structures of the laser transmitters 250, the laser receiver 260, the indicator light 270, the recharging signal receiver 280 and the cover plate are similar to those of the identification device 10 described above, and will not be repeated herein.

Referring to fig. 9 and 10, another embodiment of the identification device 30 of the present utility model includes a face housing 310, a camera 320, a light compensating lamp 330 and a light filter 340, wherein the structures of the face housing 310, the camera 320 and the light compensating lamp 330 are similar to those of the above-mentioned embodiment of the identification device 20, and will not be repeated herein.

In the embodiment of the present utility model, the area of the optical filter 340 is larger than or equal to the area of the light emitting surface of the light compensating lamp 330, the optical filter 340 includes at least two filtering portions (not shown in the figure), the at least two filtering portions include a first filtering portion and two second filtering portions, the two second filtering portions are located at two sides of the first filtering portion, the light transmittance of the first filtering portion is smaller than that of the second filtering portion, and since the light emitted by the light compensating lamp 330 is divergent light, the light of the middle portion is stronger, the light of the two sides is weaker, so that the light of the middle portion is filtered more after passing through the first filtering portion, the light of the two sides is filtered less after passing through the second filtering portion, so that the light emitted from the optical filter 340 is more uniform, and the light compensating effect is better.

In another embodiment, the area of the optical filter 340 is larger than or equal to the area of the light emitting surface of the light compensating lamp 330, the optical filter 340 includes at least two kinds of optical filtering portions (not shown in the drawings), the at least two kinds of optical filtering portions include a third optical filtering portion and a fourth optical filtering portion, the third optical filtering portion is located at the top of the fourth optical filtering portion, the light transmittance of the third optical filtering portion is larger than that of the fourth optical filtering portion, and the light emitted by the light compensating lamp 330 near the bottom (i.e. near the working surface) is easy to cause the light to be too bright to affect the camera to capture the complete image, so that the light at the bottom is filtered more after passing through the fourth optical filtering portion, and the light effect caused by the light emitted from the optical filter 340 can be further reduced.

In another embodiment, the area of the filter 340 is greater than or equal to the area of the light emitting surface of the light supplementing lamp 330, the filter 340 includes at least two types of filter portions (not shown in the figure), the at least two types of filter portions include a fifth filter portion, a sixth filter portion and a seventh filter portion, in the vertical direction, the sixth filter portion is disposed above the fifth filter portion, the seventh filter portion is disposed between the fifth filter portion and the sixth filter portion, and in the horizontal direction, the seventh filter portion corresponds to the middle position of the light supplementing lamp 330, the transmittance of the sixth filter portion is greater than or equal to the transmittance of the fifth filter portion, the transmittance of the fifth filter portion is greater than or equal to the transmittance of the seventh filter portion, because the light emitted by the light supplementing lamp 330 is divergent, the light of the middle portion is stronger, the surrounding light is weaker, and the light emitted by the light supplementing lamp 330 near the bottom (i.e. near the working surface) is easy to cause the light to filter and affect the image captured by the head, therefore the light passing through the seventh filter portion in the middle portion is filtered more, the light passing through the bottom is more filtered and the fifth filter portion is less uniform and the light passing through the filter 340 is able to pass the light passing through the top and the light passing through the filter more uniformly.

Referring to fig. 11 and 12, another embodiment of the identification device 40 of the present utility model includes a panel shell 410, a camera 420 and a light compensating lamp 430, wherein a receiving space 411 is formed on one side of the panel shell 410, the camera 420 is disposed in the receiving space 411 and is exposed out of the panel shell 410, the light compensating lamp 430 is disposed on one side of the panel shell 410 opposite to the receiving space 411, and a central optical axis of the light compensating lamp is inclined relative to a horizontal direction, so that light rays, which are emitted by the light compensating lamp 430 and are close to a working surface, can be blocked by the panel shell 410, the light rays, which are close to the working surface, are prevented from being too bright to influence the camera 420 to capture a complete image, so that the obtained image of the surrounding environment has a better effect, further, the surrounding environment information is obtained more accurately, and the accuracy of obstacle identification is particularly facilitated to be improved.

Referring to fig. 13 and 14 together, in the embodiment of the present utility model, the central optical axis of the light compensating lamp 430 is inclined downward with respect to the horizontal direction, so that the light emitted by the light compensating lamp 430 can be blocked by the panel case 410.

In the embodiment of the present utility model, the central optical axis of the light compensating lamp 430 is inclined downward by an angle of 5 ° to 15 °, for example, 5 °, 10 °, 15 °, etc., with respect to the horizontal direction, so that the panel shell 410 can have a better shielding effect.

In the embodiment of the present utility model, the light compensating lamp 430 is mounted on the panel 410 in a downward inclined manner by 5 ° to 15 ° (e.g., 5 °, 10 ° or 15 °) with respect to the vertical direction, so that the panel 410 can have a better shielding effect.

In the embodiment of the present utility model, the angle value of downward inclination of the central optical axis direction of the light compensating lamp 430 relative to the horizontal direction is in a positive relationship with the installation height of the light compensating lamp 430, that is, the higher the installation height of the light compensating lamp 430 is, the larger the angle value of downward inclination of the central optical axis direction of the light compensating lamp 430 relative to the horizontal direction is, the more light is blocked, and the smaller the influence caused by the excessive light close to the working surface is.

In the embodiment of the present utility model, the angle value of downward inclination of the central optical axis direction of the light compensating lamp 430 relative to the horizontal direction is in a positive relationship with the intensity of the light reflected by the working surface, that is, the larger the intensity of the light reflected by the working surface is, the larger the angle value of downward inclination of the central optical axis direction of the light compensating lamp 430 relative to the horizontal direction is, the more the light is blocked and the smaller the influence of the light reflected by the working surface is.

In the embodiment of the present utility model, one of the face housing 410 and the light compensating lamp 430 is provided with a rotating shaft (not shown in the figure), and the other is provided with a rotating connection part, and the rotating shaft cooperates with the rotating connection part to realize the rotation of the light compensating lamp 430 in the vertical direction, so that the direction of the central optical axis of the light compensating lamp 430 can be flexibly changed according to different application scenarios, and the application range is wider.

In this embodiment of the present utility model, the recognition device 40 may further include a driver (not shown in the drawings), where the driver is disposed on the panel shell 410, and the light compensating lamp 430 is connected to a driving end of the driver, and the driver is used to drive the light compensating lamp 430 to rotate in a vertical direction so as to change a direction of a central optical axis of the light compensating lamp 430, and the light compensating lamp is adjusted by the driver, so that accuracy is higher and automation degree is higher.

In other embodiments, the central optical axis direction of the light compensating lamp 430 may also be manually adjusted, which is not limited herein.

In the embodiment of the present utility model, the other side (the side facing away from the accommodating space 411) of the panel shell 410 is formed with the accommodating groove 412, the light compensating lamp 430 is disposed in the accommodating groove 412, the bottom surface of the accommodating groove 412 is the shielding surface 413, and the shielding surface 413 is used for shielding at least part of the light emitted by the light compensating lamp 430, so as to further improve the shielding effect of the panel shell 410.

In the embodiment of the present utility model, the area of the shielding surface 413 for shielding the light emitted by the light compensating lamp 430 is 20% to 50%, for example, 20%, 35% or 50%, so that the shielding effect of the panel shell 410 on the light compensating lamp 430 is better.

In the embodiment of the present utility model, the length of the shielding surface 413 is 0 to 10mm, for example, 5mm, 8mm or 10mm, from one side to the other side of the face housing 410, so that the shielding surface 413 can perform a better shielding function on the light emitted by the light compensating lamp 430.

In the embodiment of the present utility model, the identification device 40 further includes two laser transmitters 440, a laser receiver 450, an indicator light 460, a recharging signal receiver 470 and a cover plate (not shown in the drawings), wherein the structures of the laser transmitters 440, the laser receiver 450, the indicator light 460, the recharging signal receiver 470 and the cover plate are similar to those of the identification device 10 described above, and will not be repeated herein.

Referring to fig. 1, the cleaning robot embodiment of the present utility model includes a cleaning robot and an identification device 10 disposed on a cleaning robot main body, wherein the cleaning robot main body is used for cleaning a working surface, and the identification device 10 is used for acquiring surrounding environment information of the cleaning robot so as to facilitate the cleaning robot to realize functions of cleaning, obstacle avoidance, etc. According to the embodiment of the utility model, the light supplementing lamp 130 is arranged on the identification device 10 to supplement light to the surrounding environment of the cleaning robot, so that the image acquired by the camera 120 is clearer, at least part of light rays emitted by the light supplementing lamp 130 are shielded, the light rays which are emitted by the light supplementing lamp 130 and are close to the working surface can be shielded, the effect that the camera 120 captures a complete image due to the fact that the light rays which are close to the working surface are too bright is avoided, the effect of acquiring the image of the surrounding environment is better, and further, the acquisition of the information of the surrounding environment is more accurate.

In the embodiment of the utility model, the identification device 10 can be arranged on the front side of the cleaning robot main body, so that the surrounding environment of the cleaning robot can be better identified, and the cleaning robot can be assisted to travel, avoid obstacles and the like.

In other embodiments, the recognition device 10 may be disposed at the left side, the right side, the rear side, or the like of the cleaning robot body, which is not limited herein.

The foregoing description is only of embodiments of the present utility model, and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present utility model or directly or indirectly applied to other related technical fields are included in the scope of the present utility model.

Claims (10)

1. An identification device, comprising:

a shell, wherein one side of the shell is provided with a containing space, and the other side is provided with a containing groove;

the camera is arranged in the accommodating space and exposed out of the face shell;

the light supplementing lamp is arranged in the accommodating groove, and the face shell is provided with a light filter which is used for shielding at least part of light rays emitted by the light supplementing lamp.

2. The identification device according to claim 1, wherein a concave portion and a mounting portion are formed in a bottom surface of the accommodating groove at intervals, the light supplementing lamp is disposed in the concave portion, part of the light supplementing lamp is exposed from the concave portion, the light filter is disposed in the mounting portion, and the other part of the light filter is exposed from the mounting portion and is used for shielding part of the exposed part of the light supplementing lamp.

3. The recognition device according to claim 2, wherein the face housing is made of an opaque material, the concave portion is used for shielding a portion of the light supplementing lamp, the concave portion shields a light emitting area of the light supplementing lamp from 10% to 70%, the optical filter is in a rectangular parallelepiped shape, a width of the optical filter in a horizontal direction is 0.5mm to 3mm, and a length of an exposed portion of the optical filter in a vertical direction is 2mm to 5mm.

4. A recognition device according to claim 2 or 3, wherein the optical filter is provided corresponding to a central position of the light-compensating lamp.

5. The identification device of claim 1, wherein the light filter has a light transmittance of 10% to 90% for light emitted from the light supplement lamp.

6. The identification device of claim 1, wherein the light transmittance of each portion of the filter is the same; or alternatively

The optical filter comprises at least two optical filtering parts, and the light transmittance of the at least two optical filtering parts is different.

7. The recognition device of claim 6, wherein the area of the optical filter is greater than or equal to the area of the light emitting surface of the light compensating lamp, the at least two optical filter portions include a first optical filter portion and two second optical filter portions, the two second optical filter portions are located at two sides of the first optical filter portion, and the light transmittance of the first optical filter portion is smaller than the light transmittance of the second optical filter portion.

8. The recognition device of claim 6, wherein the area of the optical filter is greater than or equal to the area of the light emitting surface of the light compensating lamp, the at least two optical filter portions include a third optical filter portion and a fourth optical filter portion, the third optical filter portion is located at the top of the fourth optical filter portion, and the light transmittance of the third optical filter portion is greater than the light transmittance of the fourth optical filter portion.

9. The recognition device according to claim 6, wherein an area of the optical filter is larger than or equal to an area of a light emitting surface of the light compensating lamp, at least two of the optical filter portions include a fifth optical filter portion, a sixth optical filter portion, and a seventh optical filter portion, the sixth optical filter portion is disposed at a position above the fifth optical filter portion in a vertical direction, the seventh optical filter portion is disposed between the fifth optical filter portion and the sixth optical filter portion, and the seventh optical filter portion corresponds to a middle position of the light compensating lamp in a horizontal direction;

the light transmittance of the sixth filtering part is greater than or equal to the light transmittance of the fifth filtering part, and the light transmittance of the fifth filtering part is greater than or equal to the light transmittance of the seventh filtering part.

10. A cleaning robot, characterized by comprising a cleaning robot main body and a recognition device arranged on the cleaning robot main body, wherein the recognition device is as claimed in any one of claims 1 to 9, the cleaning robot main body is used for cleaning a working surface, and the recognition device is used for acquiring environmental information around the cleaning robot.

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