WO2019165998A1

WO2019165998A1 - Self-moving device

Info

Publication number: WO2019165998A1
Application number: PCT/CN2019/076575
Authority: WO
Inventors: 何明明; 滕哲铭
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2018-02-28
Filing date: 2019-02-28
Publication date: 2019-09-06
Also published as: CN111406242A; CN111406242B

Abstract

Disclosed is a self-moving device (1000), comprising a main body (101) having a top wall (1010) and a bottom wall (1011); a control assembly for controlling the self-moving device (1000) so that same automatically cruises and performs work tasks in a work area; and an optical sensing assembly (102) disposed at a front portion of the main body (101) and located between the top wall (1010) and the bottom wall (1011), with a front side wall of the front portion being provided with an opening (103), wherein the optical sensing assembly (102) detects an image in front of the self-moving device (1000) through the opening (103) to provide reference information for the self-moving device (1000) when same is cruising. Since the self-moving device (1000) utilizes the optical sensing assembly (102) disposed inside the front opening (103) of the main body (101), it is possible to photograph more objects in front of and above the self-moving device (1000), and the field of view of the image that can be detected is wider and broader, thereby helping to locate and avoid obstacles and adjust walking strategies for the self-moving device (1000). Providing the optical sensing assembly (102) inside the opening (103) not only ensures that the optical sensing assembly (102) does not collide with external obstacles, but also avoids the interference of external ambient light by limiting the size of the opening (103), thereby improving the cruising ability of the self-moving device (1000).

Description

Self-mobile device

Technical field

The present invention relates to a self-mobile device, and in particular to a self-mobile device having an identification and positioning function.

Background technique

In the prior art, a general robot is a machine controlled by a computer having an electromechanical system. Mobile robots have the ability to move around in their environment and are not fixed to one physical location. At present, commonly used mobile robots adopt automated guided vehicles or Automated Guided Vehicles (AGVs). An AGV is typically considered to be a mobile robot that follows a marker or wire in the floor or uses a vision system or laser for navigation. Mobile robots can be used not only in industrial, military, and security environments, but they also appear as consumer products for entertainment or performing specific tasks such as lawn care, vacuum cleaning, and home assistance.

To achieve full autonomy, mobile robots typically need to have the ability to explore their environment without user intervention, build a reliable environmental map and locate itself within the map, and identify the environment. How to achieve the above functions more accurately and effectively has always been a problem to be studied.

Summary of the invention

To overcome the deficiencies of the prior art, the problem to be solved by the present invention is to provide a self-mobile device that can be effectively identified and located.

To solve the above technical problem, the technical solution of the present invention is: a self-mobile device, including:

a body having a top wall and a bottom wall;

a control component that controls automatic cruising from the mobile device in the work area and performs work tasks;

An optical sensing assembly disposed at a front portion of the body and located between the top wall and the bottom wall, the front front side wall being provided with an opening, the optical sensing component detecting an image from the front of the mobile device through the opening I think it provides reference information for cruising from mobile devices.

In a specific embodiment, the opening is provided with a transparent member, and the optical sensing component captures an image through the transparent member.

In a specific embodiment, the self-moving device includes a guard member, the optical sensing assembly being located within the guard member.

In a specific embodiment, a seal is provided between the opening and the optical sensing component.

In a specific embodiment, the optical sensing component has an angle of view of 45-100 degrees through the opening in the vertical direction.

In a particular embodiment, the central axis of the field of view of the vertical direction is substantially horizontal.

In a specific embodiment, the angle between the central axis of the vertical field of view and the horizontal line is ±15 degrees.

In a specific embodiment, the height of the opening in the vertical direction does not exceed 2/3 of the height of the front front side wall.

In a specific embodiment, the optical sensing component is disposed proximate to the front 20% of the front of the body.

In a specific embodiment, the optical sensing assembly includes a camera with a shooting direction disposed toward the opening.

In a specific embodiment, the camera's shooting direction is perpendicular to the opening.

In a specific embodiment, the center of the camera has a vertical distance from the opening of 2-5 CM.

In a specific embodiment, the optical sensing assembly includes a camera and a mirror, the mirror has a projection direction toward a photographing direction of the camera, and an incident direction of the mirror faces the opening.

In a specific embodiment, the mirror is located above the camera, the one end extension of the mirror intersects the top wall, and the angle formed near the opening is an obtuse angle.

In a specific embodiment, the obtuse angle is 100-130 degrees.

In a specific embodiment, the camera is mounted to the bottom wall.

In a specific embodiment, the camera is oriented at an acute angle to the top wall or to the top wall at an angle close to the opening.

In a specific embodiment, the camera's shooting direction and the mirror form an effective field of view of 35-65 degrees.

In a specific embodiment, the center of the mirror has a vertical distance from the opening of 3-6 CM.

In a specific embodiment, the bottom end of the mirror is perpendicular to the camera by a distance of 2-5 cm.

In a specific embodiment, the mirror has a vertical height of 4-8 cm.

In a specific embodiment, when the shooting direction of the camera and the top wall form an acute angle near the opening direction, the camera body intersects the bottom wall and forms an angle of 8-12 degrees near the opening direction. .

The invention has the beneficial effects that the self-moving device of the invention utilizes the optical sensing component disposed in the front opening of the main body, can recognize the object in the driving direction of the main body and capture more objects in front of and above the mobile device, so that the optical transmission The image detection range of the sensing component is wider and wider, which helps to locate, avoid obstacles and adjust the walking strategy of the mobile device. By setting the optical sensing component in the opening, the optical sensing component can not only be protected from external obstacles. Collision can also avoid the interference of external ambient light (such as sunlight) by limiting the size of the opening, and improve the cruising ability of the mobile device.

The present invention provides a technical solution for solving the above technical problems:

A self-mobile device comprising:

a body having a top surface and a bottom surface opposite the top surface;

A camera for photographing at a predetermined angle of view, the camera being mounted obliquely upward relative to the top surface such that the optical axis of the camera is at an acute angle to the top surface and the aiming direction of the camera is opposite the driving direction.

Further, the main body has a front portion in a driving direction, and an optical axis of the camera is projected at a position close to the front portion of the main body and within a range of 20% of the length value of the main body.

Further, the angle between the optical axis of the camera and the top surface ranges from 30 to 60 degrees.

Further, the angle between the optical axis of the camera and the top surface ranges from 40 to 50 degrees.

Further, the field of view of the camera spans a 90-120 degree truncated cone in a vertical direction.

Further, there is a convex structure above the top surface, and the camera is positioned within the protruding structure.

Further, the lens of the camera at least partially protrudes from the top surface.

Further, there is a recessed structure under the top surface, and the camera is positioned within the recessed structure.

Further, the lens of the camera does not protrude from the top surface.

The present invention provides another technical solution for solving the above technical problems:

A self-mobile device comprising:

a body having a top surface and a bottom surface opposite the top surface;

a camera for photographing at a predetermined angle of view, the camera being mounted obliquely upward relative to the top surface such that the optical axis of the camera is at an acute angle to the top surface, and the aiming direction of the camera is the same as the driving direction, the camera The field of view spans a 90-120 degree truncated cone in the vertical direction.

Further, the lens of the camera does not protrude from the top surface.

A self-mobile device comprising:

a body having a top surface and a bottom surface opposite the top surface;

A camera for photographing at a predetermined angle of view, the optical axis of the camera being perpendicular to the top surface, and the camera aiming direction provided with a mirror disposed at an acute angle to the top surface.

Further, the camera is mounted on a bottom surface, and the mirror is disposed above the camera and near the top surface.

Further, the angle between the mirror and the top surface ranges from 30 to 45 degrees.

Further, the field of view of the camera spans a 45-60 degree truncated cone in a vertical direction.

A self-mobile device comprising:

a body having a top surface, a bottom surface opposite the top surface, and a side wall connecting the top surface and the bottom surface, the body having a front portion in a driving direction and a rear portion opposite the front portion;

a camera for photographing at a predetermined angle of view, the camera being mounted obliquely upward relative to the top surface such that the optical axis of the camera is at an acute angle to the top surface, the camera comprising two, the two cameras being separately set On the top surface and near the side wall.

Further, the aiming directions of the two cameras are oppositely arranged.

Further, the optical axes of the two cameras are connected through a vertical plane from the center of the mobile device.

Further, the lens of the camera does not protrude from the top surface.

A self-mobile device comprising:

a body having a top surface and a bottom surface opposite the top surface;

a camera for photographing at a predetermined angle of view, the camera comprising a first camera and a second camera, the first camera being mounted obliquely upward relative to the top surface such that the optical axis of the first camera is at an acute angle to the top surface The aiming direction of the first camera is opposite to the driving direction, the optical axis of the second camera is perpendicular to the top surface, and the mirror of the second camera is provided with a mirror disposed at an acute angle to the top surface.

Further, the main body has a front portion in a driving direction, and an optical axis of the first camera is projected at a position close to the front portion of the main body and within a range of 20% of the length value of the main body.

Further, the angle between the optical axis of the first camera and the top surface ranges from 30 to 60 degrees.

Further, the angle between the optical axis of the first camera and the top surface ranges from 40 to 50 degrees.

Further, the field of view of the first camera spans a truncated cone of 90-120 degrees in a vertical direction.

Further, there is a convex structure above the top surface, and the first camera is positioned within the protruding structure.

Further, the lens of the camera does not protrude from the top surface.

Further, the second camera is mounted on a bottom surface, and the mirror is disposed above the camera and near the top surface.

Further, the main body has a front portion in a driving direction, and an optical axis of the second camera projects a position close to the front portion of the main body and within a range of 20% of the length value of the main body.

Further, the field of view of the second camera spans a truncated cone of 45-60 degrees in the vertical direction.

Further, the first camera is disposed adjacent to the mirror and the first camera is located above the mirror.

The beneficial effects of the present invention are: the self-moving device of the present invention can increase the optical path by allowing the camera to be captured by setting the mirror in front of the field of view of the camera for recognition, compared to the scheme of directly aiming the camera directly in front. And the wider object for positioning can increase the width and breadth; by setting the aiming direction of the camera for positioning toward the rear, the field of view can be made to face the area that has passed, and the space is unobstructed, which is more conducive to improving the positioning accuracy. And robustness, at the same time, tilting the camera's optical axis up, so that the camera can capture more objects from above the mobile device, which is more conducive to the positioning of the mobile device; through the sides of the mobile device driving direction Set two cameras for positioning, and the aiming directions of the two cameras are set relative to each other, which can increase the accuracy of positioning from the mobile device. At the same time, when one of the cameras does not capture an object that can be used for positioning, the other camera It can be used for positioning from mobile devices according to its own capture conditions, which can guarantee the maximum degree of self-mobile devices. Positioning.

DRAWINGS

The technical problems, the technical solutions, and the beneficial effects of the present invention described above can be clearly obtained by the following detailed description of the preferred embodiments of the present invention.

1 is a left side view of the self-moving device of the first embodiment of the present invention.

2 is a left side view of the self-mobile device of the second embodiment of the present invention.

Figure 3 is a left side elevational view of the self-moving device in accordance with a third embodiment of the present invention.

4 is a top plan view of a self-moving device in accordance with a fourth embodiment of the present invention.

Figure 5 is a left side elevational view of the self-moving device of the fourth embodiment of the present invention.

Figure 6 is a plan view of a self-moving device in accordance with a fifth embodiment of the present invention.

Figure 7 is a left side elevational view of the self-moving device of the fifth embodiment of the present invention.

Figure 8 is a plan view of a self-moving device in accordance with a sixth embodiment of the present invention.

Figure 9 is a right side view of the self-mobile device of the sixth embodiment of the present invention.

Figure 10 is a plan view of a self-moving device in accordance with a seventh embodiment of the present invention.

Figure 11 is a right side elevational view of the self-moving device of the seventh embodiment of the present invention.

Figure 12 is a bottom plan view of the self-moving device of the eighth embodiment of the present invention.

Figure 13 is a right side view of the self-mobile device of the eighth embodiment of the present invention.

Figure 14 is a plan view of a self-moving device in accordance with a ninth embodiment of the present invention.

Figure 15 is a right side view of the self-mobile device of the ninth embodiment of the present invention.

Figure 16 is a plan view of a self-moving device in accordance with a tenth embodiment of the present invention.

Figure 17 is a left side elevational view of the self-moving device of the tenth embodiment of the present invention.

Figure 18 is a plan view of the self-moving device of the eleventh embodiment of the present invention.

Figure 19 is a left side elevational view of the self-moving device of the eleventh embodiment of the present invention.

Figure 20 is a plan view of a self-moving device in accordance with a twelfth embodiment of the present invention.

Figure 21 is a left side elevational view of the self-moving device of the twelfth embodiment of the present invention.

Detailed ways

The invention discloses a self-mobile device with good positioning accuracy.

Before explaining the embodiments of the present invention in detail, it should be noted that in the description of the present invention, relational terms such as left and right, up and down, front and back, first and second are only used to distinguish An entity or action is associated with another entity or action, and does not necessarily require or imply any such relationship or order between such entities or actions. The terms "comprising," "comprising," or "include" or "includes" or "includes" or "includes" or "includes" or "includes" An element, or an element inherent to such a process, method, item, or device.

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the following embodiments of the present invention, the forward direction of the machine, that is, the driving direction is set to the front, the direction opposite to the driving direction is the rear, the direction of the machine closest to the ground is the lower direction, and the direction opposite to the ground is the farthest from the ground. In the above embodiment, in the following embodiments of the present invention, the rear direction is the reverse direction in which the machine is distinguished from the forward direction.

In the description of the following embodiments of the present invention, the angle between the more components and the top wall is involved. Generally, the top wall and the bottom wall are considered to be parallel to each other, and the ground is generally parallel to the horizontal plane as the reference plane of the mobile device. When the top wall is not flat, the angle between the part and the top wall is considered to be the angle between the cut surface of the top wall.

The automatic mobile device mentioned in the present invention may be an automatic or semi-automatic machine capable of automatically cruising and performing work tasks, such as a smart lawn mower or a cleaning robot, applied indoors or outdoors.

As shown in FIG. 1-3, the present invention provides a self-moving device 1000, including a main body 101, an optical sensing assembly 102, and a control assembly. The main body has a top wall 1010 and a bottom wall 1011 opposite to the top wall, and a control component. Located within the main body 101, the control assembly is capable of controlling automatic cruising and performing work tasks from the mobile device 1000 in the work area; the main body 101 has a front portion in the driving direction, and the optical sensing assembly 102 is disposed at the front portion of the main body 101 and is located Between the top wall 1010 and the bottom wall 1011, the front front side wall is provided with an opening 103 through which external light can enter the optical sensing component 102, and the optical sensing component 102 can be detected through the opening 103 from the front of the mobile device 1000. The image, thereby utilizing the detected image, provides reference information for cruising from the mobile device 1000.

First embodiment

As shown in FIG. 1, in the present embodiment, the optical sensing component 102 includes a camera 1020 disposed in a shooting direction toward a driving direction of the main body. The camera 1020 is disposed inside the opening 103, and the shooting direction of the camera 1020 is substantially perpendicular to the front of the main body. The opening 103 at the front side wall, wherein the height of the opening 103 in the vertical direction does not exceed 2/3 of the height of the body, and the vertical distance D between the camera and the opening 103 is 2-5 CM, so that the camera can ensure the vertical direction of the camera. The angle of view A of the opening 103 reaches 45-100 degrees, which is combined with the area and space height generally obtained from the working environment of the mobile device, so that the image range of the image that the camera can detect is larger, and finally the front is higher. A wider, wider image, such as an adult's body, allows the camera to directly obtain more effective objects for recognition and positioning. Specifically, the central axis of the field of view of the camera in the vertical direction is substantially horizontal. In other embodiments, the central axis of the field of view may also be offset by a next small distance on the horizontal line. Specifically, the angle between the central axis of the field of view of the optical sensing component 102 and the horizontal line may be within a range of ±15 degrees. Inside. The optical sensing component 102 in the embodiment of the present invention can be used to capture images from the driving direction of the mobile device, and can be used to identify objects in front, such as obstacles in the grass, adults, animals, etc., and can also be used for shooting. An object above the horizontal line, that is, an image at a certain angle obliquely above the top surface of the mobile device, can cause the optical sensing component 102 to acquire more objects for positioning, such as a picture frame hanging on a wall, grass. Inside the trunk and so on. For a self-mobile device located indoors, the angle is too small, the camera's field of view mostly captures the image of the ground, which cannot be used for positioning. The angle is too large, and most of the camera's field of view captures the boundary between the ceiling and the wall. Images, fewer objects that can be used for positioning. The angle range can ensure the camera's field of view while avoiding excessive distortion caused by excessive field of view. For self-mobile devices located outdoors, it also avoids excessive angles, external sunlight and other strong light on the camera. Shooting caused excessive interference.

As shown in FIG. 1, a transparent member 104 is provided at the opening 103, and the transparent member 104 smoothly connects the front side walls of both ends of the opening 103, that is, the opening 103 is closed by the transparent member 104. The optical sensing component 102 in the main body 101 captures an image through a transparent member, and the transparent member has good transparency, and the degree of transparency cannot affect the imaging effect of the optical sensing component 102. It can be understood that the transparent member is made of a transparent material, for example, the glass transparent member is preferred, and the transparent glass member is sufficiently transparent to ensure the imaging effect, but when the imaging effect is not high, the plastic transparent member can also be used to fully reduce the cost. . The transparent member 104 is capable of blocking the entry of an external object into the inside of the main body 101, preventing damage to parts inside the main body 101, such as the optical sensing unit 102, and the like, and ensuring the inside of the main body 101. Therefore, the structure of the transparent member must also have a certain degree of robustness and cannot be easily damaged by external objects. Specifically, the height of the opening 103 in the vertical direction does not exceed 2/3 of the height of the front front side wall. By limiting the height of the opening 103, the external field of interference can be avoided on the basis of ensuring that the field of view that the camera can capture is as large as possible. More into the camera's field of view, causing interference to the camera, such as limiting the height of the opening 103 to 2/3 of the height of the front front side wall, ensuring that the camera does not capture sunlight, so as to avoid strong sunlight making the camera shoot. The image is overexposed and affects the quality of the image.

In a specific embodiment, the self-moving device is provided with a protection component 105, and the optical sensing component 102 is disposed in the protection component 105. As shown in FIG. 1, the protection component 105 is a floating cover of the mobile device, and the floating cover corresponds to the opening. The position of 103 is also provided with an opening, and the optical sensing component 102 is disposed inside the floating cover. When an obstacle is encountered, the front wall of the floating cover first contacts the obstacle, and the obstacle is blocked by the floating cover, and the obstacle does not Upon contact with the optical sensing assembly 102, the guard assembly 105 can function to prevent the optical sensing assembly 102 from being damaged by external obstacles. In other embodiments, the protection component 105 can also be a self-moving device housing, an anti-collision structure or the like attached from the mobile device, such that the optical sensing component 102 has a protection component 105 during the movement from the mobile device. Blocking, does not hit obstacles, and ensures the safety of the optical sensing component 102. As shown in FIG. 1, a sealing member 106 is further disposed between the opening 103 and the optical sensing component 102. The sealing member 106 is respectively disposed on both sides of the opening 103. The sealing member 106 is made of rubber, for example, rubber. Articles, of course, other materials that can provide a sealing effect and a certain firmness can be replaced. By the arrangement of the rubber strip, a sealed space can be formed between the camera and the transparent member 104 to prevent dust, weeds and the like from entering the inside of the main body 101, which causes contamination of the optical sensing component 102, and is disadvantageous for obtaining a clear image.

In the present embodiment, the optical sensing assembly 102 is disposed near the front 20% of the front of the main body 101, that is, at the top 20% of the length of the main body 101, by bringing the optical sensing assembly 102 closer to the front of the main body 101. The installation can avoid wasting space in the main body 101 of the mobile device, so that the internal structure of the main body 101 of the mobile device is compact, and the installation position of other internal components is more reasonable.

Second embodiment

As shown in FIG. 2, unlike the first embodiment, the optical sensing component 102 includes a camera 1021 and a mirror 1022, that is, the optical sensing component 102 is formed by the cooperation of the camera 1021 and the mirror 1022, and the mirror 1022 is The projection direction is toward the photographing direction of the camera 1021, and the incident direction of the mirror 1022 is toward the opening 103. By the arrangement of the mirror 1022, the optical path can be increased, enabling the optical sensing assembly 102 to capture a wider and wider object without causing distortion of the field of view of the camera 1021.

In this embodiment, the camera 1021 is mounted on the bottom wall 1011, and the photographing direction of the camera 1021 is toward the top wall 1010. Specifically, the photographing direction of the camera 1021 is perpendicular to the top wall 1010, and the mirror 1022 is located above the camera 1021, and the mirror is mirrored. An extension line of one end of 1022 intersects with the top wall 1010, and an angle B formed in the direction close to the opening 103 is an obtuse angle, and the obtuse angle B is 100-130 degrees. For convenience of labeling, the figure is marked with an internal error angle of the angle. Wherein, the height of the opening 103 does not exceed 2/3 of the height of the front front side wall, the main body 101 has a front portion along the driving direction, and the vertical distance D between the center of the mirror 1022 and the opening 103 is 3-6 cm, and the mirror 1022 is The vertical distance H1 between the bottom end and the camera 1021 is 2-5 cm, the vertical height H2 of the mirror 1022 is 4-8 cm, and the effective viewing angle C formed by the shooting direction of the camera 1021 and the mirror 1022 is 35-65 degrees. As shown in Fig. 2, the field of view of the camera 1021 itself is very large. For the sake of easy understanding, the angle of view is divided into left and right sides, and the left field of view is not interlaced with the mirror, that is, the left side view The field angle is not projected into the mirror, the image of the top wall 1010 is taken, and the image outside the opening 103 cannot be captured. The partial field angle cannot be used for effective recognition and positioning, and can be ignored, and the right side of the camera 1021. The field of view is interlaced with the mirror and can be projected onto the mirror. The interlaced portion of the field of view can be taken from the opening 103 to an external image. The portion of the field of view is the effective field of view C. It is understood that the camera 1021 The farthest edge of the right field of view can be projected onto the mirror, camera 102 1 Maximizing the right field of view angle can increase the range of the field of view of the camera 1021, and the range of the effective field of view C is eventually large. So that the optical sensor assembly 102 can achieve an angle of view of 45-100 degrees through the opening 103 in the vertical direction, which is obtained by combining the area and space height of the working environment of the mobile device, so that the optical sensing component The 102 can capture a wide range of fields of view, and finally obtain a higher, wider, wider image in front, such as an adult body, in which the optical sensing component 102 can be directly used for more effective use. Identify and locate objects. Specifically, the central axis of the field of view of the optical sensing assembly 102 in the vertical direction is substantially horizontal. In other embodiments, the central axis of the field of view may also be offset by a next small distance on the horizontal line. Specifically, the angle between the central axis of the field of view of the optical sensing component 102 and the horizontal line may be within a range of ±15 degrees. Inside. The optical sensing component 102 in the embodiment of the present invention can be used to capture images from the driving direction of the mobile device, and can be used to identify objects in front, such as obstacles in the grass, adults, animals, etc., and can also be used for shooting. An object above the horizontal line, that is, an image at a certain angle obliquely above the top surface of the mobile device, allows the optical sensing component to acquire more objects for positioning, such as a picture frame hanging on a wall, in the grass. The trunk is waiting. For a self-mobile device located indoors, the angle is too small, and most of the field of view of the optical sensing component 102 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, and most of the field of view of the optical sensing component is obtained. An image of the intersection of the ceiling and the wall, which can be used to locate fewer objects. The angle range can ensure the visual field of the optical sensing component while avoiding excessive distortion caused by excessive field of view. For the self-moving device located outdoors, the angle is too large, and the external sunlight is strong. Light causes excessive interference with the imaging of the optical sensing component.

As shown in FIG. 2, a sealing member 106 is also disposed between the opening 103 and the optical sensing unit 102. The arrangement of the sealing member 106 is slightly different from that of the first embodiment. The two sides of the opening 103 are respectively provided with the camera 1021 and the reflective The sealing member 106 is connected to one end of the mirror 1022. At the same time, the sealing member 106 is also disposed between the other end of the mirror 1022 and the camera 1021. The sealing material 106 is made of a rubber strip, for example, and the sealing effect can be achieved. Sex materials can be substituted. By the arrangement of the three rubber strips, a sealed space can be formed between the camera 1021, the mirror 1022 and the transparent member 104, that is, the optical sensing unit 102 is sealed, for example, dust, weeds, etc. under the base can be prevented from entering. Inside the optical sensing component 102, contamination of the optical sensing component 102 is detrimental to obtaining a sharp image.

Similarly, the optical sensing component 102 is also disposed near the front 20% of the front of the main body 101, so that the space inside the mobile device main body 101 can be not wasted, so that the internal structure of the main body 101 of the self-moving device is compact, and other internal components are The installation location is more reasonable.

The structure and effect of the transparent member 104, the height of the opening 103, and the protective member 105 (not shown) are the same as those of the first embodiment, and are not described herein.

Third embodiment

As shown in FIG. 3, the optical sensing assembly 102 also includes a camera 1023 and a mirror 1024. The projection direction of the mirror 1024 is toward the photographing direction of the camera 1023, and the incident direction of the mirror 1024 is toward the opening 103. Unlike the second embodiment, the camera 1023 and the mirror 1024 are disposed at slightly different positions. Also, by the setting of the mirror 1024, the optical path can be increased, so that the camera 1023 can capture a wider and wider object without causing distortion of the field of view of the camera 1023.

In the present embodiment, the photographing direction of the camera 1023 and the angle formed by the top wall 1010 in the direction close to the opening 103 are acute. The body of the camera 1023 intersects the bottom wall 1011, and an angle E formed in the direction toward the opening 103 is 8-12 degrees. The mirror 1024 is located above the camera 1023, and an extension of one end of the mirror 1024 intersects the top wall 1010, and an angle formed in the direction toward the opening 103 is an obtuse angle B. The obtuse angle B is 100-130 degrees. For convenience of labeling, the figure is marked with the inner angle of the angle. The main body 101 has a front portion in the driving direction, the vertical distance between the center of the mirror 1024 and the opening 103 is also 3-6 cm, and the vertical distance H1 of the bottom end of the mirror 1024 from the camera 1023 is 2-5 cm, and the mirror 1024 The vertical height H2 is 4-8 cm, and the effective viewing angle C formed by the shooting direction of the camera 1023 and the mirror 1024 is 35-65 degrees. As shown in FIG. 3, the angle of view of the camera 1023 itself is large, which is convenient. It is understood that the angle of view is divided into left and right sides, and the left field of view angle is not interlaced with the mirror 1024, that is, the left field of view angle is not projected into the mirror 1024, and the top wall 1010 is photographed. The image cannot capture an image outside the opening 103. The partial field angle cannot be used for effective recognition and positioning, and can be ignored. The right field of view of the camera 1023 is interlaced with the mirror 1024, and can be projected to the mirror 1024, interlaced. The portion of the field of view angle can be taken from the opening 103 to an external image. The portion of the field of view is the effective field of view C. It will be understood that the most edge of the right field of view of the camera 1023 can be projected onto the mirror 1024. The maximum viewing angle of the camera 1023 on the right side can be improved. The range of the field of view of the camera 1023, which ultimately forms the effective field of view C, is large. In this way, the optical sensor assembly 102 can achieve an angle of view of 45-100 degrees through the opening 103 in the vertical direction, so that the optical sensing component 102 can capture a larger field of view, and finally obtain a higher and wider image in front. For example, you can shoot an adult's body. Specifically, the central axis of the field of view of the optical sensing assembly 102 in the vertical direction is substantially horizontal. In other embodiments, the central axis of the field of view may also be offset by a next small distance on the horizontal line. Specifically, the angle between the central axis of the field of view of the optical sensing component 102 and the horizontal line may be within a range of ±15 degrees. Inside. The optical sensing component 102 in the embodiment of the present invention can be used to capture images from the driving direction of the mobile device, and can be used to identify objects in front, such as obstacles in the grass, adults, animals, etc., and can also be used for shooting. An image above the horizontal line, that is, an image at a certain angle obliquely above the top surface of the mobile device, can cause the optical sensing component 102 to acquire more objects for positioning, such as a picture frame hanging on a wall, grass. Inside the trunk and so on. For a self-mobile device located indoors, the angle is too small, and most of the field of view of the camera 1023 acquires an image of the ground, which cannot be used for positioning. The angle is too large, and most of the field of view of the camera 1023 is the junction of the ceiling and the wall. The image of the area, which can be used to locate fewer objects. The angle range can avoid the excessive distortion caused by the excessive field of view while ensuring the field of view of the camera 1023. For the self-moving device located outdoors, the angle is too large, and the external sunlight and other strong light pairs are avoided. Camera 1023 capture caused excessive interference.

As shown in FIG. 3, a sealing member 106 is also disposed between the opening 103 and the optical sensing unit 102. The sealing member 106 at both ends of the opening 103 is respectively connected to one end of the camera and one end of the mirror 1024, and the other end of the mirror 1024. A sealing member 106 is also disposed between the camera and the camera. The material of the sealing member 106 is, for example, a rubber strip. Of course, other materials capable of sealing and having certain firmness can be substituted. Through the arrangement of the three rubber strips, a sealed space can be formed between the camera, the mirror 1024 and the transparent member 104, preventing dust, weeds and the like from entering the inside of the main body 101, causing pollution to the optical sensing component 102, which is disadvantageous for obtaining clear. image.

Other settings are the same as those of the second embodiment, and are not described herein. In the third embodiment, by tilting the camera, it is possible to avoid excessive distortion caused by the camera's excessive field of view, and it is also possible to form a large field of view at the opening 103 while reducing the camera angle of view.

The self-mobile device of the present invention can be operated indoors and outdoors, and the optical sensing component 102 can be applied indoors or outdoors. The optical sensing component working system is mainly composed of a light sensor, an optical sensing component, an optional polarizing filter, and It is composed of components such as a polarizing filter mounting device and a fill light. Due to the complex outdoor environmental conditions, optical sensing components may be affected by various factors such as light, weather, temperature, and pollution when working outdoors.

For example, under the illumination of sunlight or other light sources, the outdoor optical sensing component is susceptible to strong light interference, and a backlight phenomenon occurs, so that the bright area of the captured image is overexposed, and the dark area is underexposed, resulting in the inability to distinguish the target object. In the shadow environment where the lighting conditions are weak, such as cloudy or evening, or severely blocked, the outdoor camera may exhibit low image brightness and unclear target objects due to poor light transmission conditions.

In order to solve the above technical problem, the present invention provides an image processing method for an optical sensing component, which solves the problem that the outdoor ambient light is complicated and affects the operation of the optical sensing component.

In a specific embodiment, the self-mobile device includes a processing unit that improves the acquired original image S, that is, the processing unit uses an ambient light intensity adaptive image enhancement algorithm to improve. The algorithm simulates the human visual system, assuming that the original image S captured by the optical sensing component is composed of the product of the illumination image L and the object reflection image R, since the object color is determined by its own ability to reflect the red, green and blue light lines, and is not reflected by it. The absolute value of the light intensity is determined, so the color of the object is not affected by the illumination unevenness, that is, the reflected image R is invariant. The core of the algorithm is that the processing unit estimates the illumination L from the original image S, thereby decomposing R and eliminating the influence of uneven illumination. Therefore, the algorithm can achieve balance in dynamic range compression, edge enhancement and color constancy, and achieve adaptive enhancement of various types of images. Ultimately, clear and accurate image information is obtained.

In addition to the algorithmic approach, in another specific embodiment, hardware-level optimization methods may also be used to improve, for example, determining the current ambient light intensity through a light sensor, and performing a corresponding processing strategy according to the judgment result:

1) When the ambient light is strong, the polarizing filter is enabled by the control component to reduce reflection and haze to improve image color quality and improve image contrast; when the ambient light is extremely strong, the optical sensing component working system stops working, passing The light sensor continues to detect the ambient light until the light intensity is normal, and the optical sensing component is activated again, or the ambient light in different directions is continuously detected by the light sensor, and the optical sensing component is controlled to turn to the normal direction of the light intensity.

2) When the ambient light is weak, the optical sensing component working system automatically turns on the intelligent fill light function to enhance the illumination of the ambient light and improve the quality of the acquired image.

Fourth embodiment

As shown in FIGS. 4 and 5, the self-moving device 100 of the fourth embodiment includes a main body 10 and a camera 11 provided on the main body. The camera is used to shoot at a predetermined angle of view. The body 10 has a top surface 12 and a bottom surface 13 opposite the top surface 12. The camera 11 has an optical axis 14 with the camera 11 mounted obliquely upward relative to the top surface 12 such that the optical axis 14 of the camera 11 is at an acute angle to the top surface 12, and the aiming direction of the camera 11 is opposite to the driving direction 15, the aiming direction of the camera 11 It is inclined toward the upper rear with respect to the top surface 12. By arranging the aiming direction of the camera 11 rearward, the field of view can be made to face the area that has passed, and the space is unobstructed, which is more advantageous for improving positioning accuracy and robustness.

For the scheme in which the optical axis of the camera used in the prior art is arranged in parallel with the forward driving direction, as the robot moves toward the feature, the features visible in the center of the camera field of view may increase in scale, and the features in the center of the camera's field of view The 3D structure may be difficult to determine from a series of images captured as moving from the mobile device 100 toward the feature. This situation is especially serious for indoor cleaning robots. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, in addition, increasing the field of view makes the lens distortion severe and is camera The captured image has the smallest angular resolution. While the present embodiment increases the parallax viewed across the field of view of the camera as the camera moves toward the object by tilting the optical axis 14 of the camera 11 upward, the portion of the camera field of view has the highest angular resolution.

By tilting the optical axis 14 of the camera 11 obliquely relative to the top surface 12, the camera 11 is enabled to capture more reliable static feature-rich objects from above the mobile device 100 (such as photo frames suspended on a wall at home and without displacement) Other features) are more conducive to positioning from the mobile device 100. Self-moving device 100 may use features of a reliable static object located at a particular height range above the floor to establish a map of the environment and navigate using vision-based sensors and vision-based simultaneous positioning and mapping (or VSLAM).

The optical axis 14 of the camera 11 is tilted relative to the top surface 12 such that the self-moving device 100 is able to more accurately determine the 3D structure of the underside of the object suspended from the wall, allowing the focus from the mobile device 100 to remain unchanged ( Areas within a typical indoor environment, such as those that are imaged around door frames, photo frames, and other static furniture and objects, allow for reliable identification of reliable landmarks from mobile device 100, thereby accurately positioning and mapping within the environment.

In the present embodiment, the main body 10 has a front portion in the driving direction, the optical axis 14 of the camera 11 has an axial center, and the axial center projection of the optical axis 14 is close to the front portion of the main body 10 and is located within 20% of the length value of the main body 10. The position, that is, the axis of the optical axis 14 is set in the first 20% of the length value of the machine in the front-rear direction. By mounting the camera 11 close to the front of the main body 10, it is possible to prevent a relatively close object from causing a wide range of occlusion of the field of view of the camera 11, because if the camera 11 is mounted close to the rear of the main body 10, the image acquired by the camera 11 is larger than the field of view or When it takes up most of the field of view, it affects the positioning of mobile devices.

As shown in FIG. 5, the angle a1 between the optical axis 14 of the camera 11 and the top surface 12 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the camera 11 acquires an image of the ground, which cannot be used for positioning. The angle is too large, and most of the field of view of the camera 11 is obtained from the ceiling and the wall. An image of the body junction area that can be used to locate fewer objects.

In one embodiment, further, the angle a1 between the optical axis 14 of the camera 11 and the top surface 12 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and spatial height of the working environment of the mobile device, within which the camera 11 is allowed to directly obtain an effective object for positioning.

As shown in FIG. 5, the camera 11 has a field of view of the captured image, and the angle b1 of the field of view of the camera 11 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the camera 11.

As shown in FIG. 5, in the present embodiment, the top surface 12 has a protruding structure 16 thereon. The protruding structure 16 may be integrally formed upwardly from the top surface 12. The protruding structure 16 may also be a separate structure. The projection structure 16 and the top surface 12 are secured to each other by a fixing bolt by perforating the projection structure 16 and the top surface 12.

As shown in FIG. 5, the camera 11 is disposed within the raised structure 16. The camera 11 has a lens, and the lens of the camera 11 at least partially protrudes from the top surface 12.

Fifth embodiment

The fifth embodiment is substantially the same as the fourth embodiment, and the fifth embodiment differs from the fourth embodiment in that the camera is not disposed in the protruding structure above the top surface, but is a concave structure disposed below the top surface. Inside.

As shown in FIGS. 6 and 7, the self-moving device 200 of the fifth embodiment includes a main body 20 and a camera 21 provided on the main body. The camera is used to shoot at a predetermined angle of view. The body 20 has a top surface 22 and a bottom surface 23 opposite the top surface 22. The camera 21 has an optical axis 24, and the camera 21 is mounted obliquely upward with respect to the top surface 22 such that the optical axis 24 of the camera 21 is at an acute angle with the top surface 22, and the aiming direction of the camera 21 is opposite to the driving direction 25, the aiming direction of the camera 21. It is inclined toward the upper rear with respect to the top surface 22. By arranging the aiming direction of the camera 21 rearward, the field of view can be made to face the area that has passed, and the space is unobstructed, which is more advantageous for improving positioning accuracy and robustness.

For the scheme in which the optical axis of the camera used in the prior art is arranged in parallel with the forward driving direction, as the robot moves toward the feature, the features visible in the center of the camera field of view may increase in scale, and the features in the center of the camera's field of view The 3D structure may be difficult to determine from a series of images captured as moving from the mobile device 200 toward the feature. This situation is especially serious for indoor cleaning robots. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, in addition, increasing the field of view makes the lens distortion severe and is camera The captured image has the smallest angular resolution. While the present embodiment increases the optical axis 24 of the camera 21 obliquely upward, the parallax observed across the field of view of the camera as the camera moves toward the object is increased, the portion of the camera field of view having the highest angular resolution; by the light of the camera 21 The shaft 24 is disposed obliquely with respect to the top surface 22 such that the camera 11 is capable of capturing more reliable static feature-rich objects from above the mobile device 200 (such as photo frames suspended on a wall at home and other features without displacement), It facilitates positioning from the mobile device 200. Self-moving device 200 may use features of a reliable static object located at a particular height range above the floor to establish a map of the environment and navigate using vision-based sensors and vision-based simultaneous positioning and mapping (or VSLAM).

The optical axis 24 of the camera 21 is tilted relative to the top surface 22 such that the self-moving device 200 is able to more accurately determine the 3D structure of the underside of the object suspended from the wall, allowing the focus from the mobile device 200 to remain unchanged ( Areas within a typical indoor environment, such as those that are imaged around door frames, photo frames, and other static furniture and objects, allow for reliable identification of reliable landmarks from mobile device 200, thereby accurately positioning and mapping within the environment.

In the present embodiment, the main body 20 has a front portion in the driving direction, the optical axis 24 of the camera 21 has an axial center, and the axial center projection of the optical axis 24 is close to the front portion of the main body 20 and is located within 20% of the length value of the main body 20. The position, that is, the axis of the optical axis 24 is set in the first 20% of the length value of the machine in the front-rear direction. By mounting the camera 21 close to the front of the main body 20, it is possible to prevent a relatively close object from causing a wide range of occlusion of the field of view of the camera 21, because if the camera 21 is mounted close to the rear of the main body 20, the image acquired by the camera 21 is larger than the field of view or When it takes up most of the field of view, it affects the positioning of mobile devices.

As shown in FIG. 7, the angle a2 between the optical axis 24 of the camera 21 and the top surface 22 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the camera 21 acquires an image of the ground, which cannot be used for positioning. The angle is too large, and most of the field of view of the camera 21 is obtained from the ceiling and the wall. An image of the body junction area that can be used to locate fewer objects.

In one embodiment, further, the angle a2 between the optical axis 24 of the camera 21 and the top surface 22 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and spatial height of the working environment of the mobile device, within which the camera 21 is directly enabled to obtain an effective object for positioning.

As shown in FIG. 7, the camera 21 has a field of view of the captured image, and the angle b2 of the field of view of the camera 21 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the camera 21.

As shown in FIG. 7, in the present embodiment, the top surface 22 is recessed downwardly with a recessed structure 26 that can be recessed integrally downwardly from the top surface 22.

As shown in FIG. 7, the camera 21 is disposed within the recessed structure 26. The camera 21 has a lens, the lens of the camera 21 does not protrude from the top surface 22, i.e., the lens of the camera 21 can be completely below the top surface 22, and the lens of the camera 21 can also be flush with the top surface 22.

Sixth embodiment

The sixth embodiment is substantially the same as the fourth embodiment, and the sixth embodiment differs from the fourth embodiment in that the aiming direction of the camera is the same as the driving direction.

As shown in FIGS. 8 and 9, the self-moving device 300 of the sixth embodiment includes a main body 30 and a camera 31 provided on the main body. The camera is used to shoot at a predetermined angle of view. The body 30 has a top surface 32 and a bottom surface 33 opposite the top surface 32. The camera 31 has an optical axis 34, and the camera 31 is mounted obliquely upward with respect to the top surface 32 such that the optical axis 34 of the camera 31 is at an acute angle with the top surface 32, and the aiming direction of the camera 31 is the same as the driving direction 35, the aiming direction of the camera 31 It is inclined toward the front upper side with respect to the top surface 32. By arranging the aiming direction of the camera 31 toward the front upper direction, it is possible to cause the camera 31 to capture more objects from above the mobile device 300, which is more conducive to the positioning of the mobile device 300.

For the scheme in which the optical axis of the camera used in the prior art is arranged in parallel with the forward driving direction, as the robot moves toward the feature, the features visible in the center of the camera field of view may increase in scale, and the features in the center of the camera's field of view The 3D structure may be difficult to determine from a series of images that are captured as moving from the mobile device 300 toward the feature. This situation is especially serious for indoor cleaning robots. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, in addition, increasing the field of view makes the lens distortion severe and is camera The captured image has the smallest angular resolution. While the present embodiment increases the optical axis 34 of the camera 31 obliquely upward, the parallax viewed across the field of view of the camera as the camera moves toward the object is increased, the portion of the camera field of view having the highest angular resolution; by the light of the camera 31 The shaft 34 is disposed obliquely with respect to the top surface 32 such that the camera 31 is capable of capturing more reliable static feature-rich objects from above the mobile device 300 (such as photo frames hanging on a wall at home and other features without displacement), It facilitates positioning from the mobile device 300. Self-moving device 300 may use features of a reliable static object located at a particular height range above the floor to establish a map of the environment and navigate using vision-based sensors and vision-based simultaneous positioning and mapping (or VSLAM).

The optical axis 34 of the camera 31 is tilted relative to the top surface 32 such that the self-moving device 300 is able to more accurately determine the 3D structure of the underside of the object suspended from the wall, allowing the focus from the mobile device 300 to be unchanged ( Areas within a typical indoor environment, such as those that are imaged around door frames, photo frames, and other static furniture and objects, allow for reliable identification of reliable landmarks from mobile device 300, thereby accurately positioning and mapping within the environment.

In the present embodiment, the main body 30 has a front portion in the driving direction, the optical axis 34 of the camera 31 has an axial center, and the axial center projection of the optical axis 34 is close to the front portion of the main body 30 and is located within 20% of the length value of the main body 30. The position, that is, the axis of the optical axis 34 is set in the first 20% of the length value of the machine in the front-rear direction.

As shown in FIG. 9, the angle a3 between the optical axis 34 of the camera 31 and the top surface 32 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the camera 31 acquires an image of the ground, which cannot be used for positioning. The angle is too large, and most of the field of view of the camera 31 is obtained from the ceiling and the wall. The image of the body junction area has fewer objects that can be used for positioning.

In one embodiment, further, the angle a3 between the optical axis 34 of the camera 31 and the top surface 32 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and spatial height of the working environment of the mobile device, within which the camera 31 can be directly provided with an effective object for positioning.

As shown in FIG. 9, the camera 31 has a field of view of the captured image, and the angle b3 of the field of view of the camera 31 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the camera 31.

As shown in FIG. 9, in the present embodiment, the top surface 32 has a protruding structure 36. The protruding structure 36 can be integrally formed upwardly from the top surface 32. Of course, the protruding structure 36 can also be a separate structure. The projection structure 36 and the top surface 32 are secured to each other by a fixing bolt by perforating the projection structure 36 and the top surface 32.

As shown in FIG. 9, the camera 31 is disposed within the protruding structure 36. The camera 31 has a lens, and the lens of the camera 31 at least partially protrudes from the top surface 32.

Seventh embodiment

The seventh embodiment is substantially the same as the sixth embodiment, and the seventh embodiment differs from the sixth embodiment in that the camera is not disposed in the protruding structure above the top surface, but is a concave structure disposed below the top surface. Inside.

As shown in FIGS. 10 and 11, the self-moving device 400 of the seventh embodiment includes a main body 40 and a camera 41 provided on the main body. The camera is used to shoot at a predetermined angle of view. The body 40 has a top surface 42 and a bottom surface 43 opposite the top surface 42. The camera 41 has an optical axis 44, and the camera 41 is mounted obliquely upward with respect to the top surface 42 such that the optical axis 44 of the camera 41 is at an acute angle with the top surface 42, and the aiming direction of the camera 41 is the same as the driving direction 45, the aiming direction of the camera 41 It is inclined toward the front upper side with respect to the top surface 42. By tilting the optical axis 44 of the camera 41 up, the camera is able to capture more objects from above the mobile device 400, further contributing to the positioning of the mobile device 400.

For the scheme in which the optical axis of the camera used in the prior art is arranged in parallel with the forward driving direction, as the robot moves toward the feature, the features visible in the center of the camera field of view may increase in scale, and the features in the center of the camera's field of view The 3D structure may be difficult to determine from a series of images captured as moving from the mobile device 400 toward the feature. This situation is especially serious for indoor cleaning robots. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, in addition, increasing the field of view makes the lens distortion severe and is camera The captured image has the smallest angular resolution. While the present embodiment increases the optical axis 44 of the camera 41 obliquely upward, the parallax observed across the field of view of the camera as the camera moves toward the object is increased, the portion of the camera field of view having the highest angular resolution; by the light of the camera 41 The shaft 44 is disposed obliquely relative to the top surface 42 such that the camera 41 is capable of capturing more reliable static feature-rich objects from above the mobile device 400 (such as a photo frame suspended from a wall at home and other features without displacement), It facilitates positioning from the mobile device 400. Self-moving device 400 may use features of a reliable static object located at a particular height range above the floor to establish a map of the environment and navigate using vision-based sensors and vision-based simultaneous positioning and mapping (or VSLAM).

The optical axis 44 of the camera 41 is tilted relative to the top surface 42 such that the self-moving device 400 can more accurately determine the 3D structure of the underside of the object suspended from the wall, allowing the focus from the mobile device 400 to remain unchanged ( Areas within a typical indoor environment, such as those that are imaged around door frames, photo frames, and other static furniture and objects, allow for reliable identification of reliable landmarks from mobile device 400, thereby accurately positioning and mapping within the environment.

In the present embodiment, the main body 40 has a front portion in the driving direction, the optical axis 44 of the camera 41 has an axial center, and the axial center projection of the optical axis 44 is close to the front portion of the main body 40 and is located within 20% of the length value of the main body 40. The position, that is, the axis of the optical axis 44 is set in the first 20% of the length value of the machine in the front-rear direction. By mounting the camera 41 close to the front of the main body 40, it is possible to prevent a relatively close object from causing a wide range of occlusion of the field of view of the camera 41, because if the camera 41 is mounted close to the rear of the main body 40, when the image acquired by the camera 41 is larger than the field of view or When it takes up most of the field of view, it affects the positioning of mobile devices.

As shown in FIG. 11, the angle a4 between the optical axis 44 of the camera 41 and the top surface 42 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the camera 41 acquires an image of the ground, which cannot be used for positioning. The angle is too large, and most of the field of view of the camera 41 is obtained from the ceiling and the wall. An image of the body junction area that can be used to locate fewer objects.

In one embodiment, further, the angle a4 between the optical axis 44 of the camera 41 and the top surface 42 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and space height typically from the working environment of the mobile device, within which the camera 41 can be directly provided with an effective object for positioning.

As shown in FIG. 11, the camera 41 has a field of view of the captured image, and the angle b4 of the field of view of the camera 41 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the camera 41.

As shown in FIG. 11, in the present embodiment, the top surface 42 is recessed downwardly with a recessed structure 46 that can be recessed integrally downwardly from the top surface 42.

As shown in FIG. 11, the camera 41 is disposed within the recessed structure 46. The camera 41 has a lens, the lens of the camera 41 does not protrude from the top surface 42, i.e., the lens of the camera 41 can be completely below the top surface 42, and the lens of the camera 41 can also be flush with the top surface 42.

Eighth embodiment

As shown in FIGS. 12 and 13, the self-moving device 500 of the eighth embodiment includes a main body 50 and a camera 51 provided on the main body. The camera is used to acquire an image at a predetermined angle of view. The body 50 has a top surface 52 and a bottom surface 53 opposite the top surface 52. The camera 51 has an optical axis 54 with the camera 51 mounted upwardly and perpendicular to the top surface 52 with respect to the bottom surface 53. The aiming direction of the camera 51 is perpendicular to the driving direction 55. A mirror 57 disposed at an acute angle to the top surface 52 is provided in the aiming direction of the camera 51. By using the mirror 57, the optical path can be increased compared to the scheme of directly aiming the camera directly in front, so that the camera 51 can capture a wider and wider object for positioning, that is, increase the width and breadth.

As shown in FIG. 12, the camera is mounted on the bottom surface 53, and the mirror 57 is disposed above the camera 51 and near the top surface 52.

In the present embodiment, the main body 50 has a front portion in the driving direction, the optical axis 54 of the camera 51 has an axial center, and the axial center projection of the optical axis 54 is close to the front portion of the main body 50 and is within 20% of the length value of the main body 50. The position, that is, the axis of the optical axis 54 is set in the first 20% of the length value of the machine in the front-rear direction.

As shown in Figure 13, the angle a5 between the mirror 57 and the top surface 52 ranges from 30 to 45 degrees. Since the bottom surface 53 is considered to be parallel to the top surface 52 in this embodiment, the angle between the mirror 57 and the bottom surface 53 is indicated in the drawing. The angular extent of the mirror 57 allows the camera 51 to acquire more objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the camera 41 acquires an image of the ground, which cannot be used for positioning. The angle is too large, and most of the field of view of the camera 41 is obtained from the ceiling and the wall. An image of the body junction area that can be used to locate fewer objects.

As shown in FIG. 13, the camera 51 has a field of view of the captured image, and the angle b5 of the field of view of the camera 51 in the vertical direction spans a truncated cone of 45-60 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the camera 51.

Ninth embodiment

As shown in FIGS. 14 and 15, the self-moving device 600 of the ninth embodiment includes a main body 60 and a camera provided on the main body. The body 60 has a top surface 62 and a bottom surface 63 opposite the top surface 62. The camera is used to shoot at a predetermined angle of view. The camera includes a first camera 61 and a second camera 68. The first camera 61 has a first optical axis 641 and the second camera 68 has a second optical axis 642.

As shown in FIG. 15, the second camera 68 is mounted upwardly and perpendicular to the top surface 62 relative to the bottom surface 63. The aiming direction of the second camera 68 is perpendicular to the driving direction 65. A mirror 67 disposed at an acute angle to the top surface 62 is provided in the aiming direction of the second camera 68. A mirror 67 is disposed above the second camera 68 and adjacent the top surface 62. The first camera 61 is disposed adjacent to the mirror 67 and the first camera 61 is positioned above the mirror 67. By using the mirror 67, the optical path can be increased compared to the scheme of directly aiming the second camera 68 directly in front, so that the second camera 68 can capture a wider and wider object for positioning, thereby increasing the width. And breadth.

As shown in FIG. 14, the second camera 68 is mounted on the bottom surface 63, and the mirror 67 is disposed above the second camera 68 and adjacent the top surface 62.

In the present embodiment, the main body 60 has a front portion in the driving direction, the second optical axis 642 of the second camera 68 has an axial center, and the axial center projection of the second optical axis 642 is adjacent to the front portion of the main body 60 and is located at the length of the main body 60. The position within the range of 20%, that is, the axis of the second optical axis 642 is set within the first 20% of the length value of the machine in the front-rear direction.

As shown in Fig. 15, the angle c1 between the mirror 67 and the top surface 62 ranges from 30 to 45 degrees. Since the bottom surface 63 is considered to be parallel to the top surface 62 in this embodiment, the angle between the mirror 67 and the bottom surface 63 is indicated in the drawing. The angular extent of the mirror 67 allows the first camera 61 to acquire more objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the second camera 68 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, and the field of view of the second camera 68 is mostly acquired. It is an image of the junction area between the ceiling and the wall, and there are fewer objects that can be used for positioning.

As shown in FIG. 15, the second camera 68 has a field of view of the captured image, and the angle d1 of the field of view of the second camera 68 in the vertical direction spans a truncated cone of 45-60 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the second camera 68.

As shown in FIG. 15, the first camera 61 is mounted obliquely upward with respect to the top surface 62 such that the first optical axis 641 of the first camera 61 is at an acute angle with the top surface 62, and the aiming direction and driving direction of the first camera 61 are 65. In contrast, the aiming direction of the first camera 61 is inclined toward the rear upper side with respect to the top surface 62. By arranging the aiming direction of the first camera 61 rearward, the field of view can be made to face the area that has passed, and the space is unobstructed, which is more advantageous for improving positioning accuracy and robustness. The first optical axis 641 of the first camera 61 is tilted upwardly such that the first camera 61 can capture more objects from above the mobile device 600, further facilitating the positioning from the mobile device 600.

For the scheme in which the optical axis of the camera used in the prior art is arranged in parallel with the forward driving direction, as the robot moves toward the feature, the features visible in the center of the camera field of view may increase in scale, and the features in the center of the camera's field of view The 3D structure may be difficult to determine from a series of images captured as moving from the mobile device 600 toward the feature. This situation is especially serious for indoor cleaning robots. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, in addition, increasing the field of view makes the lens distortion severe and is camera The captured image has the smallest angular resolution. While the present embodiment sets the first optical axis 641 of the first camera 61 obliquely upward, the parallax observed across the field of view of the camera as the camera moves toward the object is increased, and the portion of the camera field of view has the highest angular resolution; The first optical axis 641 of the first camera 61 is disposed obliquely with respect to the top surface 62 such that the first camera 61 is capable of capturing more reliable static feature-rich objects from above the mobile device 600 (such as hanging on a wall at home) The photo frame and other features without displacement) are more conducive to positioning from the mobile device 600. Self-moving device 600 may use features of a reliable static object located at a particular height range above the floor to establish a map of the environment and navigate using vision-based sensors and vision-based simultaneous positioning and mapping (or VSLAM).

The first optical axis 641 of the first camera 61 is disposed obliquely with respect to the top surface 62 such that the self-moving device 600 can more accurately determine the 3D structure of the underside of the object suspended from the wall, allowing the mobile device 600 to be focused therein Areas within a typical indoor environment where features are invariant, such as those imaged around door frames, photo frames, and other static furniture and objects, allow for reliable identification of reliable landmarks from mobile device 600, thereby accurately positioning and within the environment. Mapping.

As shown in FIG. 15, the angle a6 between the first optical axis 641 of the first camera 61 and the top surface 62 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the first camera 61 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, and most of the field of view of the camera 61 is obtained by the ceiling. An image of the area bordering the wall, which can be used to locate fewer objects.

In one embodiment, further, the angle a6 between the first optical axis 641 of the first camera 61 and the top surface 62 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and spatial height of the working environment of the mobile device, within which the first camera 61 can be directly obtained with an effective object for positioning.

As shown in FIG. 15, the first camera 61 has a field of view of the captured image, and the angle b6 of the field of view of the first camera 61 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the first camera 61.

As shown in FIG. 15, in the present embodiment, the top surface 62 has a protruding structure 66. The protruding structure 66 may be integrally formed upwardly from the top surface 62. Of course, the protruding structure 66 may also be a separate structure. The projection structure 66 and the top surface 62 are secured to each other by a fixing bolt by perforating the projection structure 66 and the top surface 62.

As shown in FIG. 15, the first camera 61 is disposed within the protruding structure 66. The first camera 61 has a lens, and the lens of the first camera 61 at least partially protrudes from the top surface 62.

In this embodiment, by providing two cameras, the first camera 61 is used for positioning, the second camera 68 is for recognizing objects, and the two cameras can be arranged in a vertical direction, in particular, the installation of the mirror 67 is directly located at the first camera 61. Between the second camera 68 and the second camera 68, the parts are collectively set to make full use of the space.

Tenth embodiment

The tenth embodiment is basically the same as the ninth embodiment except that the first camera 61 is disposed in the recessed structure in the tenth embodiment.

As shown in FIGS. 16 and 17, the self-moving device 700 of the tenth embodiment includes a main body 70 and a camera provided on the main body 70. The body 70 has a top surface 72 and a bottom surface 73 opposite the top surface 72. The camera is used to shoot at a predetermined angle of view. The camera includes a first camera 71 and a second camera 78. The first camera 76 has a first optical axis 741 and the second camera 78 has a second optical axis 742.

As shown in FIG. 17, the second camera 78 is mounted upwardly and perpendicular to the top surface 72 relative to the bottom surface 73. The aiming direction of the second camera 78 is perpendicular to the driving direction 75. A mirror 77 disposed at an acute angle to the top surface 72 is provided in the aiming direction of the second camera 78. A mirror 77 is disposed above the second camera 78 and adjacent the top surface 72. The first camera 71 is disposed adjacent to the mirror 77 and the first camera 71 is positioned above the mirror 77. By using the mirror 77, the optical path can be increased compared to the scheme of directly aiming the second camera 78 directly in front, so that the second camera 78 can capture a wider and wider object for positioning, thereby increasing the width. And breadth.

As shown in FIG. 16, the second camera 78 is mounted on the bottom surface 73, and the mirror 77 is disposed above the second camera 78 and adjacent the top surface 72.

In the present embodiment, the main body 70 has a front portion in the driving direction, the second optical axis 742 of the second camera 78 has an axis, and the axial projection of the second optical axis 742 is near the front of the main body 70 and is located at the length of the main body 70. The position within the range of 20%, that is, the axis of the second optical axis 742 is set within the first 20% of the length value of the machine in the front-rear direction.

As shown in Figure 17, the angle c2 between the mirror 77 and the top surface 72 ranges from 30 to 45 degrees. Since the bottom surface 73 is considered to be parallel to the top surface 72 in this embodiment, the angle between the mirror 77 and the bottom surface 73 is indicated in the drawing. The angular extent of the mirror 77 allows the first camera 71 to acquire more objects for positioning, such as a picture frame hung on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the second camera 78 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, and the field of view of the second camera 78 is mostly acquired. It is an image of the junction area between the ceiling and the wall, and there are fewer objects that can be used for positioning.

As shown in FIG. 17, the second camera 78 has a field of view of the captured image, and the angle d2 of the field of view of the second camera 78 in the vertical direction spans a truncated cone of 45-60 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the second camera 78.

As shown in FIG. 17, the first camera 71 is mounted obliquely upward with respect to the top surface 72 such that the first optical axis 741 of the first camera 71 is in acute angular alignment with the top surface 72, and the aiming direction and driving direction of the first camera 71 are 75. In contrast, the aiming direction of the first camera 71 is inclined toward the rear upper side with respect to the top surface 72. By arranging the aiming direction of the first camera 71 rearward, the field of view can be made to face the area that has passed, and the space is unobstructed, which is more advantageous for improving the positioning accuracy and robustness, and at the same time, the first optical axis 741 of the first camera 71 is used. The tilt-up setting allows the first camera 71 to capture more objects from above the mobile device 700, further contributing to the positioning of the mobile device 700.

For the scheme in which the optical axis of the camera used in the prior art is arranged in parallel with the forward driving direction, as the robot moves toward the feature, the features visible in the center of the camera field of view may increase in scale, and the features in the center of the camera's field of view The 3D structure may be difficult to determine from a series of images that are captured as moving from the mobile device 700 toward the feature. This situation is especially serious for indoor cleaning robots. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, in addition, increasing the field of view makes the lens distortion severe and is camera The captured image has the smallest angular resolution. While the present embodiment increases the first optical axis 741 of the first camera 71 obliquely upward, the parallax observed across the field of view of the camera as the camera moves toward the object is increased, and the portion of the camera field of view has the highest angular resolution; The first optical axis 741 of the first camera 71 is disposed obliquely with respect to the top surface 72 such that the first camera 71 is capable of capturing more reliable static feature-rich objects from above the mobile device 700 (such as hanging on a wall at home) The photo frame and other features without displacement) are more conducive to positioning from the mobile device 700. Self-mobile device 700 can use features of a reliable static object located at a particular height range above the floor to establish a map of the environment and navigate using vision-based sensors and vision-based simultaneous positioning and mapping (or VSLAM).

The first optical axis 741 of the first camera 71 is disposed obliquely with respect to the top surface 72 such that the self-moving device 700 can more accurately determine the 3D structure of the underside of the object suspended from the wall, allowing the mobile device 700 to be focused therein Areas within a typical indoor environment where features are invariant, such as those imaged around door frames, photo frames, and other static furniture and objects, allow for reliable identification of reliable landmarks from mobile device 700, thereby accurately positioning and within the environment. Mapping.

As shown in FIG. 17, the angle a7 between the first optical axis 741 of the first camera 71 and the top surface 72 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the first camera 71 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, and most of the field of view of the camera 71 is obtained from the ceiling. An image of the area bordering the wall, which can be used to locate fewer objects.

In one embodiment, further, the angle a7 between the first optical axis 741 of the first camera 71 and the top surface 72 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and spatial height of the working environment of the mobile device, within which the first camera 71 can directly obtain an effective object for positioning.

As shown in FIG. 17, the first camera 71 has a field of view of the captured image, and the angle b7 of the field of view of the first camera 71 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the first camera 71.

As shown in FIG. 17, in the present embodiment, the top surface 72 is recessed downwardly with a recessed structure 76 that can be recessed integrally from the top surface 72.

As shown in FIG. 17, the first camera 71 is disposed within the recessed structure 76. The first camera 71 has a lens, the lens of the first camera 71 does not protrude from the top surface 72, that is, the lens of the first camera 71 may be completely below the top surface 72, and the lens of the first camera 71 may also be flush with the top surface 72. .

In this embodiment, by providing two cameras, the first camera 71 is used for positioning, the second camera 78 is for recognizing objects, and the two cameras can be arranged in a vertical direction, in particular, the installation of the mirror 77 is directly located at the first camera 71. Between the second camera 78 and the second camera 78, the parts are collectively set to make full use of the space.

Eleventh embodiment

As shown in FIGS. 18 and 19, the self-moving device 800 of the eleventh embodiment includes a main body 80 and a camera provided on the main body 80. The body 80 has a top surface 82, a bottom surface 83 opposite the top surface 82, and side walls 84 that connect the top surface 82 to the bottom surface 83. The body 80 has a front portion in the driving direction 85 and a rear portion opposite to the front portion. The camera is used to shoot at a predetermined angle of view. The camera is mounted obliquely upward relative to the top surface 82 such that the optical axis of the camera is at an acute angle to the top surface 82. The camera includes two cameras, a first camera 81 and a second camera 88, respectively, two of which are respectively disposed on the top surface. 82 is on and near the side wall.

As shown in FIG. 19, the first camera 81 has a first optical axis 841. The first camera 81 is mounted obliquely upward with respect to the top surface 82 such that the optical axis 841 of the first camera 81 is in acute angular alignment with the top surface 82, the aiming direction of the first camera 81 is oriented obliquely upward relative to the top surface 82 perpendicular to the driving direction tilt. By tilting the aiming direction of the first camera 81 obliquely upwards obliquely to the driving direction, the field of view can be made to face the area on the side from the driving direction of the mobile device 800, which is more advantageous for improving positioning accuracy and robustness. The optical axis 841 of a camera 81 is tilted upwardly such that the first camera 81 is capable of capturing more objects from above the mobile device 800, further facilitating positioning from the mobile device 800.

As shown in FIG. 19, the angle a8 between the optical axis 841 of the first camera 81 and the top surface 82 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the first camera 81 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, and the field of view of the first camera 81 is mostly acquired. It is an image of the junction area between the ceiling and the wall, and there are fewer objects that can be used for positioning.

In one embodiment, further, the angle a8 between the optical axis 841 of the first camera 81 and the top surface 82 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and spatial height of the working environment of the mobile device, within which the first camera 81 can be directly obtained with an effective object for positioning.

As shown in FIG. 19, the first camera 81 has a field of view of the captured image, and the angle b8 of the field of view of the first camera 81 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by an excessive field of view while ensuring the field of view of the first camera 81.

As shown in FIG. 19, the second camera 88 has a second optical axis 842. The second camera 88 is mounted obliquely upward relative to the top surface 82 such that the optical axis 842 of the second camera 88 is in acute angular alignment with the top surface 82, and the aiming direction of the second camera 88 is oriented obliquely above the top surface 82 in a direction perpendicular to the driving direction tilt. By tilting the aiming direction of the second camera 88 obliquely upwards obliquely to the driving direction, the field of view can be made to face the area on the side of the driving direction of the mobile device 800, which is more advantageous for improving positioning accuracy and robustness. The optical axis 842 of the two cameras 88 is tilted upwardly such that the second camera 88 is capable of capturing more objects from above the mobile device 800, further facilitating positioning from the mobile device 800.

The arrangement in which the camera optical axis is arranged in parallel with the top surface, as the robot moves toward the feature, the features visible in the center of the camera field of view may increase in scale, and the 3D structure of the features in the center of the camera's field of view may be difficult to follow from the self-moving Device 800 is determined in a series of images captured as the feature moves forward. This situation is especially serious for indoor cleaning robots. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, in addition, increasing the field of view makes the lens distortion severe and is camera The captured image has the smallest angular resolution. While the present embodiment increases the optical axis of the camera obliquely upward, the parallax observed across the field of view of the camera as the camera moves toward the object is increased, the portion of the camera field of view having the highest angular resolution; by comparing the optical axis of the camera with respect to The top surface is tilted so that the camera is able to capture more reliable static feature-rich objects from above the mobile device 800 (such as photo frames hanging on the wall at home and other features without displacement), which is more conducive to self-mobile devices 800 positioning. Self-moving device 800 may use features of a reliable static object located at a particular height range above the floor to establish a map of the environment and navigate using vision-based sensors and vision-based simultaneous positioning and mapping (or VSLAM).

The tilting of the optical axis of the camera relative to the top surface enables the self-moving device 800 to more accurately determine the 3D structure of the underside of the object suspended from the wall, allowing the focus from the mobile device 800 to be invariant (such as in the door frame) The area within a typical indoor environment of photo frames and other static furniture and features imaged around the object allows for repetitive identification of reliable landmarks from the mobile device 800, thereby accurately positioning and mapping within the environment.

As shown in FIG. 19, the angle c3 between the optical axis 842 of the second camera 88 and the top surface 82 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the second camera 88 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, and the field of view of the second camera 88 is mostly acquired. It is an image of the junction area between the ceiling and the wall, and there are fewer objects that can be used for positioning.

In one embodiment, further, the angle c3 between the optical axis 842 of the second camera 88 and the top surface 82 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and spatial height of the working environment of the mobile device, within which the second camera 88 can be directly obtained with an effective object for positioning.

As shown in FIG. 19, the second camera 88 has a field of view of the captured image, and the angle d3 of the field of view of the second camera 88 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by an excessive field of view while ensuring the field of view of the first camera 81.

As shown in FIG. 18, the aiming directions of the first camera 81 and the second camera 88 are oppositely disposed. The optical axes of the first camera 81 and the second camera 88 are routed through a vertical plane from the center 89 of the mobile device 800. As such, when the mobile device 800 is spinning, loss of features can be avoided and, in addition, facilitating relocation from the mobile device 800.

As shown in FIG. 19, in the present embodiment, the top surface 82 has a protruding structure 86. The protruding structure 86 can be integrally formed upward from the top surface 82. Of course, the protruding structure 86 can also be a separate structure. The protruding structure 86 and the top surface 82 are secured to each other by a fixing bolt by perforating the protruding structure 86 and the top surface 82.

As shown in FIG. 19, the protruding structure 86 includes two, and the first camera 81 and the second camera 88 are disposed in the two protruding structures 86, respectively. Both the first camera 81 and the second camera 88 have lenses, and the lenses of the first camera 81 and the second camera 88 at least partially protrude from the top surface 82.

In this embodiment, by providing two cameras for positioning, that is, the first camera 81 and the second camera 88, on both sides of the driving direction 85 of the mobile device 800, and the aiming directions of the two cameras are oppositely set, the self-moving device can be added. 800 positioning accuracy, at the same time, when one of the cameras does not capture an object that can be used for positioning, the other camera can be used for positioning from the mobile device 800 according to its own capture situation, which can guarantee the maximum self-mobile device. 800 positioning.

Twelfth embodiment

As shown in FIGS. 20 and 21, the self-moving device 900 of the twelfth embodiment includes a main body 90 and a camera provided on the main body 90. The body 90 has a top surface 92, a bottom surface 93 opposite the top surface 92, and side walls 94 that join the top surface 92 and the bottom surface 93. The body 90 has a front portion in the driving direction 95 and a rear portion opposite to the front portion. The camera is used to shoot at a predetermined angle of view. The camera is mounted obliquely upward relative to the top surface 92 such that the optical axis of the camera is at an acute angle to the top surface 92. The camera includes two cameras, a first camera 91 and a second camera 98, respectively, and the two cameras are respectively disposed on the top surface. 92 is on and near the side wall.

As shown in FIG. 21, the first camera 91 has a first optical axis 941. The first camera 91 is mounted obliquely upward with respect to the top surface 92 such that the optical axis 941 of the first camera 91 is at an acute angle with the top surface 92, and the aiming direction of the first camera 91 is perpendicular to the driving direction, the aiming direction of the first camera 91 It is inclined obliquely upward with respect to the driving direction with respect to the top surface 92. By tilting the aiming direction of the first camera 91 obliquely upwards obliquely to the driving direction, the field of view can be made to face the area from the driving direction of the mobile device 900, which is more advantageous for improving positioning accuracy and robustness. The optical axis 941 of a camera 91 is tilted upwardly such that the first camera 91 is capable of capturing more objects from above the mobile device 900, further facilitating positioning from the mobile device 900.

As shown in FIG. 21, the angle a9 between the optical axis 941 of the first camera 91 and the top surface 92 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the first camera 91 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, and the field of view of the first camera 91 is mostly acquired. It is an image of the junction area between the ceiling and the wall, and there are fewer objects that can be used for positioning.

The arrangement in which the camera optical axis is arranged in parallel with the top surface, as the robot moves toward the feature, the features visible in the center of the camera field of view may increase in scale, and the 3D structure of the features in the center of the camera's field of view may be difficult to follow from the self-moving Device 900 is determined in a series of images captured as the feature moves forward. This situation is especially serious for indoor cleaning robots. The positional accuracy of the camera can be improved by increasing the field of view of the camera, however, increasing the field of view reduces the angular resolution of the image data captured for a given image sensor resolution, in addition, increasing the field of view makes the lens distortion severe and is camera The captured image has the smallest angular resolution. While the present embodiment increases the optical axis of the camera obliquely upward, the parallax observed across the field of view of the camera as the camera moves toward the object is increased, the portion of the camera field of view having the highest angular resolution; by comparing the optical axis of the camera with respect to The top surface is tilted so that the camera can capture more reliable static feature-rich objects from above the mobile device 900 (such as photo frames hanging on the wall at home and other features without displacement), which is more conducive to self-mobile devices 900 positioning. Self-moving device 900 may use features of a reliable static object located at a particular height range above the floor to establish a map of the environment and navigate using vision-based sensors and vision-based simultaneous positioning and mapping (or VSLAM).

The tilting of the optical axis of the camera relative to the top surface enables the self-moving device 900 to more accurately determine the 3D structure of the underside of the object suspended from the wall, allowing the focus from the mobile device 900 to be invariant (such as in the door frame) The area within a typical indoor environment of photo frames and other static furniture and features imaged around the object allows for repetitive identification of reliable landmarks from the mobile device 900, thereby accurately positioning and mapping within the environment.

In one embodiment, further, the angle a9 between the optical axis 941 of the first camera 91 and the top surface 92 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and spatial height of the working environment of the mobile device, within which the first camera 91 can be directly obtained with an effective object for positioning.

As shown in FIG. 21, the first camera 91 has a field of view of the captured image, and the angle b9 of the field of view of the first camera 91 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the first camera 91.

As shown in FIG. 21, the second camera 98 has a second optical axis 942. The second camera 98 is mounted obliquely upward relative to the top surface 92 such that the optical axis 942 of the second camera 98 is at an acute angle with the top surface 92, and the aiming direction of the second camera 98 is perpendicular to the driving direction, the aiming direction of the second camera 98 It is inclined obliquely upward with respect to the driving direction with respect to the top surface 92. By tilting the aiming direction of the second camera 98 obliquely upwardly obliquely to the driving direction, the field of view can be made to face the area on the side from the driving direction of the mobile device 900, which is more advantageous for improving positioning accuracy and robustness. The optical axis 942 of the two cameras 98 is tilted upwardly such that the second camera 98 is capable of capturing more objects from above the mobile device 900, further contributing to the positioning of the mobile device 900.

As shown in FIG. 21, the angle c4 between the optical axis 942 of the second camera 98 and the top surface 92 ranges from 30 to 60 degrees. This range of angles allows you to get more obliquely above objects for positioning, such as image frames hanging on a wall. For example, for a self-mobile device located indoors, the angle is too small, and most of the field of view of the second camera 98 acquires an image of the ground, which cannot be used for positioning, and the angle is too large, and the field of view of the second camera 98 is mostly acquired. It is an image of the junction area between the ceiling and the wall, and there are fewer objects that can be used for positioning.

In one embodiment, further, the angle c4 between the optical axis 942 of the second camera 98 and the top surface 92 ranges from 40 to 50 degrees. This range of angles is obtained in conjunction with the area and spatial height of the working environment of the mobile device, within which the second camera 98 can directly obtain an effective object for positioning.

As shown in FIG. 21, the second camera 98 has a field of view of the captured image, and the angle d4 of the field of view of the second camera 98 in the vertical direction spans a truncated cone of 90-120 degrees. This range of angles can avoid excessive distortion caused by excessive field of view while ensuring the field of view of the first camera 91.

As shown in FIG. 20, the aiming directions of the first camera 91 and the second camera 98 are oppositely disposed. The optical axes of the first camera 91 and the second camera 98 are wired through a vertical plane from the center 99 of the mobile device 900. As such, when the mobile device 900 is spinning, loss of features can be avoided and, in addition, facilitating repositioning from the mobile device 900.

As shown in FIG. 21, in the present embodiment, the top surface 92 is recessed with two recessed structures 96, which may be recessed integrally from the top surface 92.

As shown in FIG. 21, the first camera 91 is disposed within one of the recessed structures 96. The first camera 91 has a lens, and the lens of the first camera 91 does not protrude from the top surface 92, that is, the lens of the first camera 91 may be completely below the top surface 92, and the lens of the first camera 91 may also be just flush with the top surface 92. Qi.

As shown in FIG. 21, the second camera 98 is disposed within another recessed structure 96. The second camera 98 has a lens, the lens of the second camera 98 does not protrude from the top surface 92, i.e., the lens of the second camera 98 can be completely below the top surface 92, and the lens of the second camera 98 can also be just flush with the top surface 92. Qi.

In a further aspect of the embodiments, a glass plate (not shown) may be disposed on the outer side of the lens of the camera. The glass plate not only provides a transparent environment, but also has a good dustproof effect, so that the direction of the field of view of the lens Clean and ensure the cleanliness of the glass plate within the field of view. A confined space is formed between the glass plate and the lens, and the sealing structure is ensured by the soft structure. The angle between the plane of the glass plate and the optical axis of the camera ranges from 80 to 100 degrees.

In other embodiments, a plurality of cameras may be disposed from the mobile device, and the arrangement of the plurality of cameras may be arbitrarily selected and combined in the above embodiments, for example, a camera whose optical axis is inclined upward and the field of view direction is opposite to the driving direction may be set. And a pair of cameras respectively located on the sides of the driving direction of the mobile device, and then a mirror is arranged at the front end of the field of view of the camera having the same direction of the field of view and the driving direction, and a pair of cameras are arranged on both sides of the driving direction of the mobile device, The use of combination methods can increase the positioning effect.

The beneficial effects of the various embodiments are generally: by providing a mirror in front of the field of view of the camera for recognition, the optical path can be increased compared to the scheme of directly aiming the camera directly in front, so that the camera can capture a wider and wider range. The object used for positioning can increase the width and breadth; by setting the aiming direction of the camera for positioning toward the rear, the field of view can be oriented toward the area that has passed, and the space is unobstructed, which is more favorable for improving positioning accuracy and robustness. Sex, at the same time, the camera's optical axis is tilted up, so that the camera can capture more objects from above the mobile device, which is more conducive to the positioning of the mobile device; by setting two on both sides of the mobile device driving direction The camera used for positioning, and the aiming directions of the two cameras are oppositely set, which can increase the accuracy of positioning from the mobile device. At the same time, when one of the cameras does not capture an object that can be used for positioning, the other camera can be based on itself. The capture situation is used for positioning from mobile devices to maximize the positioning of mobile devices.

The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A self-mobile device, comprising:

a body having a top wall and a bottom wall;

a control component that controls automatic cruising from the mobile device in the work area and performs work tasks;

An optical sensing assembly disposed at a front portion of the body and located between the top wall and the bottom wall, the front front side wall being provided with an opening, the optical sensing component detecting an image from the front of the mobile device through the opening I think it provides reference information for cruising from mobile devices.
The self-moving device according to claim 1, wherein a transparent member is disposed at the opening, and the optical sensing component captures an image through the transparent member.
The self-mobile device of claim 1 wherein said self-moving device comprises a guard member, said optical sensing assembly being located within said guard member.
The self-moving device of claim 2 wherein a seal is provided between the opening and the optical sensing component.
The self-moving device according to claim 1, wherein the optical sensing unit has an angle of view of 45-100 degrees through the opening in the vertical direction.
The self-mobile device according to claim 5, wherein the central axis of the vertical field of view angle is substantially horizontal.
The self-moving device according to claim 5, wherein an angle between a central axis of the vertical angle of view and a horizontal line is ±15 degrees.
The self-moving device according to claim 1, wherein the height of the opening in the vertical direction does not exceed 2/3 of the height of the front front side wall.
The self-mobile device of claim 1 wherein said optical sensing assembly is disposed adjacent the front 20% of the front of the body.
The self-mobile device of claim 1 wherein the optical sensing component comprises a camera with a shooting direction disposed toward the opening.
The self-mobile device according to claim 10, wherein a photographing direction of the camera is perpendicular to the opening.
The self-mobile device according to claim 10, wherein a vertical distance between a center of the camera and the opening is 2-5 CM.
The self-moving device according to claim 1, wherein the optical sensing component comprises a camera and a mirror, a projection direction of the mirror is toward a photographing direction of the camera, and an incident direction of the mirror is directed to the Opening.
The self-moving device according to claim 13, wherein the mirror is located above the camera, and an extension line of one end of the mirror intersects the top wall, and an angle formed near the opening direction is an obtuse angle.
The self-mobile device of claim 14 wherein said obtuse angle is between 100 and 130 degrees.
A self-mobile device according to claim 13 wherein said camera is mounted to the bottom wall.
The self-moving device according to claim 13, wherein an angle at which the camera is photographed is perpendicular to the top wall or an angle formed by the top wall near the opening direction is an acute angle.
The self-moving device according to claim 13, wherein an effective field angle formed by the photographing direction of the camera and the mirror is 35-65 degrees.
The self-mobile device according to claim 13, wherein a center of the mirror has a vertical distance from the opening of 3-6 CM.
The self-moving device according to claim 13, wherein the bottom end of the mirror is perpendicular to the camera by a distance of 2 to 5 cm.
The self-mobile device of claim 13 wherein said mirror has a vertical height of 4-8 cm.
The self-moving device according to claim 17, wherein when the photographing direction of the camera and the top wall form an acute angle near the opening direction, the camera body intersects the bottom wall and forms near the opening direction. The angle is 8-12 degrees.