WO2021098410A1 - 摄像头装置及清洁机器人 - Google Patents

摄像头装置及清洁机器人 Download PDF

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Publication number
WO2021098410A1
WO2021098410A1 PCT/CN2020/120486 CN2020120486W WO2021098410A1 WO 2021098410 A1 WO2021098410 A1 WO 2021098410A1 CN 2020120486 W CN2020120486 W CN 2020120486W WO 2021098410 A1 WO2021098410 A1 WO 2021098410A1
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WO
WIPO (PCT)
Prior art keywords
camera
cleaning robot
elastic connecting
elastic
connecting member
Prior art date
Application number
PCT/CN2020/120486
Other languages
English (en)
French (fr)
Inventor
于光
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201921989960.XU external-priority patent/CN211270533U/zh
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to CA3158726A priority Critical patent/CA3158726A1/en
Priority to JP2022529096A priority patent/JP7433430B2/ja
Priority to US17/756,160 priority patent/US20220408995A1/en
Priority to EP20890801.2A priority patent/EP4062816A4/en
Priority to KR1020227018659A priority patent/KR20220092952A/ko
Publication of WO2021098410A1 publication Critical patent/WO2021098410A1/zh
Priority to AU2022204218A priority patent/AU2022204218B2/en
Priority to JP2023205143A priority patent/JP2024042694A/ja
Priority to AU2024201545A priority patent/AU2024201545A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B29/00—Combinations of cameras, projectors or photographic printing apparatus with non-photographic non-optical apparatus, e.g. clocks or weapons; Cameras having the shape of other objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B30/00—Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • This application relates to the technical field of cleaning robots, in particular to a camera device and a cleaning robot.
  • the visual cleaning robot uses binocular cameras 303 to recognize obstacles on the ground, obtain obstacle information in the working environment of the cleaning robot, and obtain obstacle size, obstacle shape, obstacle type, obstacle and cleaning robot The distance and other information of the cleaning robot greatly improves the intelligence of the cleaning robot and enhances the cleaning efficiency.
  • the distance between the optical axes of the binocular camera 303 is a fixed value determined by the cooperation of the structural design and the visual algorithm during the development process.
  • the general installation method is to place the camera 303 in the installation slot 302 of the installation frame 301 by means of clearance fit, and fix the rear end of the camera 303 on the installation frame 301.
  • the binocular camera 303 and the camera mounting groove 302 are in clearance fit, and then the camera 303 is fixed to the mounting frame 301 by means such as pasting.
  • the embodiments of the present application provide a camera device and a cleaning robot.
  • a camera device which includes a mounting frame and a camera mounted on the mounting frame.
  • the mounting frame is provided with a mounting groove matching the camera, and the side wall of the mounting groove is fixedly elastic After the camera is connected to the installation groove, the camera is in interference fit with the installation groove through the elastic connection member, so that the camera is connected to the installation groove under the action of the elastic force generated by the elastic connection member due to the extrusion deformation.
  • the camera has a lens, and in the direction perpendicular to the central axis of the lens, the cross-sectional area of the camera is smaller than the cross-sectional area of the mounting groove, so that there is a gap between the camera and the mounting groove.
  • the elastic connecting member is arranged in the gap, and the side of the elastic connecting member facing the mounting groove is fixedly connected or detachably connected to the mounting frame.
  • each mounting slot is arranged in a one-to-one correspondence with each camera.
  • two elastic connecting members are provided in each installation slot, and the two elastic connecting members are arranged opposite to each other in the connection direction of the center points of the two cameras.
  • the thickness of the two elastic connectors is adjustable to adjust the distance between the optical axes of the two cameras.
  • the elastic connecting member is a ring structure arranged around the side wall of the installation groove.
  • the plurality of elastic connecting members are arranged at intervals along the circumferential direction of the mounting groove.
  • the elastic connecting member and the mounting frame are an integral structure, and the hardness of the elastic connecting member is less than the hardness of the mounting frame.
  • a cleaning robot which includes the above-mentioned camera device.
  • a cleaning robot which includes a machine body, a sensing system, a control system, and a driving system.
  • the sensing system includes a laser ranging device and a camera; the laser ranging device is located in the The top surface of the cleaning robot; the camera is installed on the cleaning robot through a mounting frame, and the field of view of the camera includes the traveling direction of the cleaning robot.
  • the mounting frame is provided with a mounting groove matching the camera, and the camera is installed in the mounting groove.
  • an elastic connecting piece is fixedly connected to the side wall of the mounting groove, and after the camera is installed in the mounting groove, the elastic connecting piece is in interference fit with the mounting groove , So that the camera is connected to the installation groove under the action of the elastic force generated by the elastic connecting member due to the extrusion deformation.
  • the camera has a lens, and in the direction perpendicular to the central axis of the lens, the cross-sectional area of the camera is smaller than the cross-sectional area of the mounting groove, so that the camera and the mounting groove There is a gap between the grooves.
  • the elastic connecting member is arranged in the gap, and the side of the elastic connecting member facing the mounting groove is fixedly connected or detachably connected to the mounting frame.
  • both the camera and the installation groove are two, and each installation groove and each camera are arranged in a one-to-one correspondence.
  • two elastic connecting members are provided in each of the mounting grooves, and the two elastic connecting members are arranged opposite to each other in the connecting direction of the center points of the two cameras.
  • the thickness of the two elastic connectors is adjustable for adjusting the distance between the optical axes of the two cameras. spacing.
  • the elastic connecting member is a ring structure arranged around the side wall of the mounting groove.
  • the elastic connecting members there are a plurality of the elastic connecting members, and the plurality of elastic connecting members are arranged at intervals along the circumferential direction of the installation groove.
  • the elastic connecting member and the mounting frame are an integral structure, and the hardness of the elastic connecting member is less than the hardness of the mounting frame.
  • a cleaning robot which includes a machine body, a sensing system, a control system, and a driving system.
  • the sensing system includes a laser distance measuring device and two cameras; the laser The distance measuring device is located on the top surface of the cleaning robot; the two cameras are installed on the cleaning robot through a mounting frame.
  • the mounting frame is respectively provided with mounting slots matching the two cameras, and each camera is mounted in a corresponding mounting slot.
  • an elastic connecting member is fixedly connected to the side wall of each installation groove, and after each camera is installed in the corresponding installation groove, the camera is connected to the installation groove through the elastic connecting member.
  • the interference fit enables the camera to be connected to the mounting groove under the action of the elastic force generated by the elastic connecting member due to the extrusion deformation.
  • the camera has a lens, and in the direction perpendicular to the central axis of the lens, the cross-sectional area of the camera is smaller than the cross-sectional area of the mounting groove, so that the camera and the mounting groove There is a gap between the grooves.
  • the elastic connecting member is arranged in the gap, and the side of the elastic connecting member facing the mounting groove is fixedly connected or detachably connected to the mounting frame.
  • Fig. 1 is an axonometric view of a camera device in the background art
  • FIG. 2 is a schematic diagram of a planar structure of a camera device according to an embodiment of the present application.
  • Fig. 3 is a top view of the cleaning robot according to an embodiment of the present application.
  • Fig. 4 is a bottom view of the cleaning robot according to an embodiment of the present application.
  • Fig. 5 is a side view of the cleaning robot according to an embodiment of the present application.
  • Fig. 6 is an isometric view of the cleaning robot according to an embodiment of the present application.
  • 110-machine body 111-forward part; 112-backward part;
  • 140-drive system 141-drive wheel module; 142-driven wheel;
  • 150-dry cleaning system 150 150-dry cleaning system 150; 151-cleaning system; 152-side brush; 170-human-computer interaction system;
  • orientation words appearing in the following description are all directions shown in the figure, and do not limit the specific structures of the camera device 200 and the cleaning robot 100 of the present application.
  • the terms “installation” and “connection” should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Integrally connected; it can be directly connected or indirectly connected.
  • the specific meaning of the above-mentioned terms in this application can be understood according to specific circumstances.
  • the embodiment of the application provides a camera device 200, which has good seismic performance and stability, and when the distance between the optical axis 211 of the binocular camera 21 (two cameras 21) changes, the camera 21 can be replaced and adjusted at any time. , Easy to maintain and repair.
  • the camera device 200 according to the embodiment of the present application will be described in detail below with reference to FIG. 2.
  • FIG. 2 shows a schematic plan view of a camera device 200 according to an embodiment of the present application.
  • a camera device 200 provided by an embodiment of the present application includes a mounting frame 20 and a camera 21 mounted on the mounting frame 20.
  • the mounting frame 20 is provided with a mounting groove 201 matching the camera 21.
  • An elastic connector 202 is fixed on the side wall of the groove 201. After the camera 21 is installed in the installation groove 201, the camera 21 is in interference fit with the installation groove 201 through the elastic connector 202, so that the camera 21 is squeezed on the elastic connector 202. It is installed in the installation groove 201 under the action of the elastic force generated by the deformation.
  • An embodiment of the present application provides a camera device 200.
  • the camera 21 has a lens. In the direction perpendicular to the central axis of the lens, the cross-sectional area of the camera 21 is smaller than the cross-sectional area of the mounting groove 201, so that there is a gap between the camera 21 and the mounting groove 201. gap.
  • the elastic connecting member 202 is arranged in the gap, and the side of the elastic connecting member 202 facing the mounting groove 201 is fixedly connected or detachably connected to the mounting frame 20.
  • each mounting slot 201 and each camera 21 are arranged in a one-to-one correspondence.
  • Two elastic connecting members 202 are provided in each installation groove 201, and the two elastic connecting members 202 are arranged opposite to each other in the connection direction of the center points of the two cameras 21.
  • the thickness of the two elastic connectors 202 is adjustable to adjust the distance between the optical axes 211 of the two cameras 21.
  • the thickness of the elastic connecting member 202 is set by the distance of the optical axis of each camera.
  • the elastic connecting member 202 is a ring structure arranged around the side wall of the mounting groove 201. It is understood that the elastic connecting member 202 may be a closed ring structure or an open structure. Ring structure. Alternatively, there are a plurality of elastic connecting members 202, and the plurality of elastic connecting members 202 are arranged at intervals along the circumferential direction of the mounting groove 201.
  • the elastic connecting piece 202 and the mounting frame 20 are an integral structure, and the hardness of the elastic connecting piece 202 is less than the hardness of the mounting frame 20, and the elastic connecting piece 202 may be a connecting piece made of rubber material.
  • a mounting slot 201 is provided on the mounting frame 20, and an elastic connecting member 202 is arranged in the mounting slot 201, so that the camera 21 is interference-installed in the mounting slot 201. It has a shock-absorbing function.
  • the camera 21 and the elastic connecting member 202 are non-rigidly connected, and will not easily fall off when encountering vibration, and the distance between the optical axes 211 of the two cameras 21 will not change relatively. In addition, it is convenient to disassemble and assemble. When the distance between the optical axes 211 of the two cameras 21 changes, there is no need for violent disassembly, and the cameras 21 can be directly adjusted or replaced.
  • An embodiment of the present application provides a cleaning robot 100, which includes the aforementioned camera device 200.
  • FIG. 3 shows a top view of the cleaning robot 100 according to an embodiment of the present application
  • FIG. 4 shows a bottom view of the cleaning robot 100 according to an embodiment of the present application
  • FIG. 5 illustrates an embodiment of the present application
  • FIG. 6 shows an isometric view of the cleaning robot 100 according to an embodiment of the present application.
  • the cleaning robot 100 includes a machine body 110, a sensing system 120, a control system 130 (not shown in the figure), a driving system 140, a cleaning system, an energy system, and a human-computer interaction system 170.
  • the machine body 110 includes a forward part 111 and a rearward part 112, which have an approximately circular shape (the front and rear are both circular), and may also have other shapes, including but not limited to the approximately D-shaped shape of the front and rear circles.
  • the sensing system 120 includes a position determining device 121 located above the machine body 110, a buffer 122 located in the forward part 111 of the machine body 110, a cliff sensor 123 and an ultrasonic sensor, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, and an odometer. And other sensor devices to provide the control system 130 with various position information and motion status information of the machine.
  • the position determining device 121 includes but is not limited to a camera 21 and a laser distance measuring device (LDS).
  • LDS laser distance measuring device
  • the following uses the laser ranging device of the triangulation ranging method as an example to illustrate how to determine the position.
  • the basic principle of the triangulation method is based on the proportional relationship of similar triangles, so I won't repeat it here.
  • the laser distance measuring device includes a light-emitting unit and a light-receiving unit.
  • the light emitting unit may include a light source that emits light
  • the light source may include a light emitting element, such as an infrared or visible light emitting diode (LED) that emits infrared light or visible light.
  • the light source may be a light emitting element that emits a laser beam.
  • a laser diode (LD) is used as an example of a light source.
  • the light source using the laser beam can make the measurement more accurate than other lights.
  • the laser diode can be a point laser, which measures the two-dimensional position information of obstacles, or a line laser, which measures three-dimensional position information of obstacles within a certain range.
  • the light receiving unit may include an image sensor on which a light spot reflected or scattered by an obstacle is formed.
  • the image sensor may be a collection of multiple unit pixels in a single row or multiple rows. These light-receiving elements can convert optical signals into electrical signals.
  • the image sensor may be a complementary metal oxide semiconductor (CMOS) sensor or a charge coupled device (CCD) sensor, and it is preferably a complementary metal oxide semiconductor (CMOS) sensor due to cost advantages.
  • the light receiving unit may include a light receiving lens assembly. The light reflected or scattered by the obstacle may travel through the light-receiving lens assembly to form an image on the image sensor.
  • the light-receiving lens assembly may include a single lens or a plurality of lenses.
  • the base may support the light-emitting unit and the light-receiving unit, and the light-emitting unit and the light-receiving unit are arranged on the base and spaced apart from each other by a certain distance.
  • the base may be rotatably arranged on the main body 110, or the base itself may not rotate but a rotating element may be provided to rotate the emitted light and the received light.
  • the rotational angular velocity of the rotating element can be obtained by setting the optocoupler element and the code disc.
  • the optocoupler element senses the tooth gap on the code disc.
  • the instantaneous angular velocity can be obtained by dividing the slip time of the tooth gap and the distance between the tooth gaps.
  • the data processing device connected with the light-receiving unit such as DSP, records and transmits the obstacle distance value at all angles relative to the 0 degree angle direction of the robot to the data processing unit in the control system 130, such as an application processor containing a CPU (AP), the CPU runs a positioning algorithm based on particle filtering to obtain the current position of the robot, and draws a map based on this position for navigation.
  • the positioning algorithm preferably uses real-time positioning and mapping (SLAM).
  • the laser ranging device based on the triangulation method can measure the distance value at an infinite distance beyond a certain distance in principle, it is actually very difficult to realize long-distance measurement (for example, 6 meters or more), mainly because The size of the pixel unit on the sensor of the light unit is limited, and it is also affected by the photoelectric conversion speed of the sensor, the data transmission speed between the sensor and the connected DSP, and the calculation speed of the DSP.
  • the measured value of the laser distance measuring device affected by the temperature will also undergo changes that the system cannot tolerate, mainly because the thermal expansion and deformation of the structure between the light-emitting unit and the light-receiving unit causes the angle between the incident light and the outgoing light to change, and the light-emitting unit And the light-receiving unit itself also has temperature drift problems. After long-term use of the laser distance measuring device, the deformation caused by the accumulation of temperature changes, vibration and other factors will also seriously affect the measurement results. The accuracy of the measurement result directly determines the accuracy of drawing the map, which is the basis for the robot to further implement the strategy, which is particularly important.
  • the forward part 111 of the machine body 110 can carry a buffer 122.
  • the buffer 122 detects one of the travel paths of the cleaning robot 100 via a sensor system, such as an infrared sensor.
  • the robot can control the driving wheel module 141 through the events detected by the buffer 122, such as obstacles and walls, to make the robot respond to the events, such as staying away from the obstacles.
  • the control system 130 is set on the main circuit board in the main body of the machine 110, and includes non-transitory memory, such as hard disk, flash memory, random access memory, and computing processor for communication, such as central processing unit, application processor, and application processing.
  • the device uses a positioning algorithm, such as SLAM, to draw a real-time map of the environment where the robot is located according to the obstacle information fed back by the laser ranging device.
  • the control system 130 can plan the most efficient and reasonable cleaning path and cleaning method based on the map information drawn by SLAM, which greatly improves the cleaning efficiency of the robot.
  • the driving system 140 may manipulate the cleaning robot 100 to travel across the ground based on a driving command having distance and angle information (for example, x, y, and ⁇ components).
  • the driving system 140 includes a driving wheel module 141.
  • the driving wheel module 141 can control the left wheel and the right wheel at the same time.
  • the driving wheel module 141 preferably includes a left driving wheel module and a right driving wheel module, respectively.
  • the left and right driving wheel modules are opposed to each other along a transverse axis defined by the main body 110.
  • the robot may include one or more driven wheels 142, and the driven wheels include, but are not limited to, universal wheels.
  • the driving wheel module includes a walking wheel, a driving motor, and a control circuit for controlling the driving motor.
  • the driving wheel module can also be connected to a circuit for measuring the driving current and an odometer.
  • the driving wheel module 141 can be detachably connected to the main body 110 to facilitate disassembly, assembly and maintenance.
  • the driving wheel may have a biased drop suspension system, fastened in a movable manner, for example, attached in a rotatable manner, to the robot body 110, and receives a spring bias that is biased downward and away from the robot body 110.
  • the spring bias allows the driving wheel to maintain contact and traction with the ground with a certain ground force, and at the same time, the cleaning element of the cleaning robot 100 also contacts the ground 10 with a certain pressure.
  • the cleaning system may be a dry cleaning system 150 and/or a wet cleaning system.
  • the dry cleaning system 150 the main cleaning function comes from the cleaning system 151 formed by the roller brush, the dust box, the fan, the air outlet, and the connecting parts between the four.
  • the rolling brush which has a certain interference with the ground, sweeps the garbage on the ground and rolls it to the front of the dust suction port between the rolling brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box.
  • the dust removal ability of the sweeper can be characterized by the dust pick-up efficiency (DPU).
  • the cleaning efficiency DPU is affected by the structure and material of the roller brush, and is affected by the dust suction port, dust box, fan, air outlet and the connection between the four
  • the wind utilization rate of the air duct formed by the components is affected by the type and power of the wind turbine, which is a responsible system design issue.
  • the improvement of dust removal capacity is of greater significance to cleaning robots with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with a single charge can evolve into a single charge to clean 100 square meters or more.
  • the service life of the battery that reduces the number of recharges will also be greatly increased, so that the frequency of user replacement of the battery will also increase.
  • the dry cleaning system 150 may also include a side brush 152 with a rotating shaft, which is at an angle with respect to the ground for moving debris to the rolling brush area of the cleaning system.
  • the energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit.
  • the charging control circuit, battery pack charging temperature detection circuit, and battery undervoltage monitoring circuit are then connected to the single-chip control circuit.
  • the host is connected to the charging pile for charging through charging electrodes arranged on the side or below the fuselage. If dust is attached to the exposed charging electrode, the plastic body around the electrode will melt and deform due to the accumulation of electric charges during the charging process, and even cause the electrode itself to deform, and normal charging cannot continue.
  • the human-computer interaction system 170 includes buttons on the host panel for the user to select functions; it may also include a display screen and/or indicator light and/or speaker.
  • the display screen, indicator light and speaker show the user the current state of the machine or Function options; can also include mobile phone client programs.
  • the mobile phone client can show users the map of the environment where the equipment is located, and the location of the machine, which can provide users with richer and more user-friendly functional items.
  • the cleaning robot 100 can travel on the ground through various combinations of movement relative to the following three mutually perpendicular axes defined by the main body 110: front and rear axis X, lateral axis Y And the center vertical axis Z.
  • the forward driving direction along the front-rear axis X is denoted as “forward”
  • the backward driving direction along the front-rear axis X is denoted as “rearward”.
  • the lateral axis Y essentially extends between the right and left wheels of the robot along the axis defined by the center point of the driving wheel module 141.
  • the cleaning robot 100 can rotate around the Y axis.
  • the cleaning robot 100 may rotate around the Z axis. In the forward direction of the robot, when the cleaning robot 100 is tilted to the right of the X axis, it is “turn right”, and when the cleaning robot 100 is tilted to the left of the X axis, it is “turn left”.
  • the cleaning robot 100 may include: a vision unit for recognizing obstacles on the ground, a communication unit for communicating with a remote control device or other devices, a moving unit for driving the main body, a cleaning unit, and a storage unit for storing Information storage unit.
  • Input unit keyboards of cleaning robot, etc.
  • object detection sensor object detection sensor
  • charging unit microphone array unit
  • direction detection unit direction detection unit
  • position detection unit communication unit
  • drive unit and memory.
  • the unit can be connected to the control unit to transmit predetermined information to The control unit or receives predetermined information from the control unit.
  • the vision unit mainly performs ground object recognition and informs the cleaning robot 100 to avoid ground objects.
  • Object types include but are not limited to:
  • A. Stuck obstacles pet excrement, thick and thin cables, weight scales, bar chairs, curtains may cause the robot to get stuck or obstacles that are not suitable for cleaning;
  • the direction detection unit may detect the direction of the voice by using the time difference or level of the voice input to the plurality of receiving units.
  • the direction detection unit transmits the direction of the detected voice to the control unit.
  • the control unit may determine the movement path by using the voice direction detected by the direction detection unit.
  • the position detection unit may detect the coordinates of the subject in the predetermined map information.
  • the information detected by the camera 21 and the map information stored in the memory unit may be compared with each other to detect the current position of the subject.
  • the position detection unit may also use a global positioning system (GPS).
  • GPS global positioning system
  • the position detection unit can detect whether the subject is arranged in a specific position.
  • the position detection unit may include a unit for detecting whether the main body is arranged on the charging pile.
  • a method for detecting whether the main body is arranged on the charging pile it can be detected whether the main body is arranged at the charging position according to whether power is input into the charging unit. For another example, it is possible to detect whether the main body is arranged at the charging position through a charging position detection unit arranged on the main body or the charging pile.
  • the communication unit may transmit/receive predetermined information to/from a remote control device or other devices.
  • the communication unit can update the map information of the cleaning robot.
  • the driving unit can operate the moving unit and the cleaning unit.
  • the driving unit may move the moving unit along the moving path determined by the control unit.
  • the memory unit stores predetermined information related to the operation of the cleaning robot. For example, map information of the area where the cleaning robot is arranged, control command information corresponding to the voice recognized by the microphone array unit, direction angle information detected by the direction detection unit, position information detected by the position detection unit, and objects
  • the obstacle information detected by the detection sensor can be stored in the memory unit.
  • the control unit can receive information detected by the receiving unit, the camera 21, and the object detection sensor.
  • the control unit may recognize the user's voice based on the transmitted information, detect the direction in which the voice occurs, and detect the position of the cleaning robot.
  • the control unit can also operate the mobile unit and the cleaning unit.

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Abstract

一种摄像头装置（200）及清洁机器人（100），摄像头装置（200）包括安装架（20）及安装于安装架（20）上的摄像头（21），安装架（20）上设有与摄像头（21）相匹配的安装槽（201），安装槽（201）的侧壁上固接有弹性连接件（202），摄像头（21）连接于安装槽（201）内后，摄像头（21）通过弹性连接件（202）与安装槽（201）过盈配合，使摄像头（21）在弹性连接件（202）因挤压变形产生的弹性力的作用下连接于安装槽（201）内。将该摄像头装置（200）应用于清洁机器人（100），抗震性能较好，稳定性较佳，并且当两个摄像头（21）的光轴距离发生变化时，能够随时更换和调校摄像头（21），方便维护和维修。

Description

摄像头装置及清洁机器人
相关申请的交叉引用
本申请要求于2019年11月18日递交的中国专利申请第201921989960.X号和第202021457304.8号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本申请涉及清洁机器人技术领域，特别是涉及一种摄像头装置及清洁机器人。
背景技术
如图1所示，视觉清洁机器人采用双目摄像头303对地面障碍物进行识别，获取清洁机器人工作环境的障碍物信息，能获取障碍物大小、障碍物形状、障碍物类型、障碍物与清洁机器人的距离等信息，极大地提高了清洁机器人的智能性，增强清洁效率。
双目清洁机器人中，双目摄像头303的光轴之间的间距是在研发过程中，通过结构设计与视觉算法的配合确定的一个固定值。一般安装的方式，是通过间隙配合的方式，将摄像头303置于安装架301的安装槽302中，并将其后端固定在安装架301上。
为便于安装，双目摄像头303和摄像头安装槽302之间是间隙配合，然后通过例如粘贴等方式，将摄像头303固定于安装架301上。
然而，由于双目摄像头303的光轴之间距离对定位有很大影响，当发生震动后，双目摄像头303的光轴距离发生变化，导致定位不准，如要调节，就需要暴力拆解，维护和维修极为不便。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
本申请实施例提供一种摄像头装置及清洁机器人。
一方面，根据本申请实施例提出了一种摄像头装置，包括安装架及安装于安装架上的摄像头，安装架上设有与摄像头相匹配的安装槽，安装槽的侧壁上固接有弹性连接件，摄像头连接于安装槽内后，摄像头通过弹性连接件与安装槽过盈配合，使摄像头在弹性连接件因挤压变形产生的弹性力的作用下连接于安装槽内。
根据本申请实施例的一个方面，摄像头具有镜片，在垂直于镜片中轴线的方向上、摄像头的截面面积小于安装槽的截面面积，使摄像头与安装槽之间具有间隙。
根据本申请实施例的一个方面，弹性连接件设置于间隙内，且弹性连接件面向安装槽的一侧与安装架固定连接或可拆卸连接。
根据本申请实施例的一个方面，摄像头与安装槽均为两个，且各安装槽与各摄像头一一对应设置。
根据本申请实施例的一个方面，各安装槽内均设置两个弹性连接件，且在两个摄像头的中心点的连线方向上、两个弹性连接件相对设置。
根据本申请实施例的一个方面，在两个摄像头的中心点的连线方向上、两个弹性连接件的厚度可调，用于调整两个摄像头的光轴之间的间距。
根据本申请实施例的一个方面，弹性连接件为环绕安装槽的侧壁设置的环状结构。
根据本申请实施例的一个方面，弹性连接件为多个，多个弹性连接件沿安装槽的周向间隔设置。
根据本申请实施例的一个方面，弹性连接件与安装架为一体式结构，且弹性连接件的硬度小于安装架的硬度。
另一方面，根据本申请实施例提出了一种清洁机器人，包括上述的摄像头装置。
再一方面，根据本申请实施例提出了一种清洁机器人，包括机器主体、感知系统、控制系统和驱动系统，所述感知系统包括激光测距装置及摄像头；所述激光测距装置位于所述清洁机器人的顶面上；所述摄像头通过安装架安装在所述清洁机器人，且所述摄像头的视场包括所述清洁机器人的行进方向。
根据本申请实施例的一个方面，所述安装架上设有与所述摄像头相匹配的安装槽，所述摄像头安装于所述安装槽内。
根据本申请实施例的一个方面，所述安装槽的侧壁上固接有弹性连接件，所述摄像头安装于所述安装槽内后，通过所述弹性连接件与所述安装槽过盈配合，使所述摄像头在所述弹性连接件因挤压变形产生的弹性力的作用下连接于所述安装槽内。
根据本申请实施例的一个方面，所述摄像头具有镜片，在垂直于所述镜片中轴线的方向上、所述摄像头的截面面积小于所述安装槽的截面面积，使所述摄像头与所述安装槽之间具有间隙。
根据本申请实施例的一个方面，所述弹性连接件设置于所述间隙内，且所述弹性连接件面向所述安装槽的一侧与所述安装架固定连接或可拆卸连接。
根据本申请实施例的一个方面，所述摄像头与所述安装槽均为两个，且各所述安装槽与各所述摄像头一一对应设置。
根据本申请实施例的一个方面，各所述安装槽内均设置两个弹性连接件，且在两个所述摄像头的中心点的连线方向上、两个所述弹性连接件相对设置。
根据本申请实施例的一个方面，在两个所述摄像头的中心点的连线方向上、两个所述弹性连接件的厚度可调，用于调整两个所述摄像头的光轴之间的间距。
根据本申请实施例的一个方面，所述弹性连接件为环绕所述安装槽的侧壁设置的环状结构。
根据本申请实施例的一个方面，所述弹性连接件为多个，多个所述弹性连接件沿所述 安装槽的周向间隔设置。
根据本申请实施例的一个方面，所述弹性连接件与所述安装架为一体式结构，且所述弹性连接件的硬度小于所述安装架的硬度。
又一方面，根据本申请实施例提出了一种清洁机器人，包括机器主体、感知系统、控制系统和驱动系统，其特征在于，所述感知系统包括激光测距装置及两个摄像头；所述激光测距装置位于所述清洁机器人的顶面上；所述两个摄像头通过安装架安装在所述清洁机器人。
根据本申请实施例的一个方面，所述安装架上分别设有与所述两个摄像头相匹配的安装槽，每一个摄像头安装于对应的安装槽内。
根据本申请实施例的一个方面，每一个安装槽的侧壁上固接有弹性连接件，每一个摄像头安装于对应的安装槽内后，所述摄像头通过所述弹性连接件与所述安装槽过盈配合，使所述摄像头在所述弹性连接件因挤压变形产生的弹性力的作用下连接于所述安装槽内。
根据本申请实施例的一个方面，所述摄像头具有镜片，在垂直于所述镜片中轴线的方向上、所述摄像头的截面面积小于所述安装槽的截面面积，使所述摄像头与所述安装槽之间具有间隙。
根据本申请实施例的一个方面，所述弹性连接件设置于所述间隙内，且所述弹性连接件面向所述安装槽的一侧与所述安装架固定连接或可拆卸连接。
附图说明
下面将参考附图来描述本申请示例性实施例的特征、优点和技术效果。
图1是背景技术中的摄像头装置的轴测图；
图2是本申请实施例的摄像头装置的平面结构示意图；
图3是本申请实施例的清洁机器人的俯视图；
图4是本申请实施例的清洁机器人的仰视图；
图5是本申请实施例的清洁机器人的侧视图；
图6是本申请实施例的清洁机器人的轴测图。
图中，
100-清洁机器人；
110-机器主体；111-前向部分；112-后向部分；
120-感知系统；121-位置确定装置；122-缓冲器；123-悬崖传感器；
130-控制系统；
140-驱动系统；141-驱动轮模块；142-从动轮；
150-干式清洁系统150；151-清扫系统；152-边刷；170-人机交互系统；
200-摄像头装置；
20-安装架；201-安装槽；202-弹性连接件；
21-摄像头；211-光轴；
301-安装架；302-安装槽；303-摄像头。
在附图中，相同的部件使用相同的附图标记。附图并未按照实际的比例绘制。
具体实施方式
下面将详细描述本申请的各个方面的特征和示例性实施例。在下面的详细描述中，提出了许多具体细节，以便提供对本申请的全面理解。但是，对于本领域技术人员来说很明显的是，本申请可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本申请的示例来提供对本申请的更好的理解。在附图和下面的描述中，至少部分的公知结构和技术没有被示出，以便避免对本申请造成不必要的模糊；并且，为了清晰，可能夸大了部分结构的尺寸。此外，下文中所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。
下述描述中出现的方位词均为图中示出的方向，并不是对本申请的摄像头装置200及清洁机器人100的具体结构进行限定。在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本申请中的具体含义。
本申请实施例提供一种摄像头装置200，抗震性能较好，稳定性较佳，并且当双目摄像头21(两个摄像头21)的光轴211距离发生变化时，能够随时更换和调校摄像头21，方便维护和维修。
为了更好地理解本申请，下面结合图2根据本申请实施例的摄像头装置200进行详细描述。
请参阅图2，图2示出了本申请实施例的摄像头装置200的平面结构示意图。
请进一步参阅图2，本申请实施例提供的一种摄像头装置200，包括安装架20及安装于安装架20上的摄像头21，安装架20上设有与摄像头21相匹配的安装槽201，安装槽201的侧壁上固接有弹性连接件202，摄像头21安装于安装槽201内后，摄像头21通过弹性连接件202与安装槽201过盈配合，使摄像头21在弹性连接件202因挤压变形产生的弹性力的作用下安装于安装槽201内。
本申请实施例提供的一种摄像头装置200，摄像头21具有镜片，在垂直于镜片中轴线的方向上、摄像头21的截面面积小于安装槽201的截面面积，使摄像头21与安装槽201之间具有间隙。
本申请实施例提供的一种摄像头装置200，弹性连接件202设置于间隙内，且弹性连接件202面向安装槽201的一侧与安装架20固定连接或可拆卸连接。
本申请实施例提供的一种摄像头装置200，摄像头21与安装槽201均为两个，且各安装槽201与各摄像头21一一对应设置。各安装槽201内均设置两个弹性连接件202， 且在两个摄像头21的中心点的连线方向上、两个弹性连接件202相对设置。在两个摄像头21的中心点的连线方向上、两个弹性连接件202的厚度可调，用于调整两个摄像头21的光轴211之间的间距，也即可以根据设定好的两个摄像头的光轴距离来设置弹性连接件202的厚度。
本申请实施例提供的一种摄像头装置200，弹性连接件202为环绕安装槽201的侧壁设置的环状结构，可以理解的是，弹性连接件202可以为闭合的环状结构或者具有开口的环状结构。或者，弹性连接件202为多个，多个弹性连接件202沿安装槽201的周向间隔设置。可选的，弹性连接件202与安装架20为一体式结构，且弹性连接件202的硬度小于安装架20的硬度，弹性连接件202可以为橡胶材质的连接件。
本申请实施例提供的一种摄像头装置200，通过在安装架20上设置安装槽201，并在安装槽201内设置弹性连接件202，使得摄像头21过盈安装在安装槽201中。其具有避震功能，摄像头21与弹性连接件202为非刚性连接，在遇到震动时，不易脱落，两个摄像头21的光轴211距离不易发生相对变化。另外拆装方便，当两个摄像头21的光轴211距离发生变化时，不需要暴力拆解，可直接调整或者更换摄像头21。
本申请实施例提供一种清洁机器人100，包括上述的摄像头装置200。
为了更好地理解本申请，下面结合图3至图6根据本申请实施例的清洁机器人100进行详细描述。
请参阅图3至图6，图3示出了本申请实施例的清洁机器人100的俯视图；图4示出了本申请实施例的清洁机器人100的仰视图；图5示出了本申请实施例的清洁机器人100的侧视图；图6示出了本申请实施例的清洁机器人100的轴测图。
请进一步参阅图3至图6，清洁机器人100包含机器主体110、感知系统120、控制系统130(图中未示出)、驱动系统140、清洁系统、能源系统和人机交互系统170。
机器主体110包括前向部分111和后向部分112，具有近似圆形形状(前后都为圆形)，也可具有其他形状，包括但不限于前方后圆的近似D形形状。
感知系统120包括位于机器主体110上方的位置确定装置121、位于机器主体110的前向部分111的缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置，向控制系统130提供机器的各种位置信息和运动状态信息。位置确定装置121包括但不限于摄像头21、激光测距装置(LDS)。下面以三角测距法的激光测距装置为例说明如何进行位置确定。三角测距法的基本原理基于相似三角形的等比关系，在此不做赘述。
激光测距装置包括发光单元和受光单元。发光单元可以包括发射光的光源，光源可以包括发光元件，例如发射红外光线或可见光线的红外或可见光线发光二极管(LED)。优选地，光源可以是发射激光束的发光元件。在本实施例中，将激光二极管(LD)作为光源的例子。具体地，由于激光束的单色、定向和准直特性，使用激光束的光源可以使得测量相比于其它光更为准确。例如，相比于激光束，发光二极管(LED)发射的红外光线或 可见光线受周围环境因素影响(例如对象的颜色或纹理)，而在测量准确性上可能有所降低。激光二极管(LD)可以是点激光，测量出障碍物的二维位置信息，也可以是线激光，测量出障碍物一定范围内的三维位置信息。
受光单元可以包括图像传感器，在该图像传感器上形成由障碍物反射或散射的光点。图像传感器可以是单排或者多排的多个单位像素的集合。这些受光元件可以将光信号转换为电信号。图像传感器可以为互补金属氧化物半导体(CMOS)传感器或者电荷耦合元件(CCD)传感器，由于成本上的优势优选是互补金属氧化物半导体(CMOS)传感器。而且，受光单元可以包括受光透镜组件。由障碍物反射或散射的光可以经由受光透镜组件行进以在图像传感器上形成图像。受光透镜组件可以包括单个或者多个透镜。
基部可以支撑发光单元和受光单元，发光单元和受光单元布置在基部上且彼此间隔一特定距离。为了测量机器人周围360度方向上的障碍物情况，可以使基部可旋转地布置在主体110上，也可以基部本身不旋转而通过设置旋转元件而使发射光、接收光发生旋转。旋转元件的旋转角速度可以通过设置光耦元件和码盘获得，光耦元件感应码盘上的齿缺，通过齿缺间距的滑过时间和齿缺间距离值相除可得到瞬时角速度。码盘上齿缺的密度越大，测量的准确率和精度也就相应越高，但在结构上就更加精密，计算量也越高；反之，齿缺的密度越小，测量的准确率和精度相应也就越低，但在结构上可以相对简单，计算量也越小，可以降低一些成本。
与受光单元连接的数据处理装置，如DSP，将相对于机器人0度角方向上的所有角度处的障碍物距离值记录并传送给控制系统130中的数据处理单元，如包含CPU的应用处理器(AP)，CPU运行基于粒子滤波的定位算法获得机器人的当前位置，并根据此位置制图，供导航使用。定位算法优选使用即时定位与地图构建(SLAM)。
基于三角测距法的激光测距装置虽然在原理上可以测量一定距离以外的无限远距离处的距离值，但实际上远距离测量(例如6米以上)的实现是很有难度的，主要因为受光单元的传感器上像素单元的尺寸限制，同时也受传感器的光电转换速度、传感器与连接的DSP之间的数据传输速度、DSP的计算速度影响。激光测距装置受温度影响得到的测量值也会发生系统无法容忍的变化，主要是因为发光单元与受光单元之间的结构发生的热膨胀变形导致入射光和出射光之间的角度变化，发光单元和受光单元自身也会存在温漂问题。激光测距装置长期使用后，由于温度变化、振动等多方面因素累积而造成的形变也会严重影响测量结果。测量结果的准确性直接决定了绘制地图的准确性，是机器人进一步进行策略实行的基础，尤为重要。
机器主体110的前向部分111可承载缓冲器122，在清洁过程中驱动轮模块141推进机器人在地面行走时，缓冲器122经由传感器系统，例如红外传感器，检测清洁机器人100的行驶路径中的一或多个事件，机器人可通过由缓冲器122检测到的事件，例如障碍物、墙壁，而控制驱动轮模块141使机器人来对事件做出响应，例如远离障碍物。
控制系统130设置在机器主体110内的电路主板上，包括与非暂时性存储器，例如硬 盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器根据激光测距装置反馈的障碍物信息利用定位算法，例如SLAM，绘制机器人所在环境中的即时地图。并且结合缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得机器人的工作更加符合主人的要求，有更好的用户体验。进一步地，控制系统130能基于SLAM绘制的即使地图信息规划最为高效合理的清扫路径和清扫方式，大大提高机器人的清扫效率。
驱动系统140可基于具有距离和角度信息(例如x、y及θ分量)的驱动命令而操纵清洁机器人100跨越地面行驶。驱动系统140包含驱动轮模块141，驱动轮模块141可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选驱动轮模块141分别包括左驱动轮模块和右驱动轮模块。左、右驱动轮模块沿着由主体110界定的横向轴对置。为了机器人能够在地面上更为稳定地运动或者更强的运动能力，机器人可以包括一个或者多个从动轮142，从动轮包括但不限于万向轮。驱动轮模块包括行走轮和驱动马达以及控制驱动马达的控制电路，驱动轮模块还可以连接测量驱动电流的电路和里程计。驱动轮模块141可以可拆卸地连接到主体110上，方便拆装和维修。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接，到机器人主体110，且接收向下及远离机器人主体110偏置的弹簧偏置。弹簧偏置允许驱动轮以一定的着地力维持与地面的接触及牵引，同时清洁机器人100的清洁元件也以一定的压力接触地面10。
清洁系统可为干式清洁系统150和/或湿式清洁系统。作为干式清洁系统150，主要的清洁功能源于滚刷、尘盒、风机、出风口以及四者之间的连接部件所构成的清扫系统151。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。扫地机的除尘能力可用垃圾的清扫效率DPU(Dust pick up efficiency)进行表征，清扫效率DPU受滚刷结构和材料影响，受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风力利用率影响，受风机的类型和功率影响，是个负责的系统设计问题。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的清洁机器人来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求，也就是说原来充一次电可以清扫80平米地面的机器，可以进化为充一次电清扫100平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会增加。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁系统150还可包含具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁系统的滚刷区域中。
能源系统包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、 电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。如果裸露的充电电极上沾附有灰尘，会在充电过程中由于电荷的累积效应，导致电极周边的塑料机体融化变形，甚至导致电极本身发生变形，无法继续正常充电。
人机交互系统170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
为了更加清楚地描述机器人的行为，进行如下方向定义：清洁机器人100可通过相对于由主体110界定的如下三个相互垂直轴的移动的各种组合在地面上行进：前后轴X、横向轴Y及中心垂直轴Z。沿着前后轴X的前向驱动方向标示为“前向”，且沿着前后轴X的向后驱动方向标示为“后向”。横向轴Y实质上是沿着由驱动轮模块141的中心点界定的轴心在机器人的右轮与左轮之间延伸。
清洁机器人100可以绕Y轴转动。当清洁机器人100的前向部分向上倾斜，向后向部分向下倾斜时为“上仰”，且当清洁机器人100的前向部分向下倾斜，向后向部分向上倾斜时为“下俯”。另外，清洁机器人100可以绕Z轴转动。在机器人的前向方向上，当清洁机器人100向X轴的右侧倾斜为“右转”，当清洁机器人100向X轴的左侧倾斜为“左转”。
根据当前实施例的清洁机器人100可以包括：用于识别地面障碍物的视觉单元、用于与远程控制设备或其他设备通信的通信单元、用于驱动主体的移动单元、清洁单元、以及用于存储信息的存储器单元。输入单元(清洁机器人的按键等)、物体检测传感器、充电单元、麦克阵列单元、方向检测单元、位置检测单元、通信单元、驱动单元以及存储器，单元可以连接到控制单元，以将预定信息传送到控制单元或从控制单元接收预定信息。
视觉单元主要进行地面物体识别并通知清洁机器人100对地面物体进行规避物体类型包括但不限于：
A、卡困类障碍物：宠物排泄物、粗细线缆、体重秤、吧台椅、窗帘可能造成机器人卡困或不宜清扫的障碍物；
B：可被清洁机器人100推动类物体：儿童玩具、排插、拖鞋；
C、功能需要类：识别各类地毯(可配合主刷电流)并记录到地图里，防止带水箱上地毯(地毯弄湿，二次污染)，识别后记录的区域显示在历史地图中；
D、其他杂物类：设定长度大于8cm，高度或厚度大于1cm的物体为杂物，识别后执行规避策略。背景，光照，角度同上。
方向检测单元可以通过使用输入到多个接收单元的语音的时间差或水平来检测语音的方向。方向检测单元将检测到的语音的方向传送到控制单元。控制单元可以通过使用由 方向检测单元检测到的语音方向来确定移动路径。
位置检测单元可以检测主体在预定地图信息内的坐标。在一个实施例中，由摄像头21检测到的信息与存储在存储器单元中的地图信息可以相互比较以检测主体的当前位置。除了摄像头21之外，位置检测单元还可以使用全球定位系统(GPS)。
从广义上说，位置检测单元可以检测主体是否布置在特定的位置上。例如，位置检测单元可以包括用于检测主体是否布置在充电桩上的单元。
例如，在用于检测主体是否布置在充电桩上的方法中，可以根据电力是否输入到充电单元中来检测主体是否布置在充电位置处。又例如，可以通过布置在主体或充电桩上的充电位置检测单元来检测主体是否布置在充电位置处。
通信单元可以将预定信息传送到/接收自远程控制设备或者其他设备。通信单元可以更新清洁机器人的地图信息。
驱动单元可以操作移动单元和清洁单元。驱动单元可以沿由控制单元确定的移动路径移动移动单元。
存储器单元中存储与清洁机器人的操作有关的预定信息。例如，清洁机器人所布置的区域的地图信息、与麦克阵列单元所识别的语音相对应的控制命令信息、由方向检测单元检测到的方向角信息、由位置检测单元检测到的位置信息以及由物体检测传感器检测到的障碍物信息可以存储在存储器单元中。
控制单元可以接收由接收单元、摄像头21以及物体检测传感器检测到的信息。控制单元可以基于所传送的信息识别用户的语音、检测语音发生的方向、以及检测清洁机器人的位置。此外，控制单元还可以操作移动单元和清洁单元。
虽然已经参考可选择的实施例对本申请进行了描述，但在不脱离本申请的范围的情况下，可以对其进行各种改进并且可以用等效物替换其特征在于的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (26)

  1. 一种摄像头装置，其特征在于，包括安装架及安装于所述安装架上的摄像头，所述安装架上设有与所述摄像头相匹配的安装槽，所述安装槽的侧壁上固接有弹性连接件，所述摄像头通过所述弹性连接件与所述安装槽过盈配合，使所述摄像头在所述弹性连接件因挤压变形产生的弹性力的作用下连接于所述安装槽内。
  2. 根据权利要求1所述的摄像头装置，其特征在于，所述摄像头具有镜片，在垂直于所述镜片中轴线的方向上、所述摄像头的截面面积小于所述安装槽的截面面积，使所述摄像头与所述安装槽之间具有间隙。
  3. 根据权利要求2所述的摄像头装置，其特征在于，所述弹性连接件设置于所述间隙内，且所述弹性连接件面向所述安装槽的一侧与所述安装架固定连接或可拆卸连接。
  4. 根据权利要求1所述的摄像头装置，其特征在于，所述摄像头与所述安装槽均为两个，且各所述安装槽与各所述摄像头一一对应设置。
  5. 根据权利要求4所述的摄像头装置，其特征在于，各所述安装槽内均设置两个弹性连接件，且在两个所述摄像头的中心点的连线方向上、两个所述弹性连接件相对设置。
  6. 根据权利要求4所述的摄像头装置，其特征在于，在两个所述摄像头的中心点的连线方向上、两个所述弹性连接件的厚度可调，用于调整两个所述摄像头的光轴之间的间距。
  7. 根据权利要求1所述的摄像头装置，其特征在于，所述弹性连接件为环绕所述安装槽的侧壁设置的环状结构。
  8. 根据权利要求1所述的摄像头装置，其特征在于，所述弹性连接件为多个，多个所述弹性连接件沿所述安装槽的周向间隔设置。
  9. 根据权利要求1所述的摄像头装置，其特征在于，所述弹性连接件与所述安装架为一体式结构，且所述弹性连接件的硬度小于所述安装架的硬度。
  10. 一种清洁机器人，其特征在于，包括上述权利要求1-9任一项所述的摄像头装置。
  11. 一种清洁机器人，包括机器主体、感知系统、控制系统和驱动系统，其特征在于，所述感知系统包括激光测距装置及摄像头；所述激光测距装置位于所述清洁机器人的顶面上；所述摄像头通过安装架安装在所述清洁机器人，且所述摄像头的视场包括所述清洁机器人的行进方向。
  12. 如权利要求11所述的清洁机器人，其特征在于，所述安装架上设有与所述摄像头相匹配的安装槽，所述摄像头安装于所述安装槽内。
  13. 根据权利要求12所述的清洁机器人，其特征在于，所述安装槽的侧壁上固接有弹性连接件，所述摄像头安装于所述安装槽内后，通过所述弹性连接件与所述安装槽过盈配合，使所述摄像头在所述弹性连接件因挤压变形产生的弹性力的作用下连接于所述安装槽内。
  14. 根据权利要求12或13所述的清洁机器人，其特征在于，所述摄像头具有镜片， 在垂直于所述镜片中轴线的方向上、所述摄像头的截面面积小于所述安装槽的截面面积，使所述摄像头与所述安装槽之间具有间隙。
  15. 根据权利要求14所述的清洁机器人，其特征在于，所述弹性连接件设置于所述间隙内，且所述弹性连接件面向所述安装槽的一侧与所述安装架固定连接或可拆卸连接。
  16. 根据权利要求12或13所述的清洁机器人，其特征在于，所述摄像头与所述安装槽均为两个，且各所述安装槽与各所述摄像头一一对应设置。
  17. 根据权利要求16所述的清洁机器人，其特征在于，各所述安装槽内均设置两个弹性连接件，且在两个所述摄像头的中心点的连线方向上、两个所述弹性连接件相对设置。
  18. 根据权利要求16所述的清洁机器人，其特征在于，在两个所述摄像头的中心点的连线方向上、两个所述弹性连接件的厚度可调，用于调整两个所述摄像头的光轴之间的间距。
  19. 根据权利要求13所述的清洁机器人，其特征在于，所述弹性连接件为环绕所述安装槽的侧壁设置的环状结构。
  20. 根据权利要求13所述的清洁机器人，其特征在于，所述弹性连接件为多个，多个所述弹性连接件沿所述安装槽的周向间隔设置。
  21. 根据权利要求13所述的清洁机器人，其特征在于，所述弹性连接件与所述安装架为一体式结构，且所述弹性连接件的硬度小于所述安装架的硬度。
  22. 一种清洁机器人，包括机器主体、感知系统、控制系统和驱动系统，其特征在于，所述感知系统包括激光测距装置及两个摄像头；所述激光测距装置位于所述清洁机器人的顶面上；所述两个摄像头通过安装架安装在所述清洁机器人。
  23. 如权利要求22所述的清洁机器人，其特征在于，所述安装架上分别设有与所述两个摄像头相匹配的安装槽，每一个摄像头安装于对应的安装槽内。
  24. 如权利要求23所述的清洁机器人，其特征在于，每一个安装槽的侧壁上固接有弹性连接件，每一个摄像头安装于对应的安装槽内后，所述摄像头通过所述弹性连接件与所述安装槽过盈配合，使所述摄像头在所述弹性连接件因挤压变形产生的弹性力的作用下连接于所述安装槽内。
  25. 根据权利要求23或24所述的清洁机器人，其特征在于，所述摄像头具有镜片，在垂直于所述镜片中轴线的方向上、所述摄像头的截面面积小于所述安装槽的截面面积，使所述摄像头与所述安装槽之间具有间隙。
  26. 根据权利要求25所述的清洁机器人，其特征在于，所述弹性连接件设置于所述间隙内，且所述弹性连接件面向所述安装槽的一侧与所述安装架固定连接或可拆卸连接。
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