WO2021135673A1 - 自移动设备 - Google Patents

自移动设备 Download PDF

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Publication number
WO2021135673A1
WO2021135673A1 PCT/CN2020/128485 CN2020128485W WO2021135673A1 WO 2021135673 A1 WO2021135673 A1 WO 2021135673A1 CN 2020128485 W CN2020128485 W CN 2020128485W WO 2021135673 A1 WO2021135673 A1 WO 2021135673A1
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WIPO (PCT)
Prior art keywords
light source
self
light
image acquisition
source system
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PCT/CN2020/128485
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English (en)
French (fr)
Inventor
陈亚扣
Original Assignee
苏州宝时得电动工具有限公司
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Publication date
Priority claimed from CN202010116164.6A external-priority patent/CN113163125A/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2021135673A1 publication Critical patent/WO2021135673A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to a self-moving device, in particular to a self-moving device with a light source system.
  • image acquisition devices are often installed from mobile devices. Real-time acquisition of working environment information through the image acquisition device, storage and analysis of this information, so as to control the walking and work of the mobile device, this kind of self-mobile device equipped with an image acquisition device can not only obtain real-time work environment information, And it can save a large number of various sensors that were previously configured to obtain information about the working environment. Therefore, its application fields are becoming wider and wider, such as automatic house cleaning, lawn trimming and other fields.
  • the existing self-moving equipment equipped with an image acquisition device in a dark environment such as night due to the complex light, there will be projections on the ground. If it cannot be compensated reasonably, it will cause misjudgment. For example, when the light source is looking up, Light easily enters human eyes directly, causing glare and other problems.
  • the technical problem solved by the present invention is to provide a self-moving device with high image acquisition quality and accurate detection results.
  • the technical solution of the present invention is a self-moving device, including: a housing; a moving device installed on the housing for driving the self-moving device to move; a working device installed on the housing, Used to perform work tasks; the self-mobile device further includes: an image acquisition device for acquiring image information of the working environment of the self-mobile device; a light source system for performing irradiation work; a main control module, the main control module Connect the mobile device, working device, image acquisition device and light source system to control the movement and work of self-mobile equipment; the illumination range projected by the light source system on the working environment covers the field of view of the image acquisition device The scope of the field of view in the working environment.
  • the light source system includes a luminous body, a control circuit, and a light sensor that are connected to each other.
  • the light sensor detects an external light source, and the control circuit automatically adjusts the brightness and/or color temperature of the light source emitted by the luminous body.
  • the light source system is a ring light source, and the luminous body of the ring light source is arranged around the circumference of the image acquisition device.
  • the light source system is a surface light source, and the surface light source is arranged on at least one side of the image acquisition device.
  • the light source system is a bowl-shaped light source
  • the bowl-shaped light source includes a bowl-shaped reflective coating and a luminous body arranged on the inner edge of the reflective coating, and the light emitted by the luminous body is reflected and coated.
  • the layer reflects on the working environment.
  • the light source system includes a coaxial light source
  • the coaxial light source includes a luminous body and a half mirror arranged below the luminous body, and the light emitted by the luminous body is reflected to the working environment by the half mirror. on.
  • the light source system is a strip-shaped combined light source, and the strip-shaped combined light source is arranged around the circumference of the image acquisition device.
  • the light source emitted by the light source system includes an invisible light source and/or a visible light source.
  • the light emitted by the light source system is invisible light.
  • the invisible includes near-infrared light.
  • the wavelength range of the near-infrared light is 780-2526 nm.
  • the visible light includes composite light.
  • the working module includes a cutting module to perform cutting tasks or the working module includes a cleaning module to perform cleaning tasks.
  • the self-mobile device proposed in the present invention provides light supplementation for the image acquisition device through the light source system, so that the image collected by the image acquisition device is of high quality, the detection result is accurate, and the self-mobile device can obtain better image quality in both day and night. .
  • the irradiation area of the light source system on the target covers the field of view area of the field of view of the image acquisition device on the target, so that the acquisition area of the image acquisition device has sufficient light and the image acquisition quality is good.
  • the emitted light source has a higher uniformity, and the image acquisition quality is improved.
  • the light sensor automatically detects the external light source, and automatically adjusts the brightness and/or color temperature of the light source, effectively saving energy.
  • Fig. 1 is a schematic diagram of a self-moving device in an embodiment of the present invention.
  • Fig. 2 is a schematic diagram of a self-moving device from another angle in an embodiment of the present invention.
  • Fig. 3 is a module composition diagram of the light source system in the embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the image acquisition device of the self-mobile device using the oblique downward shooting angle in the embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a ring light source used in the light source system in an embodiment of the present invention.
  • Fig. 6 is a schematic diagram of a ring light source installed on a self-moving device in an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a surface light source used in the light source system in an embodiment of the present invention.
  • Fig. 8 is a schematic diagram of a surface light source installed on a self-moving device in an embodiment of the present invention.
  • Fig. 9 is a schematic diagram of a bowl-shaped light source used in the light source system of the self-moving device in an embodiment of the present invention.
  • Fig. 10 is a schematic diagram of a bowl-shaped light source installed on a self-moving device in an embodiment of the present invention.
  • Fig. 11 is a schematic diagram of a coaxial light source used in the light source system in an embodiment of the present invention.
  • Fig. 12 is a schematic diagram of a coaxial light source installed on a self-moving device in an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of a strip-shaped combined light source used in the light source system in an embodiment of the present invention.
  • Fig. 14 is a schematic diagram of a strip-shaped combined light source installed on a self-moving device in an embodiment of the present invention.
  • an embodiment of the present invention proposes a self-moving device 100.
  • the self-moving device includes a housing 10 and a mobile module 20 mounted on the housing.
  • the mobile module is used to support the self-moving device and Drive the self-moving equipment to walk.
  • the mobile module includes a wheel set mounted on the housing and a drive motor that drives the wheel set to run; it also includes a work module mounted on the housing 10 to perform work tasks, which can be used in different types of self-moving
  • work modules is a cutting module to perform cutting tasks.
  • the working module is a cleaning module for performing cleaning tasks.
  • the self-mobile device 100 in the embodiment of the present invention further includes an image acquisition device 30 installed on the housing.
  • the image acquisition device 30 acquires image information from the working environment of the mobile device 100.
  • the image of the target is captured by the camera to identify the target to identify the boundary of the working area, or to build a map of the working area, or to identify obstacles for obstacle avoidance, etc., image acquisition device There is no restriction on the specific role of.
  • the self-moving device 100 further includes a light source system 40, which is used to perform irradiation work and can provide illumination for the image acquisition device 30.
  • the light source system 40 provides auxiliary illumination for the image capture of the image capture device 30 to improve the image quality captured by the image capture device 30 and improve the accuracy of the detection results.
  • the body 10 is also provided with a main control module connected to the above-mentioned working module, moving module, image acquisition device 30, light source system 40, etc., and the work and movement of the self-mobile device 100 are controlled by the main control module.
  • the self-moving device 100 may be an automatic or semi-automatic machine such as a smart lawnmower, a smart lawnmower, a cleaning robot, a smart snowplow, a smart sprinkler, and a smart camera robot.
  • the self-mobile device is a smart lawn mower.
  • the self-mobile device also includes a power supply module, etc., which will not be repeated here.
  • the light source system 40 includes a luminous body 41, a control circuit 42, and a light sensor 43 that are connected to each other.
  • the light sensor 43 detects external light, and transmits the detection result to the control circuit 42.
  • the control circuit controls the luminous body 41 to outward. Emit or stop emitting the light source.
  • the light source system 40 can be powered by the power module of the mobile device 100.
  • the light source system 40 includes a conversion circuit to convert the power provided by the power module of the mobile device 100 into its own available constant current power source. It is also possible to separately set a power module to supply power to itself.
  • the light source emitted by the luminous body 41 is not limited, and may be an invisible light source or a visible light source.
  • the installation position and shooting angle of the image capture device 30 on the mobile device are not limited, and it can effectively capture images around the mobile device, for example, images from the front of the mobile device, or from the mobile device.
  • the image behind the equipment, etc., and the installation position of the light source system 40 and the image acquisition device 30 are also not limited.
  • the illumination range of the light source system 40 projected on the working environment covers the field of view angle of the image acquisition device 30.
  • the range of the field of view in the working environment enables the light source system 40 to provide sufficient light for the image acquisition device 30. With such a setting, all the target ranges collected by the image acquisition device 30 can be supplemented with light by the light source system 40, thereby improving the image acquisition quality, and there will be no situations where part of the photographed object is dark and part of the light is bright.
  • the image acquisition device 30 is installed in front of the housing 10.
  • the luminous body 41 can be installed above the image acquisition device 30 or below the image acquisition device 30.
  • the light source emitted by the luminous body 41 may be visible light, for example, composite light. Of course, the light source emitted by the luminous body 41 may also be invisible light.
  • the image capture device 30 is installed in front of the housing 10, and when the shooting angle is roughly horizontal or obliquely upward, the luminous body 41 can also be installed above the image capture device 30 or on the image capture device 30. Below. At this time, the light source emitted by the luminous body 41 is invisible, such as near-infrared light, and its wavelength range is 780-2526 nm.
  • the light source system 40 adopts an invisible light source, which can prevent the light emitted by the light source system 40 from being incident on human eyes, causing glare and the like.
  • the light source system 40 can also be integrated with the image capture device 30, for example, the light source system is arranged around the image capture device 30.
  • the structure of the light system 40 can be configured in various ways.
  • the light-emitting body 41 of the light source system 40 surrounds the image acquisition device 30.
  • the circular light source 410 is arranged in the circumferential direction to form a ring light source 410.
  • the light uniformity of the light emitted from the ring light source 410 to the working environment is relatively high.
  • the ring light source 410 and the image acquisition device 30 may be arranged in front of the mobile device 100.
  • the light source system 40 may be a surface light source 420, and the light emitted by a flat light source with a certain area has a higher uniformity than the light emitted by a linear light source/point light source, etc. At least a part of the area around the acquisition device 30 is provided with a surface light source 420. As shown in FIGS. 7-8, a surface light source 420 may be provided around the image acquisition device 30 to supplement the image acquisition device 30 with light.
  • the light source system 40 is a bowl-shaped light source 430, and the structure includes a bowl-shaped reflective coating 431.
  • the inner edge of the reflective coating 431 is provided with a luminous body 41, and the luminous body 41 faces the reflective coating.
  • the layer 431 emits light, reflects the light source through the bowl-shaped reflective coating 431, and finally enters the working environment to be photographed to fill the image acquisition device 30 with light.
  • the light source system 40 is a coaxial light source 440
  • the coaxial light source 440 includes a luminous body 41
  • a half mirror 441 is arranged under the luminous body 41
  • an image capture device is arranged behind the luminous body 41 30.
  • the luminous body 41 emits light onto the half mirror 441, and the half mirror 441 reflects the light into the working environment to be photographed, so that the light emitted by the light source system 40 is more uniform, so as to form a clearer and more accurate image.
  • the light source system 40 is a strip-shaped combined light source 450, which is arranged around the circumference of the image capture device 30, similar to a ring light source, and the uniformity of light emitted to the working environment Higher.
  • the light source system 40 in the above-mentioned manners emits light sources with high uniformity, which can reduce or eliminate shadows when the light is dark, which can effectively improve the image acquisition quality of the image acquisition device and ensure the recognition rate.
  • the light source system in the above embodiments has a high uniformity of light, so that the image acquisition device, that is, the unevenness of the radiation at each position in the field of view of the camera, should be 3-7% of its maximum radiation. Below, for example, it is 5% or less.
  • the measured brightness change with time should be within ⁇ 2%, the light brightness change is small, and the reaction time of the sensing element with the light change is short, which improves the image acquisition quality. Due to the large changes in the brightness of the light, the reaction time of the sensing element is long, and the situation of overexposure or overdarkness occurs.
  • the light sensor can automatically detect the external light source, transmit the detection result to the control circuit, and the control circuit analyzes the brightness of the external light source, and automatically adjusts the brightness and/or color temperature of the light source emitted by the luminous body 41.
  • the brightness of the external light is relatively high.
  • the control circuit automatically reduces the brightness and/or color temperature of the light source emitted by the luminous body 41 or turns off the luminous body 41 to achieve the purpose of energy saving.
  • the light sensor detects the brightness of the external light source If it is low, the brightness and/or color temperature of the light source emitted by the luminous body 41 will be automatically increased to supplement light for the image capture device.

Abstract

本发明涉及一种自移动设备，包括：壳体；安装于壳体上的移动装置，用于带动自移动设备移动；安装于壳体上的工作装置，用于执行工作任务；该自移动设备还包括：图像采集装置，用于获取自移动设备的工作环境的图像信息；光源系统，用于执行照射工作；还包括连接所述移动装置、工作装置、图像采集装置及光源系统的主控模块，用于控制自移动设备的移动和工作；其中，光源系统投射在工作环境上的照射范围覆盖所述图像采集装置的视场角拍摄在工作环境上的视场范围，本发明提出的自移动设备，通过光源系统为图像采集装置提供充足的光线补充，使得图像采集装置采集的图像质量高，检测结果准确，使得自移动设备在白天/夜晚均能够获得较好的图像质量。

Description

自移动设备
本申请要求了申请日为2020年01月03日，申请号为202010006580.0和申请日为2020年02月25日，申请号为202010116164.6的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种自移动设备，特别是一种带有光源系统的自移动设备。
背景技术
目前，随着数字图像技术以及自动化技术的发展，自移动设备常安装图像采集装置。通过图像采集装置实时地获取工作环境的信息，对这些信息进行存储以及分析，从而控制自移动设备的行走及工作，这种设有图像采集装置的自移动设备不仅能够实时地获取工作环境信息，而且能够节省以前为了获取工作环境信息而配置的大量各类传感器。因此，其应用领域越来越广，如应用于自动房屋清洁、草坪修剪等领域。
而现有的设置有图像采集装置的自移动设备在夜晚等光线较暗的环境中，由于光线复杂，地面上会出现投影，如不能合理补偿，会造成误判，又比如在光源平视时，光线容易直接进入人眼，造成眩光等问题。
因此，需要采用一种新的技术方案以解决上述技术问题。
发明内容
本发明解决的技术问题为：提供一种图像采集质量高，检测结果准确的自移动设备。
为解决上述技术问题，本发明的技术方案是，一种自移动设备，包括：壳体；安装于壳体上的移动装置，用于带动自移动设备移动；安装于壳体上的工作装置，用于执行工作任务；所述自移动设备还包括：图像采集装置，用于获取所述自移动设备工作环境的图像信息；光源系统，用于执行照射工作；主控模块，所述主控模块连接所述移动装置、工作装置、图像采集装置及光源系统，用于控制自移动设备的移动及工作；所述光源系统投射在工作 环境上的照射范围覆盖所述图像采集装置的视场角拍摄在工作环境上的视场范围。
在一个具体的实施例中，所述光源系统包括相互连接的发光体、控制电路及光传感器。
在一个具体的实施例中，所述光传感器检测外界光源，所述控制电路自动调节所述发光体发射的光源的亮度和/或色温。
在一个具体的实施例中，所述光源系统为环形光源，所述环形光源的发光体环绕所述图像采集装置的周向设置。
在一个具体的实施例中，所述光源系统为面光源，所述面光源设置在所述图像采集装置的至少一侧。
在一个具体的实施例中，所述光源系统为碗形光源，所述碗形光源包括碗形的反射涂层及反射涂层内边缘设置的发光体，所述发光体发射的光线经反射涂层反射到工作环境上。
在一个具体的实施例中，所述光源系统包括同轴光源，所述同轴光源包括发光体及发光体下方设置的半反射镜，所述发光体发射的光线经半反射镜反射到工作环境上。
在一个具体的实施例中，所述光源系统为条形组合光源，所述条形组合光源围绕图像采集装置的周向设置。
在一个具体的实施例中，所述光源系统发射的光源包括不可见光源和/或可见光源。
在一个具体的实施例中，所述图像采集装置的拍摄角度大致水平或斜向上时，所述光源系统发射的光为不可见光。
在一个具体的实施例中，所述不可见包括近红外光。
在一个具体的实施例中，所述近红外光的波长范围为780-2526nm。
在一个具体的实施例中，所述图像采集装置的拍摄角度斜向下时，所述光源系统发射的光为可见光和/或不可见光。
在一个具体的实施例中，所述可见光包括复合光。
在一个具体的实施例中，所述工作模块包括切割模块，用以执行切割任务或所述工作模块包括清洁模块，用以执行清洁任务。
本发明的有益效果为：
1.本发明提出的自移动设备，通过光源系统为图像采集装置提供光线补充，使得图像采集装置采集的图像质量高，检测结果准确，自移动设备在白天/夜晚均能够获得较好的图像质量。
2.光源系统在目标上的照射面积覆盖图像采集装置的视场角在目标上的视场面积，使得图像采集装置的采集区域光线充足，图像获取质量佳。
3.通过为图像采集装置补充不可见光源，避免发生光源入射人眼，造成眩光等现象。
4.采用环形光源，面光源，条形组合光源、碗光源、同轴光源等光源系统结构，发射的光源均匀度较高，提高了图像获取质量。
5.光传感器自动检测外界光源，自动调节光源的亮度和/或色温，有效节能。
附图说明
以上所述的本发明解决的技术问题、技术方案以及有益效果可以通过下面的能够实现本发明的较佳的具体实施例的详细描述，同时结合附图描述而清楚地获得。
附图以及说明书中的相同的标号和符号用于代表相同的或者等同的元件。
图1是本发明实施例中的自移动设备的示意图。
图2是本发明实施例中的另一角度的自移动设备的示意图。
图3是本发明实施例中的光源系统的模块组成图。
图4为本发明实施例中自移动设备的图像采集装置采用斜下视拍摄角度的示意图。
图5是本发明一实施例中光源系统采用环形光源的示意图。
图6是本发明一实施例中环形光源安装在自移动设备上的示意图。
图7是本发明一实施例中光源系统采用面光源的示意图。
图8是本发明一实施例中面光源安装在自移动设备上的示意图。
图9是本发明一实施例中自移动设备的光源系统采用碗形光源的示意图。
图10是本发明一实施例中碗形光源安装在自移动设备上的示意图。
图11是本发明一实施例中光源系统采用同轴光源的示意图。
图12是本发明一实施例中同轴光源安装在自移动设备上的示意图。
图13是本发明一实施例中光源系统采用条形组合光源的示意图。
图14是本发明一实施例中条形组合光源安装在自移动设备上的示意图。
具体实施方式
有关本发明的详细说明和技术内容，配合附图说明如下，然而所附附图仅提供参考与说明，并非用来对本发明加以限制。
如图1-2所示，本发明实施例提出了一种自移动设备100，该自移动设备包括壳体10，安装在壳体上的移动模块20，该移动模块用以支撑自移动设备并带动自移动设备行走，该移动模块包括安装在壳体上的轮组和驱动轮组运转的驱动电机；还包括安装在壳体10上用以执行工作任务的工作模块，在不同类的自移动设备中，工作模块的种类不同，例如当自移动设备为自动割草机，自动剪草机等花园剪草设备时，该工作模块为切割模块，用以执行切割任务。例如当自移动设备为自动扫地机，自动拖地机等清洁机器人时，该工作模块为清洁模块，用以执行清洁任务。本发明实施例中的该自移动设备100还包括安装在壳体上的图像采集装置30，通过图像采集装置30获取自移动设备100工作环境的图像信息，可理解地，该图像采集装置30例如为可旋转安装在壳体上的摄像头，通过摄像头拍摄目标图像，用以识别目标以识别工作区域边界，或用以建立工作区域地图，或者用以识别障碍物以进行避障等，图像采集装置的具体作用不做限制。该自移动设备100还包括光源系统40，光源系统40用于执行照射工作，能够为图像采集装置30提供照明。例如在夜晚，或者在光线不均匀的工作场景，通过光源系统40为图像采集装置30的图像采集提供辅助照明，提高图像采集装置30采集的图像质量，提高检测结果准确率，可理解地，壳体10内还设置有与上述工作模块，移动模块，图像采集装置30、光源系统40等连接的主控模块，通过主控模块控制自移动设备100的工作及移动。该自移动设备100可以是智能割草机、智能剪草机、清洁机器人、智能扫雪机、智能洒水机、智能摄像机器人等自动、半自动的机器。在本文下述实施例中，自移动设备为智能割草机。该自移动设备中还包含电源模块等，在此不再赘述。
如图3所示，光源系统40包括相互连接的发光体41、控制电路42、光传感器43，通过光传感器43检测外界光线，将检测结果传递至控制电路42， 控制电路控制发光体41向外发射或停止向外发射光源。该光源系统40可以通过自移动设备100的电源模块供电，此时光源系统40包含一转换电路，将自移动设备100的电源模块提供的电源转换为其自身可用的恒流电源。也可以单独设置一电源模块，为其自身供电。具体地，发光体41发射的光源不做限制，可为不可见光源，也可以为可见光源。
本发明实施例中，图像采集装置30在自移动设备上的安装位置和拍摄角度等不限定，其能够有效拍摄自移动设备周围的图像，例如可以拍摄自移动设备前方的图像，或者拍摄自移动设备后方的图像等，同时，光源系统40与图像采集装置30的安装位置也不做限制，具体地，光源系统40投射在工作环境上的照射范围覆盖了图像采集装置30的视场角拍摄在工作环境上的视场范围，使得光源系统40能够为图像采集装置30提供补充足够的光线。如此设置，使得图像采集装置30采集的目标范围均能通过光源系统40补充光线，提高图像采集质量，不会出现拍摄的物体一部分光线暗，一部分光线亮的情况。
在图4所示的实施例中，图像采集装置30安装在壳体10的前方，拍摄角度斜向下时，发光体41可以安装在图像采集装置30的上方或者图像采集装置30的下方，此时发光体41发出的光源可以为可见光，例如为复合光，当然，该发光体41发出的光源也可以为不可见光。
在图1所示的实施例中，图像采集装置30安装在壳体10的前方，拍摄角度大致水平或者斜向上时，发光体41也可以安装在图像采集装置30的上方或者图像采集装置30的下方。此时，发光体41发出的光源为不可见，例如为近红外光，其波长范围为780-2526nm。该光源系统40采用不可见光源，可以避免光源系统40发出的光入射到人的眼睛，造成眩光等情况发生。
可理解地，该光源系统40也可以与图像采集装置30集成在一起，例如光源系统环绕图像采集装置30设置。
为提高光源系统40发射光源的光线均匀度，光线系统40的结构可设置为多种方式，例如，如图5-6所示的实施例中，光源系统40的发光体41环绕图像采集装置30的周向设置，以形成环形光源410，环形光源410发射到工作环境的光线均匀度较高，具体地，环形光源410及图像采集装置30可以设置在自移动设备100的前方。
如图7-8所示的实施例中，光源系统40可以为面光源420，呈一定面积的平面光源发出的光线较线光源/点光源等发射的光线均匀度高，具体地，可在图像采集装置30的周围至少部分区域设置面光源420，如图7-8所示，可以在图像采集装置30的四周设置面光源420，为图像采集装置30补充光线。
如图9-10所示的实施例中，光源系统40为碗形光源430，结构包括呈碗形的反射涂层431，反射涂层431的内边缘设置发光体41，发光体41向反射涂层431发射光，通过碗形的反射涂层431将光源反射，最终入射到要拍摄的工作环境内，为图像采集装置30补光。
如图11-12所示的实施例中，光源系统40为同轴光源440，同轴光源440包括发光体41，发光体41的下方设置半反射镜441，发光体41后侧设置图像采集装置30，发光体41将光线发射到半反射镜441上，半反射镜441再将光线反射到要拍摄的工作环境内，使得光源系统40发射的光更加均匀，以形成更清晰准确的图像。
如图13-14所示的实施例中，光源系统40为条形组合光源450，条形组合光源450围绕图像采集装置30的周向设置，类似环形光源，发射到工作环境上的光线均匀度较高。
上述几种方式的光源系统40发射的光源均匀度均较高，实现光线较暗时的阴影削弱或消除，能有效地提高图像采集装置的图像采集质量，保证识别率。
同时，上述几个实施例中的光源系统发出的光线均匀度高，使得图像采集装置，也就是摄像头的视场中各位置处的辐射亮度不均匀度应在其最大辐射亮度的3-7％以下，例如为5％以下。同时，图像采集装置在图像采集过程中，测量的亮度随时间的变动应在±2％的范围内，光线亮度变化小，感应元件随光线变化的反应时间短，提高了图像采集质量，不会出现因光线亮度变化大，感应元件反应时间长，出现过曝或过暗的情况。
可理解地，该光传感器可以自动检测外界光源，将检测结果发射至控制电路，控制电路分析外界光源亮度，自动调节发光体41发射的光源的亮度和/或色温，例如在外界光线亮度较高，足够图像采集装置的图像采集所需的亮度时，控制电路自动降低发光体41发射的光源亮度和/或色温或者关闭发光体41，以达到节能的目的，当然，若光传感器检测外界光源亮度低，则会自 动升高发光体41发射的光源亮度和/或色温，以为图像采集装置补充光线。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (6)

  1. 一种自移动设备，包括：
    壳体；
    安装于壳体上的移动装置，用于带动自移动设备移动；
    安装于壳体上的工作装置，用于执行工作任务；
    所述自移动设备还包括：
    图像采集装置，用于获取所述自移动设备工作环境的图像信息；
    光源系统，用于执行照射工作；
    主控模块，所述主控模块连接所述移动装置、工作装置、图像采集装置及光源系统，用于控制自移动设备的移动及工作；
    其特征在于，所述光源系统投射在工作环境上的照射范围覆盖所述图像采集装置的视场角拍摄在工作环境上的视场范围；所述光源系统包括相互连接的发光体、控制电路及光传感器；所述光传感器检测外界光源，所述控制电路自动调节所述发光体发射的光源的亮度和/或色温；
    其中，所述光源系统为环形光源，所述环形光源的发光体环绕所述图像采集装置的周向设置；或者，所述光源系统为面光源，所述面光源设置在所述图像采集装置的至少一侧；或者，所述光源系统为碗形光源，所述碗形光源包括碗形的反射涂层及反射涂层内边缘设置的发光体，所述发光体发射的光线经反射涂层反射到工作环境上；或者，所述光源系统包括同轴光源，所述同轴光源包括发光体及发光体下方设置的半反射镜，所述发光体发射的光线经半反射镜反射到工作环境上；或者，所述光源系统为条形组合光源，所述条形组合光源围绕图像采集装置的周向设置；
    所述光源系统发射的光源包括不可见光源和/或可见光源；所述图像采集装置的拍摄角度大致水平或斜向上时，所述光源系统发射的光为不可见光。
  2. 根据权利要求1所述的自移动设备，其特征在于，所述不可见光包括近红外光。
  3. 根据权利要求2所述的自移动设备，其特征在于，所述近红外光的波长范围为780-2526nm。
  4. 根据权利要求1所述的自移动设备，其特征在于，所述图像采集装置的 拍摄角度斜向下时，所述光源系统发射的光为可见光和/或不可见光。
  5. 根据权利要求4所述的自移动设备，其特征在于，所述可见光包括复合光。
  6. 根据权利要求1所述的自移动设备，其特征在于，所述工作模块包括切割模块，用以执行切割任务或所述工作模块包括清洁模块，用以执行清洁任务。
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