WO2021139495A1 - 智能清洁设备 - Google Patents

智能清洁设备 Download PDF

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Publication number
WO2021139495A1
WO2021139495A1 PCT/CN2020/136583 CN2020136583W WO2021139495A1 WO 2021139495 A1 WO2021139495 A1 WO 2021139495A1 CN 2020136583 W CN2020136583 W CN 2020136583W WO 2021139495 A1 WO2021139495 A1 WO 2021139495A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
light
fill light
bracket
cleaning device
Prior art date
Application number
PCT/CN2020/136583
Other languages
English (en)
French (fr)
Inventor
于光
彭松
王晓亮
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
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 KR1020227027496A priority Critical patent/KR20220124784A/ko
Priority to CN202080098412.7A priority patent/CN116034585A/zh
Priority to DE212020000803.5U priority patent/DE212020000803U1/de
Priority to EP20912763.8A priority patent/EP4089996A4/en
Publication of WO2021139495A1 publication Critical patent/WO2021139495A1/zh
Priority to US17/811,356 priority patent/US20220346617A1/en
Priority to AU2022211887A priority patent/AU2022211887A1/en
Priority to US18/045,495 priority patent/US11864699B2/en
Priority to US18/521,366 priority patent/US20240090730A1/en
Priority to AU2024202597A priority patent/AU2024202597A1/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
    • A47L9/30—Arrangement of illuminating devices
    • 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
    • A47L11/02—Floor surfacing or polishing machines
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • 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
    • F21V33/0004—Personal or domestic articles
    • F21V33/0044—Household appliances, e.g. washing machines or vacuum cleaners
    • 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
    • F21V5/00—Refractors for light sources
    • F21V5/04—Refractors for light sources of lens shape
    • 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
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • G03B15/05—Combinations of cameras with electronic flash apparatus; Electronic flash units
    • 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
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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
    • 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
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • 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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means

Definitions

  • the present disclosure relates to the technical field of cleaning tools, and more specifically to an intelligent cleaning device.
  • Smart cleaning equipment can automatically perform cleaning operations, which is convenient for users.
  • the existing smart cleaning equipment is usually equipped with a camera to perform functions such as object recognition, navigation, and positioning.
  • the camera is often unable to collect images or collects unclear and unrecognizable images due to the influence of the external environment, so that the intelligent cleaning equipment is completely unable to perform object recognition, navigation, positioning and other functions, which greatly affects the user’s understanding of the intelligent cleaning equipment.
  • the use of reduces the user experience.
  • a smart cleaning device which includes:
  • a camera which is installed in the main body of the device and faces the outside of the main body of the device;
  • a fill light is installed in the device body through a fill light bracket and faces the outside of the device body, and the illumination direction of the fill light is the same as the imaging direction of the camera, so that Illuminate at least part of the recognition area of the camera.
  • an installation component is provided on the outside of the device body, the installation component is provided with a light supplement opening, the light supplement opening is located on the front side of the light supplement lamp, and the smart cleaning device is configured such that the The light of the fill light lamp that passes through the fill light opening covers the at least part of the recognition area of the camera.
  • a fill light lens is provided at the fill light opening, and the fill light lens is made of a material through which the light of the fill light can pass.
  • the mounting component is further provided with a camera opening, the camera opening is located outside the camera, a camera lens is arranged at the camera opening, and the camera takes images through the camera lens.
  • the fill light lens is located below the camera lens, and the length of the fill light lens and the camera lens are the same.
  • the buffer is arranged on the peripheral side of the device body and connected to the device body, the buffer is provided with an installation opening, and the installation component is located in the installation opening And fixed on the buffer.
  • the camera is fixed to the main body of the device by a camera bracket;
  • the supplement light bracket is provided with screw holes, the camera bracket is provided with a screw post, and the supplement light bracket is fastened to the device by screws.
  • the screw holes and the screw posts are installed on the camera bracket.
  • the camera is fixed to the main body of the device through a camera bracket;
  • the fill light bracket is provided with a positioning hole
  • the camera bracket is provided with a supporting wall with a positioning column
  • the supporting wall communicates with the The fill light bracket abuts, and the positioning column penetrates the positioning hole to fix the fill light bracket on the camera bracket.
  • it includes two cameras and one fill light, the two cameras are arranged in a horizontal direction, and the projection of the fill light on the horizontal plane is located between the two cameras on the horizontal plane. Between projections.
  • the fill light is an infrared lamp, and/or the fill light is a patch lamp, and the fill light bracket is a PCB board.
  • a circuit main board is provided in the main body of the device, the fill light bracket is electrically connected to the circuit main board, and the control system on the circuit main board is configured to be based on the light intensity of the environment detected by the camera, The fill light can be turned on or off selectively.
  • the intelligent cleaning device of the present disclosure solves the problem that the camera cannot perform image collection or the collected image is not clear due to environmental factors in the prior art.
  • the smart cleaning device of the present disclosure can enable the camera to collect images with the required brightness, so that the smart cleaning device can perform functions such as accurate object recognition, navigation, and positioning, thereby improving the smart cleaning device's perception of the external environment such as terrain and obstacles. Ability and the ability to control its own working state.
  • the camera and the fill light By arranging the camera and the fill light in the main body of the device, the camera and the fill light can be protected, and the camera and the fill light are not easily damaged by collision due to exposure, thus saving the materials and materials of the camera and the fill light. Maintenance costs for labor, etc.
  • Fig. 1 is a perspective schematic view of a part of a smart cleaning device according to a preferred embodiment of the present disclosure
  • FIG. 2 is a schematic cross-sectional view of a part of the smart cleaning device shown in FIG. 1;
  • FIG. 3 is a schematic diagram of the installation structure of the fill light and the camera shown in FIG. 2;
  • FIG. 4 is a schematic diagram of the illumination range of the fill light shown in FIG. 2.
  • Supporting wall 126 Positioning column
  • Supplementary light lamp 132 Supplementary light lamp bracket
  • Buffer 151 Installation opening
  • first and second quoted in the present disclosure are merely identifications and do not have any other meanings, such as a specific order. Also, for example, the term “first component” itself does not imply the existence of “second component”, and the term “second component” itself does not imply the existence of “first component”.
  • smart cleaning equipment mainly includes the main body of the equipment.
  • the main body of the device has an approximately circular shape (both front and rear are circular), but may also have other shapes. It can be understood that the smart cleaning device shown in the present disclosure may be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, and the like.
  • Smart cleaning equipment includes cleaning systems, perception systems, control systems, drive systems, energy systems, and human-computer interaction systems.
  • the various systems coordinate with each other to enable the intelligent cleaning equipment to move autonomously to achieve the cleaning function.
  • the functional elements constituting the above-mentioned systems in the intelligent cleaning equipment are integratedly arranged in the main body of the equipment.
  • the main body of the device includes an upper cover, a chassis, and a middle frame arranged between the upper cover and the chassis.
  • the middle frame serves as the basic frame for setting up various functional elements.
  • the upper cover and the chassis cover the surface of the main body of the device to protect the internal parts and improve the aesthetics of the smart cleaning device.
  • the sensing system is used for intelligent cleaning equipment to perceive the external environment such as terrain, which includes position determining devices, buffers, cliff sensors and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices . These sensing devices provide various position information and motion status information of the machine to the control system.
  • the position determining device includes, but is not limited to, an infrared transmitting and receiving device, a camera, and a laser distance sensor (LDS).
  • the buffer is used to buffer the collision of the smart cleaning device with surrounding objects during the movement.
  • the surface of the buffer is provided with a layer of soft glue, and when the buffer is installed on the main body of the device, it is separated from the main body of the device by a predetermined distance, so as to ensure that the main body of the device has sufficient deceleration time when a collision occurs.
  • the control system is arranged on the circuit main board in the main body of the device. It can be understood that various control circuits for controlling the operation of the intelligent cleaning device are arranged on the circuit main board.
  • the control system includes NAND non-transitory memory, computing processor, etc.
  • the computing processor may be a central processing unit, an application processor, etc., and use a positioning algorithm to draw a real-time map of the environment where the intelligent cleaning equipment is located according to the obstacle information fed back by the laser ranging device. And combined with the distance information and speed information fed back by the buffer and the sensor device to comprehensively judge the current working state of the intelligent cleaning equipment, such as crossing the threshold, putting on the carpet, being stuck on, above or below the cliff, the dust box is full, and being stuck. Picking up, etc., will also give specific next action strategies for different situations, making the work of the smart cleaning equipment more in line with the requirements and improving the user experience.
  • the human-computer interaction system includes buttons on the host panel for users to select functions; it can also include display screens and/or indicator lights and/or speakers, which show the user the current state or function of the machine Options; can also include mobile client programs.
  • the mobile phone client can show the user a map of the environment where the device is located, and the location of the smart cleaning device, which can provide users with richer and more user-friendly functional items.
  • the energy system is used to provide electrical energy for the functional components of each system, mainly including rechargeable batteries and power supply circuits.
  • the rechargeable battery can be a nickel-metal hydride battery and a lithium battery.
  • the charging electrode can be connected to the charging device through the charging electrode arranged on the side or under the main body of the device for charging.
  • the cleaning system is the most important core system of the intelligent cleaning equipment, which is used to realize the cleaning function, which includes a dry cleaning part and a wet cleaning part.
  • the dry cleaning part mainly cleans the fixed particle contaminants on the surface to be cleaned by a structure such as a cleaning brush, and the wet cleaning part mainly wipes the cleaned surface (such as the floor) with a cleaning cloth containing a cleaning liquid.
  • the dry cleaning department mainly includes cleaning components, dust boxes and fans.
  • the main brush in the cleaning assembly can sweep up garbage.
  • the fan and the dust box are connected through an air duct, and the fan is used to generate the wind required for dust collection.
  • the main brush which has a certain interference with the ground, sweeps up the garbage on the ground, and rolls it to the front of the dust suction port between the main brush and the dust box, and then is generated by the fan and passes through it.
  • the suction gas of the dust box is sucked into the dust box.
  • the wet cleaning section mainly includes a liquid storage tank and a cleaning cloth.
  • the liquid storage tank of the wet cleaning part contains cleaning liquid, and the cleaning cloth is detachably arranged on the liquid storage tank. After the dry cleaning part is cleaned, the liquid in the liquid tank of the wet cleaning cloth flows to the cleaning cloth, and the cleaning cloth wipes the cleaned floor such as the main brush.
  • the dry cleaning part may also include a side brush.
  • the side brush is arranged on the main body of the device through a rotating shaft. Specifically, the side brush is installed from below to the edge of the device body by means of a rotating shaft, and the side brush can be rotatable relative to the device body around the rotation axis where the rotating shaft is located, so as to remove debris (such as debris, hair and other garbage) Move to the cleaning area of the main brush.
  • the smart cleaning device 100 provided according to a preferred embodiment of the present disclosure will be described below in conjunction with FIGS. 1 to 4.
  • the smart cleaning device 100 provided in the present disclosure has the structure/structure and function of each part described above, and will not be repeated for the sake of brevity.
  • the smart cleaning device 100 further includes a fill light 131, which is used to increase the light intensity of the environment, specifically, to increase the light intensity in the recognition area of the camera 121.
  • the camera 121 is disposed in the device main body 110 and faces the outside of the device main body 110, and is used to capture images of the environment to perform functions such as object recognition, navigation, and positioning.
  • the fill light 131 is also arranged in the device main body 110 and faces the outside of the device main body 110. Specifically, the camera 121 and the fill light 131 are both arranged at the front end of the device main body 110 based on the advancing direction, so that the camera 121 can capture images while the smart cleaning device 100 is advancing.
  • the illumination direction of the fill light 131 is substantially the same as the imaging direction of the camera 121 so as to illuminate at least a part of the recognition area of the camera 121.
  • the light intensity in the recognition area of the camera 121 can be increased, so that the camera 121 can collect the required images, so that the intelligent cleaning device 100 can perform object recognition, navigation, and navigation. Positioning and other functions.
  • the camera 121 and the fill light 131 can be protected, and the camera 121 and the fill light 131 can be prevented from being easily damaged by collision due to exposure, thereby saving
  • the maintenance costs of the camera 121 and the fill light 131 include materials and labor.
  • a fill light bracket 132 is provided in the main body 110 of the device.
  • the fill light 131 can be installed on the fill light bracket 132, in other words, the fill light 131 is installed in the device main body 110 through the fill light bracket.
  • the fill light 131 can be fixed to the fill light bracket 132 by welding.
  • the shape of the fill light bracket 132 is a long strip.
  • the fill light 131 is arranged in the middle of the fill light bracket 132.
  • the number of the camera 121 and the fill light 131 is not limited.
  • the smart cleaning device 100 includes two cameras 121 and one fill light 131.
  • the two cameras 121 may be arranged in a horizontal direction, and the projection of the fill light 131 on the horizontal plane can be located between the projections of the two cameras 121 on the horizontal plane. Therefore, the use of one fill light 131 can take care of the two cameras 121 at the same time, ensuring that the recognition areas of the two cameras 121 can be filled with light.
  • the fill light 131 may be located above or below the camera 121. Preferably, the fill light 131 is located below the camera 121.
  • the fill light 131 may be an infrared light.
  • the fill light 131 may be a patch light.
  • the fill light 131 is a patch type infrared light.
  • the fill light bracket 132 is a PCB board (Printed Circuit Board, printed circuit board).
  • the fill light 131 is spaced apart from the camera 121, and the fill light 131 is arranged below the camera 121.
  • a camera holder 122 is provided in the main body 110 of the device.
  • the camera 121 is installed in the device main body 110 through the camera bracket 122.
  • the fill light bracket 132 may be directly connected to the camera bracket 122.
  • the structural space at the camera bracket 122 can be used to install the fill light 131, which improves the space utilization rate inside the device.
  • the fill light bracket 132 can be detachably connected to the camera bracket 122 by fasteners such as screws.
  • the fill light bracket 132 may be provided with a screw hole 134
  • the camera bracket 122 may be provided with a screw post 124.
  • the screw posts 124 correspond to the screw holes 134 one by one.
  • the screw can pass through and be fastened to the screw hole 134 and the screw post 124 to fix the fill light bracket 132 to the camera bracket 122.
  • the fill light bracket 132 can be installed on the camera bracket 122 by screwing to the screw hole 134 and the screw post 124.
  • the screw holes 134 may be provided at both ends of the fill light bracket 132.
  • the fill light bracket 132 may also be provided with a positioning hole 135.
  • the camera bracket 122 is provided with a supporting wall 125 having a positioning column 126.
  • the supporting wall 125 corresponds to the positioning hole 135 one to one.
  • the supporting wall 125 can abut against the light supplement lamp bracket 132, and the positioning post 126 penetrates the positioning hole 135 so as to position the light supplement lamp bracket 132.
  • the support wall 125 can abut against the light supplement lamp bracket 132 and the positioning post 126 penetrates the positioning hole 135 to fix the light supplement lamp bracket 132 on the camera bracket 122.
  • the positioning holes 135 may also be provided at the two ends of the fill light bracket 132.
  • a circuit board is provided in the main body 110 of the device.
  • the supplement light bracket 132 can be electrically connected to the circuit main board through a flexible flat cable, so as to supply power to the supplement light 131.
  • the control system on the circuit main board is configured to selectively turn on or turn off the fill light 131 according to the light intensity of the environment detected by the camera 121. Specifically, when it is detected that the light intensity of the environment is insufficient or dark, and the fill light 131 needs to be turned on, the control system sends an on instruction to the fill light bracket 132 to supply power to the fill light 131 through the fill light bracket 132. When it is detected that the light intensity of the environment meets the image capturing requirement and there is no need to supplement light, the control system sends a shutdown instruction to the supplement light bracket 132, and the supplement light bracket 132 stops supplying power to the supplement light 131.
  • a mounting member 140 is provided on the outer side of the device main body 110, and the mounting member 140 can be provided with an imaging opening 141.
  • the camera opening 141 is located outside the camera 121 and corresponds to the position of the camera 121.
  • the device main body 110 is also provided with a camera lens 123, and the camera lens 123 is located on the front side of the camera 121 to protect the camera 121.
  • the camera lens 123 is arranged at the imaging opening 141.
  • the camera 121 can capture images through the camera lens 123.
  • the imaging opening 141 is an annular step opening, and the camera lens 123 is installed at the step with the largest diameter of the step opening.
  • the camera lens 123 may be bonded to an outwardly facing annular stepped surface.
  • the fill light 131 may be located below the camera 121, and correspondingly, the fill light lens 133 may be located below the camera lens 123, and the fill light lens 133 may have the same length as the camera lens 123.
  • the mounting member 140 can also be provided with a light supplement opening 142, which is located outside the light supplement lamp 131 and corresponds to the position of the light supplement lamp 131.
  • the light of the fill light 131 can pass through the fill light opening 142.
  • the device main body 110 is also provided with a fill light lens 133, and the fill light lens 133 is located at the front side of the fill light 131 to protect the fill light 131.
  • the fill light lens 133 is made of a material through which the light of the fill light 131 can pass.
  • the fill light lens 133 is made of a material through which infrared light can pass.
  • the fill light lens 133 is disposed at the fill light opening 142.
  • the fill light lens 133 is provided at the fill light opening 142.
  • the fill light opening 142 is an annular step opening, and the fill light lens 133 is installed at the step with the largest diameter of the step opening.
  • the fill light lens 133 may be bonded to the outer annular stepped surface.
  • both the camera lens 123 and the fill light lens 133 are fixed by the mounting member 140, which can simplify the structure and make the assembly process simple and easy.
  • FIG. 4 schematically shows the irradiation area of the fill light 131.
  • the smart cleaning device 100 is configured such that the light of the fill light 131 passing through the fill light opening 142 covers at least a part of the recognition area of the fill light 131, and of course, it is preferable that the entire recognition area is all.
  • the aperture size of the fill light opening 142 is designed such that the recognition area of the fill light 131 obtained from the environment is located in the area where the light of the fill light 131 irradiates the environment.
  • the smart cleaning device 100 also includes a buffer 150.
  • the buffer 150 can be arranged on the peripheral side of the device main body 110 and connected to the device main body 110 to buffer the collision of the smart cleaning device 100 with surrounding objects during the movement.
  • the camera 121 and the fill light 131 are both arranged close to the peripheral side of the device main body 110 and located inside the buffer 150, so that the buffer 150 can protect the camera 121 and the fill light 131 from damage due to collision.
  • the mounting member 140 can be mounted on the buffer 150. Specifically, referring back to FIG. 2, a mounting opening 151 is provided on the buffer 150, and the mounting component 140 is arranged in the mounting opening 151 and fixed on the buffer 150, specifically fixed on the edge of the buffer 150 at the mounting opening 151 .
  • the mounting component 140 may be mounted to the buffer 150 by fasteners such as screws, and/or by providing a clamping structure.
  • the intelligent cleaning device of the present disclosure solves the problem that the camera cannot perform image collection or the collected image is not clear due to environmental factors in the prior art.
  • the smart cleaning device of the present disclosure can enable the camera to collect images with the required brightness, so that the smart cleaning device can perform functions such as accurate object recognition, navigation, and positioning, thereby improving the smart cleaning device's perception of the external environment such as terrain and obstacles. Ability and the ability to control its own working state.
  • the camera and the fill light By arranging the camera and the fill light in the main body of the device, the camera and the fill light can be protected, and the camera and the fill light are not easily damaged by collision due to exposure, thus saving the materials and materials of the camera and the fill light. Maintenance costs for labor, etc.

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Abstract

一种智能清洁设备，其包括设备主体、摄像头和补光灯，摄像头安装在设备主体内，并朝向设备主体的外侧，补光灯通过补光灯支架安装在设备主体内，并朝向设备主体的外侧，补光灯的照射方向与摄像头的取像方向相同，以便照射摄像头的至少部分识别区域。智能清洁设备解决了现有技术中由于环境因素而引起的摄像头无法进行图像采集或者采集的图像不清楚的问题。智能清洁设备能够使摄像头采集到所需亮度的图像，以便智能清洁设备进行精确的物体识别、导航、定位等功能，从而提高了智能清洁设备对例如地形、障碍物等外界环境的感知能力以及对其自身的工作状态的操控能力。

Description

智能清洁设备
相关申请的交叉引用
本申请要求于2020年1月10日递交的中国实用新型申请第202020056974.2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
本公开涉及清洁工具技术领域，且更具体地涉及一种智能清洁设备。
背景技术
随着通信技术的快速发展，智能产品在日常生活中的应用日趋普遍，出现了很多可移动的智能清洁设备，例如智能扫地机。智能清洁设备可以自动地执行清洁操作，方便用户。已有的智能清洁设备通常设置有摄像头，以进行物体识别、导航、定位等功能。但是，摄像头常常因外部环境的影响而无法采集图像或者采集到不清楚、无法识别的图像，以致于智能清洁设备完全不能进行物体识别、导航、定位等功能，极大地影响了用户对智能清洁设备的使用，降低了用户体验。
因此，需要一种智能清洁设备，以至少部分地解决现有技术中存在的问题。
发明内容
在公开内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本公开内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
为了至少部分地解决上述问题，根据本公开的一个方面，提供了一种智能清洁设备，其包括：
设备主体；
摄像头，所述摄像头安装在所述设备主体内，并朝向所述设备主体的外侧；以及
补光灯，所述补光灯通过补光灯支架安装在所述设备主体内，并朝向所述设备主体的外侧，所述补光灯的照射方向与所述摄像头的取像方向相同，以便照射所述摄像头的至少部分识别区域。
可选地，所述设备主体的外侧设置有安装部件，所述安装部件开设有补光开口，所述补光开口位于所述补光灯的前侧，所述智能清洁设备构造成使得所述补光灯的从所述补光开口穿过的光覆盖所述摄像头的所述至少部分识别区域。
可选地，所述补光开口处设置有补光灯镜片，所述补光灯镜片采用所述补光灯的光可穿过的材料制成。
可选地，所述安装部件还开设有摄像开口，所述摄像开口位于所述摄像头的外侧，所 述摄像开口处设置有摄像头镜片，所述摄像头通过所述摄像头镜片进行取像。
可选地，所述补光灯镜片位于所述摄像头镜片的下方，所述补光灯镜片与所述摄像头镜片的长度尺寸相同。
可选地，还包括缓冲器，所述缓冲器设置在所述设备主体的周侧并与所述设备主体连接，所述缓冲器上开设有安装开口，所述安装部件位于所述安装开口内并固定在所述缓冲器上。
可选地，所述摄像头通过摄像头支架固定在所述设备主体上；所述补光灯支架设置有螺钉孔，所述摄像头支架设置有螺钉柱，所述补光灯支架通过螺钉紧固至所述螺钉孔和所述螺钉柱的方式安装至所述摄像头支架上。
可选地，所述摄像头通过摄像头支架固定在所述设备主体上；所述补光灯支架设置有定位孔，所述摄像头支架设置有具有定位柱的支撑壁，通过所述支撑壁与所述补光灯支架抵接，以及所述定位柱穿入所述定位孔，将所述补光灯支架固定在所述摄像头支架上。
可选地，包括两个所述摄像头和一个所述补光灯，两个所述摄像头沿水平方向布置，所述补光灯在水平面上的投影位于两个所述摄像头在所述水平面上的投影之间。
可选地，所述补光灯为红外灯，并且/或者所述补光灯为贴片灯，所述补光灯支架为PCB板。
可选地，所述设备主体内设置有电路主板，所述补光灯支架与所述电路主板电连接，所述电路主板上的控制系统配置成根据所述摄像头检测到的环境的光线强度，可选择地开启或关闭所述补光灯。
本公开的智能清洁设备解决了现有技术中由于环境因素而引起的摄像头无法进行图像采集或者采集的图像不清楚的问题。本公开的智能清洁设备能够使摄像头采集到所需亮度的图像，以便智能清洁设备进行精确的物体识别、导航、定位等功能，从而提高了智能清洁设备对例如地形、障碍物等外界环境的感知能力以及对其自身的工作状态的操控能力。
通过将摄像头和补光灯设置在设备主体内，可以保护摄像头和补光灯，避免摄像头和补光灯因暴露在外而容易被碰撞使其损坏，从而节约了摄像头和补光灯的包括材料和人工等的维修成本。
附图说明
本公开的下列附图在此作为本公开的一部分用于理解本公开。附图中示出了本公开的实施方式及其描述，用来解释本公开的装置及原理。在附图中，
图1为根据本公开的优选实施方式的智能清洁设备的一部分的立体示意图；
图2为图1中所示的智能清洁设备的一部分的截面示意图；
图3为图2中所示的补光灯和摄像头的安装结构示意图；
图4为图2中所示的补光灯的照射范围示意图。
附图标记说明
100：智能清洁设备        110：设备主体
121：摄像头              122：摄像头支架
123：摄像头镜片          124：螺钉柱
125：支撑壁              126：定位柱
131：补光灯              132：补光灯支架
133：补光灯镜片          134：螺钉孔
135：定位孔              140：安装部件
141：摄像开口            142：补光开口
150：缓冲器              151：安装开口
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本公开更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本公开可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本公开发生混淆，对于本领域公知的一些技术特征未进行描述。
为了彻底理解本公开，将在下列的描述中提出详细的结构，以便阐释本公开。显然，本公开的施行并不限定于该技术领域的技术人员所熟习的特殊细节。本公开的较佳实施方式详细描述如下，然而除了这些详细描述外，本公开还可以具有其他实施方式，不应当解释为局限于这里提出的实施方式。
应当理解的是，在此使用的术语的目的仅在于描述具体实施方式并且不作为本实公开的限制，单数形式的“一”、“一个”和“所述/该”也意图包括复数形式，除非上下文清楚指出另外的方式。当在本说明书中使用术语“包含”和/或“包括”时，其指明存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。本公开中所使用的术语“上”、“下”、“前”、“后”、“左”、“右”以及类似的表述只是为了说明的目的，并非限制。
本公开中所引用的诸如“第一”和“第二”的序数词仅仅是标识，而不具有任何其他含义，例如特定的顺序等。而且，例如，术语“第一部件”其本身不暗示“第二部件”的存在，术语“第二部件”本身不暗示“第一部件”的存在。
以下，将参照附图对本公开的具体实施方式进行更详细地说明，这些附图示出了本公开的代表实施方式，并不是限定本公开。
通常智能清洁设备主要包括设备主体。设备主体具有近似圆形的形状(前后都为圆形)，也可具有其他形状。可以理解，本公开所示的智能清洁设备可以是扫地机器人、拖地机器人、扫拖一体的机器人等。
智能清洁设备包括清洁系统、感知系统、控制系统、驱动系统、能源系统和人机交互系统等。各个系统相互协调配合，使智能清洁设备能够自主移动以实现清洁功能。智能清洁设备中构成上述各系统的功能元件等集成地设置在设备主体内。设备主体包括上封盖、底盘以及设置在上封盖和底盘之间的中框。中框作为设置各种功能元件的基础框架。上封盖和底盘覆盖设备主体的表面，起到保护内部零部件的作用，并且提升智能清洁设备的美观性。
感知系统用于智能清洁设备对例如地形等的外界环境进行感知，其包括位置确定装置、缓冲器、悬崖传感器和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置。这些传感装置向控制系统提供机器的各种位置信息和运动状态信息。其中，位置确定装置包括但不限于红外发射接收装置、摄像头、激光测距装置(laser distance sensor,LDS)。缓冲器用于缓冲智能清洁设备在移动过程中与周围物体产生的碰撞。缓冲器的表面设置有一层软胶，并且缓冲器在安装至设备主体的状态下，其与设备主体间隔预定的距离，从而保证在产生碰撞时能够设备主体有足够的减速时间。
控制系统设置在设备主体内的电路主板上，可以理解，电路主板上设置有控制智能清洁设备运行的各种控制电路。控制系统包括与非暂时性存储器、计算处理器等。计算处理器可以是中央处理单元、应用处理器等，根据激光测距装置反馈的障碍物信息利用定位算法绘制智能清洁设备所在环境中的即时地图。并且结合缓冲器和传感装置反馈的距离信息、速度信息综合判断智能清洁设备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，还会针对不同情况给出具体的下一步动作策略，使得智能清洁设备的工作更加符合要求，提升用户体验。
人机交互系统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。对于路径导航型智能清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及智能清洁设备所处的位置，可以向用户提供更为丰富和人性化的功能项。
能源系统用于各系统的功能性元件工作提供电能，主要包括充电电池以及供电电路。充电电池可以是镍氢电池和锂电池。当充电电池内的电量低于预定的最小电量时，可以通过设置在设备主体的侧方或者下方的充电电极与充电设备连接进行充电。
清洁系统为智能清洁设备最主要的核心系统，用于实现清扫功能，其包括干式清洁部和湿式清洁部。干式清洁部主要通过清扫刷等结构清扫被清洁表面的固定颗粒污染物，湿式清洁部主要通过含有清洁液的清洁布对被清洁表面(如地面)进行擦拭。
干式清洁部主要包括清洁组件、尘盒以及风机。清洁组件中的主刷能够将垃圾扫起。风机与尘盒之间通过风道连通，风机用于产生吸尘所需的风力。具体地，随着智能清洁设备的移动，与地面具有一定干涉的主刷将地面上的垃圾扫起，并卷带到主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。
湿式清洁部主要包括储液箱和清洁布。湿式清洁部的储液箱内容纳有清洁液，清洁布可拆卸地设置在储液箱上。干式清洁部清扫完成以后，湿式清洁布的储液箱内的液体流向清洁布，清洁布对主刷等清扫后的地面进行擦拭。
干式清洁部还可以包括边刷。边刷通过旋转轴设置在设备主体上。具体地，边刷借助于旋转轴从下方安装至设备主体的边缘，边刷可以围绕旋转轴所在的旋转轴线相对于设备主体可旋转，以用于将杂物(诸如碎屑、毛发等垃圾)移动至主刷的清扫区域中。
下面结合图1至图4描述根据本公开的优选实施方式提供的智能清洁设备100。本公开提供的智能清洁设备100具有上文描述的各部分的结构/构造和功能，为简洁起见不再赘述。其中，智能清洁设备100还包括补光灯131，用于增加环境的光线强度，具体是用于增加摄像头121的识别区域内的光线强度。
如图1和图2所示，摄像头121设置在设备主体110内，并朝向设备主体110的外侧，用于对环境取像，以进行物体识别、导航、定位等功能。补光灯131也设置在设备主体110内，并朝向设备主体110的外侧。具体地，摄像头121和补光灯131均设置在设备主体110基于前进方向的前端，以便摄像头121能够在智能清洁设备100前进过程中取像。补光灯131的照射方向与摄像头121的取像方向大致相同，以便照射摄像头121的至少部分识别区域。
以此实施方式，借助于补光灯131所照射的光，使得能够增加摄像头121的识别区域内的光线强度，从而便于摄像头121采集到需要的图像，以便智能清洁设备100进行物体识别、导航、定位等功能。并且，通过将摄像头121和补光灯131设置在设备主体110内，可以保护摄像头121和补光灯131，避免摄像头121和补光灯131因暴露在外而容易被碰撞使其损坏，从而节约了摄像头121和补光灯131的包括材料和人工等的维修成本。
如图2和图3所示，设备主体110内设置有补光灯支架132。补光灯131能够安装在补光灯支架132上，换句话说，补光灯131通过补光灯支架安装在设备主体110内。可以通过焊接方式将补光灯131固定在补光灯支架132上。在图示实施方式中，补光灯支架132的形状为长条形。补光灯131设置在补光灯支架132的中部。
本实施方式中，摄像头121和补光灯131的个数均不受限制。在图示实施方式中，智能清洁设备100包括两个摄像头121和一个补光灯131。两个摄像头121可以沿水平方向布置，补光灯131在水平面上的投影能够位于两个摄像头121在水平面上的投影之间。由此，使用一个补光灯131就可以同时兼顾两个摄像头121，保证两个摄像头121的识别区域均能够被补光。
虽然图中示出了一个补光灯131，但如果需要和/或期望，也可以根据摄像头121的数量，设置多于一个补光灯131。补光灯131可以位于摄像头121的上方或下方。优选地，补光灯131位于摄像头121的下方。补光灯131可以为红外灯。补光灯131可以为贴片灯。可选地，补光灯131为贴片式红外灯。补光灯支架132为PCB板((Printed Circuit Board，印制电路板)。
补光灯131与摄像头121间隔开，补光灯131设置在摄像头121的下方。本实施方式中，设备主体110内设置有摄像头支架122。摄像头121通过摄像头支架122安装在设备主体110内。补光灯支架132可以直接连接至摄像头支架122。以此实施方式，可以不用额外设置固定部件或结构，从而避免设备的结构尺寸的增加。并且可以利用摄像头支架122处的结构空间来安装补光灯131，提高了设备内部的空间利用率。
补光灯支架132可以通过螺钉等紧固件可拆卸地与摄像头支架122连接。具体地，在图示实施方式中，补光灯支架132可以设置有螺钉孔134，摄像头支架122可以设置有螺钉柱124。螺钉柱124与螺钉孔134一一对应。螺钉能够穿过并紧固至螺钉孔134和螺钉柱124，从而将补光灯支架132固定至摄像头支架122。也就是说，补光灯支架132可以通过螺钉紧固至螺钉孔134和螺钉柱124的方式安装至摄像头支架122上。螺钉孔134可以设置在补光灯支架132的两个端部。
为便于装配和提供补光灯支架132的牢固性，补光灯支架132还可以设置有定位孔135。摄像头支架122设置有具有定位柱126的支撑壁125。支撑壁125与定位孔135一一对应。支撑壁125能够与补光灯支架132抵接，定位柱126穿入定位孔135，以便定位补光灯支架132。也就是说，可以通过支撑壁125与补光灯支架132抵接，以及定位柱126穿入定位孔135，将补光灯支架132固定在摄像头支架122上。定位孔135也可以设置在补光灯支架132的两个端部。
设备主体110内设置有电路主板。补光灯支架132与电路主板能够通过软排线电连接，以便为补光灯131供电。电路主板上的控制系统配置成根据摄像头121检测到的环境的光线强度，可选择地开启或关闭补光灯131。具体地，当检测到环境的光线强度不足或较暗，需要开启补光灯131时，控制系统发送开启指令至补光灯支架132，经由补光灯支架132为补光灯131供电。当检测到环境的光线强度满足取像需要，无需再进行补光时，控制系统发送关闭指令至补光灯支架132，补光灯支架132停止为补光灯131供电。
设备主体110的外侧设置有安装部件140，安装部件140能够开设有摄像开口141。摄像开口141位于摄像头121的外侧并与摄像头121位置相对应。设备主体110上还设置有摄像头镜片123，摄像头镜片123位于摄像头121的前侧，以保护摄像头121。摄像头镜片123设置在摄像开口141处。摄像头121能够通过摄像头镜片123进行取像。对于图示实施方式，摄像开口141为环形的台阶口，摄像头镜片123安装在台阶口的口径最大的台阶处。例如，摄像头镜片123可以粘接至朝外的环形台阶面。
补光灯131可以位于摄像头121的下方，相应地，补光灯镜片133可以位于摄像头镜片123的下方，补光灯镜片133可以与摄像头镜片123的长度尺寸相同。
安装部件140还能够开设有补光开口142，补光开口142位于补光灯131的外侧并与补光灯131位置相对应。补光灯131的光能够经由补光开口142穿过。设备主体110上还设置有补光灯镜片133，补光灯镜片133位于补光灯131的前侧，以保护补光灯131。补光灯镜片133采用补光灯131的光可穿过的材料制成。例如，在补光灯131为红外灯的实 施方式中，补光灯镜片133由红外光可穿过的材料制成。补光灯镜片133设置在补光开口142处。换句话说，补光开口142处设置有补光灯镜片133。对于图示实施方式，补光开口142为环形的台阶口，补光灯镜片133安装在台阶口的口径最大的台阶处。例如，补光灯镜片133可以粘接至朝外的环形台阶面。
本实施方式中，摄像头镜片123与补光灯镜片133均通过安装部件140固定，这样可以简化结构，使装配过程简单易进行。
参照图4，图4中示意性地示出了补光灯131的照射区域。本实施方式中，智能清洁设备100构造成使得补光灯131的从补光开口142穿过的光覆盖补光灯131的至少部分识别区域，当然优选是全部识别区域。进一步说，补光开口142的口径大小设计成使得补光灯131的从环境获取的识别区域位于补光灯131的光所照射到环境的区域内。
智能清洁设备100还包括缓冲器150。缓冲器150能够设置在设备主体110的周侧并与所述设备主体110连接，用于缓冲智能清洁设备100在移动过程中与周围物体产生的碰撞。摄像头121和补光灯131均靠近设备主体110的周侧布置并位于缓冲器150的内侧，这样缓冲器150能够保护摄像头121和补光灯131，避免它们因碰撞而损坏。
安装部件140能够安装在缓冲器150上。具体地，返回参照图2，缓冲器150上开设有一安装开口151，安装部件140设置在该安装开口151内并固定在缓冲器150上，具体是固定在缓冲器150在安装开口151处的边缘。可选地，安装部件140可以通过诸如螺钉等紧固件安装至缓冲器150，和/或通过设置卡接结构安装至缓冲器150。
本公开的智能清洁设备解决了现有技术中由于环境因素而引起的摄像头无法进行图像采集或者采集的图像不清楚的问题。本公开的智能清洁设备能够使摄像头采集到所需亮度的图像，以便智能清洁设备进行精确的物体识别、导航、定位等功能，从而提高了智能清洁设备对例如地形、障碍物等外界环境的感知能力以及对其自身的工作状态的操控能力。
通过将摄像头和补光灯设置在设备主体内，可以保护摄像头和补光灯，避免摄像头和补光灯因暴露在外而容易被碰撞使其损坏，从而节约了摄像头和补光灯的包括材料和人工等的维修成本。
除非另有定义，本文中所使用的技术和科学术语与本公开的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的，不是旨在限制本公开。本文中出现的诸如“部”、“件”等术语既可以表示单个的零件，也可以表示多个零件的组合。本文中出现的诸如“安装”、“设置”等术语既可以表示一个部件直接附接至另一个部件，也可以表示一个部件通过中间件附接至另一个部件。本文中在一个实施方式中描述的特征可以单独地或与其他特征结合地应用于另一个实施方式，除非该特征在该另一个实施方式中不适用或是另有说明。
本公开已经通过上述实施方式进行了说明，但应当理解的是，上述实施方式只是用于举例和说明的目的，而非意在将本公开限制于所描述的实施方式范围内。此外本领域技术 人员可以理解的是，本公开并不局限于上述实施方式，根据本公开的教导还可以做出更多种的变型和修改，这些变型和修改均落在本公开所要求保护的范围以内。本公开的保护范围由附属的权利要求书及其等效范围所界定。

Claims (11)

  1. 一种智能清洁设备，包括：
    设备主体；
    摄像头，所述摄像头安装在所述设备主体内，并朝向所述设备主体的外侧；以及
    补光灯，所述补光灯通过补光灯支架安装在所述设备主体内，并朝向所述设备主体的外侧，所述补光灯的照射方向与所述摄像头的取像方向相同，以便照射所述摄像头的至少部分识别区域。
  2. 根据权利要求1所述的智能清洁设备，其特征在于，所述设备主体的外侧设置有安装部件，所述安装部件开设有补光开口，所述补光开口位于所述补光灯的前侧，所述智能清洁设备构造成使得所述补光灯的从所述补光开口穿过的光覆盖所述摄像头的所述至少部分识别区域。
  3. 根据权利要求2所述的智能清洁设备，其特征在于，所述补光开口处设置有补光灯镜片，所述补光灯镜片采用所述补光灯的光可穿过的材料制成。
  4. 根据权利要求3所述的智能清洁设备，其特征在于，所述安装部件还开设有摄像开口，所述摄像开口位于所述摄像头的外侧，所述摄像开口处设置有摄像头镜片，所述摄像头通过所述摄像头镜片进行取像。
  5. 根据权利要求4所述的智能清洁设备，其特征在于，所述补光灯镜片位于所述摄像头镜片的下方，所述补光灯镜片与所述摄像头镜片的长度尺寸相同。
  6. 根据权利要求2～5中任意一项所述的智能清洁设备，其特征在于，还包括缓冲器，所述缓冲器设置在所述设备主体的周侧并与所述设备主体连接，所述缓冲器上开设有安装开口，所述安装部件位于所述安装开口内并固定在所述缓冲器上。
  7. 根据权利要求1所述的智能清洁设备，其特征在于，所述摄像头通过摄像头支架固定在所述设备主体上；所述补光灯支架设置有螺钉孔，所述摄像头支架设置有螺钉柱，所述补光灯支架通过螺钉紧固至所述螺钉孔和所述螺钉柱的方式安装至所述摄像头支架上。
  8. 根据权利要求1所述的智能清洁设备，其特征在于，所述摄像头通过摄像头支架固定在所述设备主体上；所述补光灯支架设置有定位孔，所述摄像头支架设置有具有定位柱的支撑壁，通过所述支撑壁与所述补光灯支架抵接，以及所述定位柱穿入所述定位孔，将所述补光灯支架固定在所述摄像头支架上。
  9. 根据权利要求1所述的智能清洁设备，其特征在于，包括两个所述摄像头和一个所述补光灯，两个所述摄像头沿水平方向布置，所述补光灯在水平面上的投影位于两个所述摄像头在所述水平面上的投影之间。
  10. 根据权利要求1所述的智能清洁设备，其特征在于，所述补光灯为红外灯，并且/或者所述补光灯为贴片灯，所述补光灯支架为PCB板。
  11. 根据权利要求1或10所述的智能清洁设备，其特征在于，所述设备主体内设置 有电路主板，所述补光灯支架与所述电路主板电连接，所述电路主板上的控制系统配置成根据所述摄像头检测到的环境的光线强度，可选择地开启或关闭所述补光灯。
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CN210927761U (zh) 2020-07-03
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US20220346617A1 (en) 2022-11-03
US20240090730A1 (en) 2024-03-21
DE212020000803U1 (de) 2022-10-10
EP4089996A1 (en) 2022-11-16
US20230066176A1 (en) 2023-03-02
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CN116034585A (zh) 2023-04-28
US11864699B2 (en) 2024-01-09

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