Summary of the invention
The disclosure provides a kind of intelligent cleaning equipment, to solve deficiency in the related technology.
According to present disclose provides a kind of intelligent cleaning equipment, comprising:
Cam device, the optical axis of the cam device concentrate one's gaze on the side opposite with the intelligent cleaning equipment direction of travelTo, for obtain on the direction opposite with the intelligent cleaning equipment direction of travel include target signature image information；And
Running gear, the running gear drive the intelligent cleaning equipment to transport in travel plane along the direction of travelIt is dynamic.
Optionally, the intelligent cleaning equipment further include:
Distance measuring sensor device, the distance measuring sensor device is for obtaining in the intelligent cleaning equipment and local environmentSpacing distance between barrier, to construct the scene map about the intelligent cleaning equipment local environment；And
Controller, when the controller is mutated for the intelligent cleaning device location described in described image information representation, weightNewly determine the intelligent cleaning equipment the location of in the scene map.
Optionally, the intelligent cleaning equipment further include:
Cleaning device, scene type that the working strategies of the cleaning device can be characterized with described image information andScene map match constructed by the distance measuring sensor device.
Optionally, the working strategies include at least one of purging zone and cleaning mode.
Optionally, the cam device is obliquely installed relative to the travel plane of the intelligent cleaning equipment.
Optionally, angle formed by travel plane of the optical axis of the cam device with the intelligent cleaning equipment is sharpAngle, and the angle is not less than 40 ° or the angle is not more than 30 °.
Optionally, the field angle of the cam device is not less than 65 ° or the field angle of the cam device is less than45°。
Optionally, the intelligent cleaning equipment includes upper capping, and the upper capping includes opening, the cam device packetCamera lens is included, the camera lens is stretched out from the opening, to obtain described image information.
Optionally, the intelligent cleaning equipment includes upper capping and equipment body, and the cam device is located on describedIn the accommodation space that capping and the equipment body surround；
Wherein, the upper capping includes opening, and the cam device is located at the opening, the cam deviceCamera lens obtains described image information by the opening.
Optionally, on the optical axis direction of the cam device, the wall for being used to form the opening of the upper cappingSurface is located at except the angular field of view of the cam device.
It optionally, further include bracket, the bracket includes fixing seat, mounting base and the connection fixing seat and the installationThe interconnecting piece of seat；
Wherein, the fixing seat is fixed on the equipment body, the traveling of the mounting base and the intelligent cleaning equipmentPlane is at an acute angle, and the mounting base is connect with the cam device.
Optionally, the intelligent cleaning equipment includes press-key structure, the press-key structure, the cam device and describedThe center of distance measuring sensor device is located on same horizontally extending straight line.
Optionally, the press-key structure is between the cam device and the distance measuring sensor device；
Alternatively, the cam device is between the press-key structure and the distance measuring sensor device.
Technical solution provided by the disclosure can include the following benefits:
When intelligent cleaning equipment is moved towards target position, the distance between cam device and target signature are moreFar, parallax is bigger, and the identification of the target signature in image information correspondinglys increase, to be conducive to intelligent cleaning equipment to sceneType or location information are identified.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, notThe disclosure can be limited.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related toWhen attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodimentDescribed in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appendedThe example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majorityForm, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wrapsIt may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the applicationA little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing fromIn the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to asOne information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...When " or " in response to determination ".
Fig. 1 is a kind of structural schematic diagram of intelligent cleaning equipment shown according to an exemplary embodiment, and Fig. 2 is according to oneThe structural schematic diagram of another intelligent cleaning equipment shown in exemplary embodiment.As depicted in figs. 1 and 2, intelligent cleaning equipment100 may include cam device 1 and running gear 2.Wherein, running gear 2 can drive according to the travel commands receivedIntelligent cleaning equipment 100 is moved in travel plane along direction of travel.The running gear 2 can be in the form of driving wheelWalking or the running gear 2 are also possible to walk in a manner of caterpillar, and the disclosure is limited not to this.
Further, the optical axis of cam device 1 concentrates one's gaze on the direction opposite with 100 direction of travel of intelligent cleaning equipment, withObtain the image information on the direction opposite with 100 direction of travel of intelligent cleaning equipment.It can wrap in the image information containing meshFeature is marked, so that intelligent cleaning equipment 100 can determine the scene type being presently according to the target signature or be basisDefault aspect ratio pair in the target signature and database, can determine whether the position of current intelligent cleaning equipment 100 occursMutation.It is understood that " target signature " that is mentioned above refers to the mesh selected in 100 local environment of intelligent cleaning equipmentMark object.
The cam device 1 of present embodiment is towards the rear of intelligent cleaning equipment 100 as a result, and can obtainTarget signature is located at the rear of intelligent cleaning equipment 100, thus when intelligent cleaning equipment 100 is moved towards target positionWhen, the distance between cam device 1 and target signature are remoter, and parallax is bigger, the identification of the target signature in image informationIt correspondinglys increase, scene type or location information is identified to be conducive to intelligent cleaning equipment 100.
In the present embodiment, as shown in figure 3, intelligent cleaning equipment 100 can also include distance measuring sensor device 3 and controlDevice 4, controller 4 can be connect with 3 signal of distance measuring sensor device, to control the working condition of distance measuring sensor device 3 and connectReceive the signal that distance measuring sensor device 3 is fed back.Distance measuring sensor device 3 can be used for obtaining intelligent cleaning equipment 100 with it is locatingSpacing distance in environment between barrier, thus scene map of the building about 100 local environment of intelligent cleaning equipment.According toConstructed scene map, intelligent cleaning equipment 100 can cook up walking path, avoid strikes obstacles.Wherein, ranging passesSensor arrangement 3 may include LDS (laser distance sensor) component.
It further, can be according to electronics such as sensor or odometers in the walking process of intelligent cleaning equipment 100Element obtains the travel distance of intelligent cleaning equipment 100, to determine the institute in scene map of intelligent cleaning equipment 100 in real timeThe position at place；Alternatively, can also be according to the interval distance that in 100 walking process of intelligent cleaning equipment, distance measuring sensor device 3 is obtainedFrom determining intelligent cleaning equipment 100 the location of in scene map.It is of course also possible to be according to distance measuring sensor device3, the data of the related elements such as odometer, velocity sensor, duration-acceleration transducer, determine locating for intelligent cleaning equipment 100Position.It is understood that the elements such as above-mentioned " odometer " referred to, " velocity sensor " are included in intelligent cleaning equipmentIn 100.
In the present embodiment, it is contemplated that when kidnapping (hijack) event occurs for intelligent cleaning equipment 100 or because of otherWhen violating normal working strategies under the influence of event and change in location occurs, i.e., intelligent cleaning equipment 100 is acted on by external eventAnd when position mutation occurs, due to the error and noise of sensor, usually make intelligent cleaning equipment 100 that can not understand itself quiltKidnapping to where in addition its may think that the position of itself does not change, thus to swept region carry out weightIt is new to clean, and there are some regions not to be cleaned.Therefore, provided controller 4 can be used in the disclosureWhen image information characterization 100 position of the intelligent cleaning equipment mutation that cam device 1 is got, intelligent cleaning equipment is redefined100 the location of in scene map information.
Specifically, controller 4 can also be connect with 1 signal of cam device, to control the work shape of cam device 1State and the signal for receiving the feedback of cam device 1.Controller 4 can compare image information twice adjacent in timing, according to figureAs the matching degree between information determines whether self-position mutates；Alternatively, controller 4 be also possible to according to image information withPreset image information is matched, and thinks that there is no mutation for position if matching；If mismatching it may be considered that intelligence is clearThe position of clean equipment 100 mutates.
When the image information got according to cam device 1 and by determining intelligent cleaning under the action of controller 4Equipment 100 occur position mutation when, controller 4 can be measured according to distance measuring sensor device 3 between barrier betweenGauge is from redefining out intelligent cleaning equipment 100 the location of in scene map.Then, intelligent cleaning equipment 100 canTo execute cleaning using corresponding cleaning modes pair purging zone corresponding with scene map.
Further, as shown in figure 4, intelligent cleaning equipment 100 can also include cleaning device 5, the work of the cleaning device 5Make scene map constructed by the tactful image information that can be got with cam device 1 and distance measuring sensor device 3Match.Thereby, it is possible to ensure that intelligent cleaning equipment 100 is worked in different scenes with suitable strategy, intelligent cleaning is improvedThe intelligence of equipment 100, autonomy-oriented.In present embodiment, " working strategies " can be the cleaning for cleaning device 5At least one of region and cleaning mode.For example, cleaning device 5 can select corresponding purging zone according to different scenes(walking path) and cleaning mode.
In above-mentioned each embodiment, the direction of travel that optical axis L concentrates one's gaze on intelligent cleaning equipment 100 can be understood as optical axis LIt is parallel with travel plane；It or it can be appreciated that is that can have a sharp angle α between optical axis L and travel plane, to obtainTake the image information of 100 oblique upper of intelligent cleaning equipment.In other words, cam device 1 can be relative to intelligent cleaning equipment 100Travel plane be obliquely installed so that the travel plane of the optical axis of cam device 1 and intelligent cleaning equipment 100 is capable of forming oneSharp angle α avoids cam device 1 from being blocked by other component, obtains the image information of 100 oblique upper of intelligent cleaning equipment.
Specifically, controller 4 can also be connect (referring to Fig. 3), to control the work of cleaning device 5 with 5 signal of cleaning deviceMake state.Controller 4 can be believed according to the image in 100 local environment of intelligent cleaning equipment that the cam device 1 is gotBreath controls cleaning device 5 with the matched working strategies of the scene type characterized with image information and executes the course of work.As a result,It can ensure that intelligent cleaning equipment 100 is worked in different scenes with suitable strategy, improve intelligent cleaning equipment 100Intelligent, autonomy-oriented.
It is following " working strategies " of cleaning device 5 to be described in detail in conjunction with concrete scene.
In one embodiment, as shown in Figure 2 and Figure 5, it is assumed that intelligent cleaning equipment 100 is in scenario A, and intelligent cleaningEquipment 100 is advanced along direction shown in arrow F, so as to think direction shown in arrow F for before intelligent cleaning equipment 100Side, the direction shown in the arrow F are the rear of intelligent cleaning equipment 100.So, the optical axis L of cam device 1 can be with rowInto plane α in an acute angle, the image information positioned at 100 rear of intelligent cleaning equipment can be obtained.
Further, the optical axis of cam device 1 can be 40 ° with sharp angle α formed by direction shown in arrow F is deviated from, andCam device 1 is arranged towards the rear of intelligent cleaning equipment 100, and the field angle of cam device 1 is 40 °.Cam device 1It can be at interval of a fixed duration；Alternatively, obtaining once after the mobile fixed displacement of intelligent cleaning equipment 100 about scenario AImage information, the corresponding picture material of image information acute angle as formed by cam device 1 and travel plane and camera shootingThe visual field scope of head device 1 determines.
Wherein, the scene type that intelligent cleaning equipment 100 is characterized according to the image information that cam device 1 is got is i.e.For the type of scenario A.For example, when the image information got according to cam device 1 recognizes sofa, tea table, entry etc.,It can determine that scenario A locating for intelligent cleaning equipment 100 is parlor, so that it is determined that purging zone corresponding to parlor and cleaning mouldFormula.For example, when intelligent cleaning equipment 100 is sweeping robot, it, may since parlor is usually the more region of personnel's dealingBiggish cleaning dynamics is needed relative to other regions, so, the cleaning mode of sweeping robot can be high-power cleaning mouldFormula, to improve cleaning intensity.
For another example, when the image information got according to cam device 1 can determine sleeping when determining that scenario A is bedroomPurging zone corresponding to room and cleaning mode.For example, personnel's dealing is less since bedroom is usually the region of user's rest,So the cleaning mode of sweeping robot can be low-power mode, to avoid user's rest is bothered.
In another embodiment, as shown in fig. 6, the optical axis of cam device 1 and the formed folder in the direction shown in the arrow FAngle α can be 30 °, and the field angle of cam device 1 towards the setting of the rear of intelligent cleaning equipment 100, cam device 1 is65°；Cam device 1 can be at interval of a fixed duration；Alternatively, being obtained after the mobile fixed displacement of intelligent cleaning equipment 100Take the image information once about scenario A, the corresponding picture material of the image information by cam device 1 and travel plane institute atAcute angle and cam device 1 visual field scope determine.
For example it is assumed that user setting thinks that parlor is purging zone, toilet is without purging zone.So, work as basisWhens the image information that cam device 1 is got recognizes sofa, tea table, entry etc., it can determine locating for sweeping robotScenario A is parlor, so as to clean to parlor.During cleaning to parlor, cam device 1 can be with everyAn image information is obtained every the fixed duration such as 2s or 5s, and determines scene type corresponding to the image information.
If the scene type identified remains as parlor, sweeping robot continues cleaning works；If according to imageWhen information identifies toilet, sweeping robot can stop cleaning works；Alternatively, can also correspond to according in image informationThe gray value of the feature of toilet estimates itself spacing distance between toilet, and switches to relatively slow speed and continue clearlyIt sweeps, the distance between itself and toilet may further be estimated herein according to the image information of subsequent acquisition, until determiningBorderline region between parlor and toilet, sweeping robot can guarantee itself not across extremely health according to the borderline regionBetween, artificial the step of virtual wall is set can be eliminated, user experience is promoted.
It should be understood that can identify corresponding scene type according to image information, intelligent cleaning equipment 100 can beCorresponding scene type is identified according to target signature corresponding in image information, for example, parlor is determined as according to sofa, according toClosestool is determined as toilet；Alternatively, being also possible to the default scene for comparing image information with being pre-stored in intelligent cleaning equipment 100Information is determined, which may include parlor scene information, toilet scene information, toy for children area sceneInformation and kitchen scene information etc..The acquisition of the default scene information can be before the work of intelligent cleaning equipment 100, camera shootingHead device 1 is advanced one time around each scene in advance and is obtained.No doubt, image information institute table can also be determined by other meansThe scene type of sign, this is no longer going to repeat them.
Formed angle α is acute angle and can also be greater than 40 ° between the optical axis and travel plane of cam device 1, exampleSuch as, 45 °, 50 ° etc., in order to obtain the image information of position higher position；Alternatively, the angle α is acute angle and might be less that30 °, for example, 25 °, 28 ° etc., in order to obtain the image information of position lower；The disclosure is to this and is not limited.ForThe field angle of cam device 1 is also possible to be greater than 65 °, such as 70 °, 72 ° etc.；Or the field angle might be less that 45 °, exampleSuch as 40 °, 43 °, the disclosure is to this and is not limited.Cam device 1 is obtaining the image information on forward or backwardWhen, corresponding to can be the unspecified angle in range described in above-described embodiment with acute angle formed by travel plane；AccordinglyGround, the field angle of cam device 1 may be the unspecified angle in range described in above-described embodiment, and the disclosure is not to thisIt is limited.
Technical solution based on the disclosure, for installation and positioning of the cam device 1 in intelligent cleaning equipment 100,As shown in fig. 7, intelligent cleaning equipment 100 can also include upper capping 6 and press-key structure 7, the press-key structure 7, distance measuring sensorDevice 3 and cam device 1 protrude from capping 6, or the either flush with upper capping 6 in the presence of at least part.ItsIn, the center of press-key structure 7, distance measuring sensor device 3 and cam device 1 is located at same horizontally extending straight lineOn, in order to improve the aesthetics of intelligent cleaning equipment 100.
In one embodiment, as shown in Figure 7 and Figure 8, press-key structure 7 is located at cam device 1 and distance measuring sensor device 3Between, upper capping 6 may include opening 61, and the camera lens of 1 (not shown) of cam device can be stretched out from the opening 61, withObtain image information.It in other words, is to be obliquely installed relative to travel plane due to the optical axis of cam device 1, in order to avoid upperCapping 6 or other dependency structures block the visual field of cam device 1, and the camera lens of cam device 1 is protruded from upper capping 6 and is setIt sets, to ensure that cam device 1 can get image information.
In another embodiment, as shown in Figure 9 and Figure 10, cam device 1 can be located at distance measuring sensor device 3 and pressBetween bond structure 7.Intelligent cleaning equipment 100 can also include equipment body 8, and the equipment body 8 and upper capping 6 can surround oneAccommodation space, the accommodation space can be used for accommodating cam device 1.Also, upper capping 6 may include opening 61', cameraDevice 1 is located at opening 61', and the camera lens of cam device 1 can get image information by opening 61'.Into oneThe eyeglass of step ground, opening 61' and cam device 1 cooperates.
In the present embodiment, the wall surface for being used to form opening 61' of upper capping 6 is located at the visual angle model of cam device 1Except enclosing.On the optical axis direction of cam device 1, sectional area of the 61' at each position that be open is positively correlated with this eachSet the distance between camera lens；Also, at same position, the sectional area of the cam device angular field of view is no more than describedThe sectional area of opening 61', so as to avoid the inner wall for surrounding opening 61' from blocking cam device 1, it is ensured that cam device 1Image information can be got.Wherein, which can be the optical axis based on cam device 1, the view with fixed angleRink corner rotates the cone to be formed；In some other embodiment, it is also possible to four sides centrum, the disclosure is limited not to thisSystem.
It, should still with shown in Figure 10, the intelligent cleaning equipment 100 can also include bracket 9 in above-mentioned each embodimentBracket 9 can be used for assembling cam device 1, and cam device 1 is fixed to equipment body 8.Specifically, such as Fig. 1 instituteShow, bracket 9 may include fixing seat 91, mounting base 92 and the interconnecting piece 93 for being connected and fixed seat 91 Yu mounting base 92.Wherein, fixedSeat 91 can be fixed on equipment body 8, and mounting base 92 is tilted relative to the travel plane of intelligent cleaning equipment 100, and withTravel plane is in an acute angle.Since the mounting base 92 is attached with cam device 1, so the inclined direction of mounting base 92 canTo be determined according to the camera lens inclined direction of cam device 1.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed hereinIts embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes orPerson's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosureOr conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by followingClaim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, andAnd various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.