CN111374606A - Floor sweeping robot - Google Patents
Floor sweeping robotDownload PDFInfo
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- CN111374606A CN111374606ACN201811634389.XACN201811634389ACN111374606ACN 111374606 ACN111374606 ACN 111374606ACN 201811634389 ACN201811634389 ACN 201811634389ACN 111374606 ACN111374606 ACN 111374606A
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- 238000005286illuminationMethods0.000claimsabstractdescription204
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- 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
- A47L11/4008—Arrangements of switches, indicators or the like
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- 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
Landscapes
- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
Description
Technical Field
The application relates to the field of intelligent household appliances, in particular to a floor sweeping robot.
Background
With the development of the robot field, various robots are in motion, and particularly, the sweeping robot gradually walks into the home of each user. In the working process of the sweeping robot, when the sweeping robot reaches the working environment such as the bed bottom, the situation of insufficient light is likely to occur, so that the sweeping robot is difficult to shoot clear images through the camera, and the normal work of the sweeping robot is affected.
Disclosure of Invention
The application provides a robot of sweeping floor to solve because of operational environment's not enough and influence the problem of the normal work of robot of sweeping floor.
In order to solve the above problems, the technical solution provided by the present application is as follows:
in a first aspect, the present application provides a sweeping robot. The robot of sweeping the floor includes the main part, sets up at least one camera in the main part to and set up at least one light source in the main part, wherein, the light source setting is in following at least one position: a top of the body, a front side surface of the body, and a back side surface of the body. The main body includes an ambient light detection unit and an illumination controller. And the ambient light detection unit is used for detecting the illumination intensity of ambient light in the area where the sweeping robot is located and transmitting the illumination intensity to the illumination controller. And the illumination controller is used for controlling at least one light source to provide illumination for the acquisition area corresponding to the camera in the working state when the illumination intensity meets the preset condition, wherein the illumination area of the light source at least partially covers the visual field area of the camera.
Therefore, in a mode that light sources are arranged on the top, the front side surface and/or the rear side surface of the main body of the sweeping robot, when the illumination controller determines that the illumination intensity of the ambient light in the area where the sweeping robot is located detected by the ambient light detection unit meets the preset condition, the illumination controller controls one or more light sources to provide illumination for the collection area corresponding to the camera in the working state. Like this, the light source just can provide corresponding ambient light for the camera in the work and compensate to reach the light filling effect when the camera gathers the image, thereby improve the illumination intensity of ambient light, promote the definition of the image that the camera was gathered. The problem that the normal work of the sweeping robot is affected due to insufficient light of the working environment is effectively solved, and the sweeping robot can work conveniently.
In one implementation, the illumination controller is specifically configured to control an illumination mode of the light source such that a light beam type corresponding to the illumination mode corresponds to the illumination intensity.
In one implementation, when the illumination mode includes a parallel illumination mode, the beam type includes a parallel beam; when the illumination mode includes a converging illumination mode, the beam type includes a converging beam.
In one implementation, a light source includes at least two sub-light sources; and the illumination controller is particularly used for controlling part or all of the sub light sources to provide illumination.
In one implementation, the illumination controller is specifically configured to control the illumination intensity of the light source so that the illumination intensity of the light source is greater than or equal to a preset illumination intensity.
In one implementation, after the illumination intensity of the light source is greater than or equal to the preset illumination intensity, the illumination controller is further configured to adjust the illumination intensity of the light source according to a preset step length.
In one implementation, the illumination controller is specifically configured to control the orientation of the light source such that the optical axis of the light source is parallel to the optical axis of the at least one camera to which illumination is provided.
In one implementation, the illumination controller is further configured to determine whether the sweeping robot is currently located in the preset illumination demand area, and control the at least one light source to provide illumination when the sweeping robot is currently located in the preset illumination demand area. Wherein, the preset illumination demand area comprises at least one of a bed bottom, a sofa bottom and a dark toilet.
In one implementation, the body further comprises a navigation unit. And the navigation unit is used for sending the current navigation map of the sweeping robot to the mobile terminal and receiving the preset illumination demand area appointed on the navigation map returned by the mobile terminal.
In a second aspect, the present application provides a readable storage medium, which stores instructions that, when executed on a sweeping robot, cause the sweeping robot to perform the method of the first aspect and any one of the various implementations thereof.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a first schematic structural diagram of a sweeping robot provided in an embodiment of the present application;
fig. 2 is a second schematic structural diagram of the sweeping robot provided in the embodiment of the present application.
Description of reference numerals:
100-a sweeping robot; 101-a body; 103-a camera; 104-a front side surface; 105-a posterior surface; 106-a light source; 107-sub light source.
Detailed Description
In order to more clearly explain the overall concept of the present application, the following detailed description is given by way of example in conjunction with the accompanying drawings.
The embodiment of the application provides a robot of sweeping floor, and this robot of sweeping floor can include the main part, set up at least one camera in this main part to and set up at least one light source in this main part. In the embodiment of the present application, the light source may be disposed on the top of the body, and/or on the front side surface of the body, and/or on the rear side surface of the body. The front side surface of the main body is opposite to the rear side surface of the main body, and the front side surface is a side surface close to the positive traveling direction of the sweeping robot in the moving process.
As shown in fig. 1, a schematic structural diagram of a sweeping robot provided in an embodiment of the present application is shown. Thesweeping robot 100 may include amain body 101, acamera 103 disposed on thetop 102 of the main body, and alight source 106 disposed on thetop 102,front side surface 104 andrear side surface 105 of the main body, wherein an illumination area of thelight source 106 partially covers a field of view of thecamera 103, preferably an illumination area of thelight source 106 completely covers the field of view of thecamera 103, and more preferably the illumination area of thelight source 106 coincides with the field of view of thecamera 103. Thelight source 106 disposed on thefront surface 104 and theback surface 105 further includes a plurality of sub-light sources 107.
Referring to fig. 1, the positive direction of movement of thesweeping robot 100 is the direction indicated by the arrow in the figure, i.e., the right side, and therefore, the side of thesweeping robot 100 facing the positive direction of movement may be defined as thefront side surface 104 of the main body, and the side opposite to the positive direction of movement may be defined as therear side surface 105 of the main body.
It should be noted that fig. 1 is a schematic structural diagram of an exemplary sweeping robot, and is not intended to limit the structure of the sweeping robot. In fig. 1, thelight source 106 is shown to be disposed on thetop 102, thefront side surface 104 and theback side surface 105 of the main body, respectively, and in the actual disposition process, thelight source 106 may be disposed at any one or more positions of thetop 102, thefront side surface 104 and theback side surface 105 of the main body. Also, thelight source 106 may include one or more sub-light sources 107.
When thelight source 106 includes only one sub-light source 107, the form of the sub-light source 107 can be regarded as the form of thelight source 106, for example, thelight source 106 disposed on thetop portion 102 of the main body is the sub-light source 107; when thelight source 106 includes a plurality of sub-light sources 107, the overall shape of the plurality of sub-light sources 107 can be regarded as the shape of thelight source 106, such as thelight source 106 disposed on thefront surface 104 and theback surface 105.
In one implementation, thelight source 106 may be disposed in a position close to thecamera 103, i.e., thelight source 106 may be located on the same face of thebody 101 as thecamera 103, e.g., thetop 102; alternatively, thelight source 106 may be located on a different side of thebody 101 than thecamera 103, e.g., thecamera 103 is located on thetop 102 of the body and the light source is located on the front andback surfaces
Therefore, in a mode that light sources are arranged on the top, the front side surface and/or the rear side surface of the main body of the sweeping robot, when the illumination controller determines that the illumination intensity of the ambient light in the area where the sweeping robot is located detected by the ambient light detection unit meets the preset condition, the illumination controller controls one or more light sources to provide illumination for the collection area corresponding to the camera in the working state. Like this, the light source just can provide corresponding ambient light for the camera in the work and compensate to reach the light filling effect when the camera gathers the image, thereby improve the illumination intensity of ambient light, promote the definition of the image that the camera was gathered. The problem that the normal work of the sweeping robot is affected due to insufficient light of the working environment is effectively solved, and the sweeping robot can work conveniently.
In the process of providing illumination by the light source, the illumination mode of the light source, the number of sub-light sources providing illumination in the plurality of sub-light sources belonging to the same light source, the illumination intensity of the light source or the sub-light source, the orientation of the light source or the sub-light source, and the like can be selectively adjusted. The technical scheme of providing illumination for the light source on the sweeping robot is further described below with reference to another schematic structural diagram of the sweeping robot provided in the embodiment of the present application shown in fig. 2.
Fig. 2 is a schematic structural view of a cleaning robot according to an embodiment of the present application. The sweeping robot 200 may include an ambient light detection unit 21 and an illumination controller 22. In the embodiment of the present application, the sweeping robot 200 may further include a memory 23, a communication interface 24, and a navigation unit 25. The ambient light detection unit 21, the illumination controller 22, the memory 23, the communication interface 24 and the navigation unit 25 may be connected by a bus 26, so that data transmission between the ambient light detection unit 21, the illumination controller 22, the memory 23, the communication interface 24 and the navigation unit 25 may be realized.
The sweeping robot 200 can detect the illumination intensity of the ambient light in the area through the ambient light detection unit 21, and transmit the obtained illumination intensity to the illumination controller 22. Then, the illumination controller 22 may control at least one light source to provide illumination for the acquisition area corresponding to the camera in the working state when the acquired illumination intensity satisfies the preset condition.
The ambient light detection unit 21 may include a photosensitive sensor or other devices for detecting the intensity of illumination; the camera in the working state can be a started camera or a camera which is started and is acquiring images. The acquired illumination intensity meets the preset condition, which may mean that the acquired illumination intensity is greater than a preset illumination intensity threshold, and/or the definition of the image acquired by the camera is lower than a preset definition threshold, and/or the number of the feature points included in the image acquired by the camera is less than a preset feature point number threshold, and the like. The preset illumination intensity threshold, the preset definition threshold and the preset feature point quantity threshold can be configured in advance according to user requirements or historical data. In the embodiment of the present application, the values and the arrangement of the threshold are not limited.
In the process that the illumination controller 22 controls at least one light source to provide illumination for the acquisition area corresponding to the camera in the working state, the illumination controller 22 may control one or more light sources corresponding to the camera in the working state to provide illumination for the corresponding acquisition area, or, to ensure that the illumination is sufficient, may control one or more light sources corresponding to other cameras not in the working state to provide illumination for the camera in the working state while controlling one or more light sources corresponding to the camera in the working state to provide illumination for the corresponding acquisition area. In this way, unused light sources in the light sources disposed on the sweeping robot 200 can be fully utilized, so that a more sufficient illumination effect is provided for the collection area.
It should be noted that, in consideration of the fact that the ambient light can directly affect the illumination intensity of the collection area, the light source provides illumination for the collection area, and the purpose of providing illumination for the collection area by providing the compensated ambient light around the sweeping robot 200 for the light source can also be achieved, so that the definition of the image collected by the camera is ensured.
In one implementation, the light source may adapt to different illumination intensity requirements by providing illumination in different illumination modes.
In the present embodiment, the illumination mode may include a parallel illumination mode and a convergent illumination mode. The light beam type provided by the light source or the sub-light source in the parallel illumination mode can be a parallel light beam, and the light beam type provided by the light source or the sub-light source in the convergent illumination mode can be a convergent light beam. The parallel light beams mean that the cross sections of different positions of the light emitted by the light source or the sub-light source are the same, namely the light beams corresponding to the light beams are parallel light; the convergent light beam means that the cross sections of different positions of the light emitted by the light source or the sub-light source are different, the area of the cross section farther away from the light source is smaller, and the area of the cross section closer to the light source is larger, namely the light corresponding to the light beam is convergent light.
The light source provides light in a parallel light mode, for example, the light provided by a part of sub light sources in the light source on the rear side surface of the main body in fig. 1 can be projected to a corresponding collecting area relatively uniformly, so that the effect of improving the overall light intensity of the collecting area is achieved; the light source provides light in a convergent light mode, for example, the light provided by a part of sub light sources in the light source located on the front side surface of the main body in fig. 1 can be focused to a part of the corresponding collection area after being converged, so as to achieve the effect of improving the light intensity of a certain local area in the collection area, and the light intensity of the local area can be further improved by the concentrated light mode.
In the process of providing illumination for the camera by the light source, the light source may provide illumination according to a preset illumination mode, for example, provide illumination according to a parallel illumination mode. When the ambient light in the area where the sweeping robot is located, which is detected by the ambient light detection unit, still meets the preset condition, the illumination mode provided by the light source is adjusted to the convergent illumination mode through the illumination controller, so that the effect of further improving the illumination intensity is achieved through the mode of converging the corresponding light beams. Of course, the preset illumination mode may also be a converging illumination mode, and then after the ambient light detection unit detects that the illumination intensity of the ambient light in the area where the sweeping robot is located exceeds the preset illumination intensity threshold value by a certain range, the illumination controller may control the light source to adjust the illumination mode of the light source to the parallel illumination mode, so as to provide illumination for a larger range under the condition of ensuring the illumination intensity.
It should be noted that the illumination mode is not limited to the parallel illumination mode and the convergent illumination mode, but may include other illumination modes such as a divergent illumination mode, and is not limited herein.
In one implementation, the illumination controller may adapt to the requirements of different illumination intensities by controlling the number of sub-light sources providing illumination among a plurality of sub-light sources belonging to the same light source.
Considering that one light source may include a plurality of sub light sources, when the light source provides illumination, the illumination intensity of the ambient light in the area where the sweeping robot is located, which is detected by the ambient light detection unit, may be combined with the illumination intensity that a single sub light source may provide for the ambient light, so that it is calculated that several sub light sources are required to provide illumination. Therefore, the illumination controller can control the sub light sources with corresponding number belonging to the same light source to provide illumination by combining the determined number of the sub light sources which need to provide illumination, so that the number of the turned-on sub light sources is effectively reduced on the basis of providing the required illumination intensity, and the energy is effectively saved.
It should be noted that, when the illumination controller controls part of the sub-light sources belonging to the same light source to provide illumination, the illumination controller may preferentially control the sub-light sources with a lower frequency of use or a shorter total duration to provide illumination according to the use condition of each sub-light source in the historical time, or select the corresponding sub-light sources to provide illumination according to a preset rule, or randomly select part of the sub-light sources to provide illumination, and the like. In the embodiment of the present application, the manner of selecting the partial sub light sources is not limited.
In one implementation, the illumination controller may control the illumination intensity of the light source or the sub-light source to meet the requirements of different illumination intensities.
In this embodiment of the application, a preset illumination intensity may be set, and when the ambient light detection unit detects that the illumination intensity of the ambient light in the area where the sweeping robot is located meets the preset condition, the illumination controller controls the light source or the sub-light source to emit the light beam with the illumination intensity greater than or equal to the preset illumination intensity.
Considering that the sweeping robot provided by the embodiment of the application has the capability of providing illumination, the comprehensive power consumption is more than that of sweeping robots which do not have the capability of providing illumination in the same type, and in order to reduce the power consumption as much as possible under the condition that the light source provides illumination, in the embodiment of the application, after the illumination intensity of the light source reaches the preset illumination intensity, the illumination intensity of the light source can be selectively adjusted according to the preset step length by the illumination controller.
That is to say, under the condition that the illumination intensity of the ambient light in the area where the sweeping robot is located is sufficient, the illumination controller can reduce the power consumption of the sweeping robot by reducing the illumination intensity of the light beam emitted by the light source or part of the sub-light sources.
It should be noted that the preset step length may be a constant step length, or gradually increase or decrease according to a step type, where the value and setting mode of the preset step length are not limited, and the adjustment range of the illumination intensity may be manually adjusted in the historical time.
In the process of automatically adjusting the illumination intensity of the molecular light source by the illumination controller, the illumination controller can randomly determine the partial sub light source to be adjusted from the plurality of sub light sources or determine the partial sub light source to be adjusted according to a certain rule, and then adjust the partial sub light source once or even many times according to a preset step length until the re-adjustment can cause the ambient light detection unit to detect that the illumination intensity of the ambient light in the area where the robot is located meets the preset condition. Therefore, the power consumption of the sweeping robot can be reduced to the maximum extent.
In one implementation, the illumination controller may adapt to different illumination intensity requirements by controlling the orientation of the light sources or the sub-light sources.
In view of the fact that the view direction of the panoramic camera changes, in order to enable the light source to better provide ambient light compensation for the camera, the light source or the sub-light source can be controlled by the illumination controller to be adjusted according to the orientation of the camera. After the adjustment of the orientation of the light source or the sub-light source is completed, the optical axis of the light source or the sub-light source may be parallel to the optical axis of the camera to be illuminated, or the relationship between the optical axes of the light source and the sub-light source may be allowed to be close to parallel, that is, a slight error may exist when the optical axis of the light source or the sub-light source may be parallel to the optical axis of the camera to be illuminated.
The optical axis of the light source or the sub-light source refers to the central axis of the light beam emitted by the light source or the sub-light source; the optical axis of the camera refers to a line passing through the center of the lens of the camera and perpendicular to the mirror surface.
It should be noted that, several exemplary ways of adjusting the illumination are provided, and in the actual adjustment process, the illumination controller may use one or more of the above-mentioned ways of adjusting, or combine with other available ways of adjusting, to adjust the illumination provided by the light source.
In this embodiment, the illumination controller may further control the at least one light source to provide illumination when it is determined that the sweeping robot is in the preset illumination demand area. The preset lighting demand area includes, but is not limited to, one or more of a bed bottom, a sofa bottom and a dark toilet (i.e., a dim-light toilet). The illumination controller can determine whether the sweeping robot is located in a preset illumination demand area currently or not by combining position information of the sweeping robot provided by the navigation unit. The position information may refer to a position of the sweeping robot on a corresponding navigation map, and may be specifically represented by a point coordinate of a two-dimensional coordinate system. The manner of acquiring the position information, the specific contents, the expression form, and the like are not limited herein.
In view of the fact that the sweeping robot can also perform data interaction with a mobile terminal such as a mobile phone, a tablet computer and the like, in an implementation manner, the sweeping robot can send a current navigation map of the sweeping robot to the mobile terminal through a navigation unit and receive a preset illumination demand area, which is specified on the navigation map and returned by the mobile terminal, of the sweeping robot.
That is, the user can mark the preset illumination demand area on the navigation map provided by the sweeping robot through the mobile terminal, and the mobile terminal returns the marked navigation map to the sweeping robot. Therefore, the sweeping robot can control the light source to provide illumination through the illumination controller when the sweeping robot is in the preset illumination area.
The embodiment of the application provides a read storage medium, where instructions are stored in the readable storage medium, and when the instructions are run on a sweeping robot, the sweeping robot is caused to execute any one of the method flows in the above implementation manners.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the physical embodiment, since it is substantially similar to the method embodiment, the description is simple, and the relevant points can be referred to the partial description of the method embodiment.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The utility model provides a robot of sweeping floor, its characterized in that, the robot of sweeping floor includes the main part, set up in at least one camera in the main part, and set up in at least one light source in the main part, wherein, the light source setting is in following at least one position: a top of the body, a front side surface of the body, and a back side surface of the body;
the main body includes an ambient light detection unit and an illumination controller;
the environment light detection unit is used for detecting the illumination intensity of the environment light in the area where the sweeping robot is located and transmitting the illumination intensity to the illumination controller;
the illumination controller is used for controlling at least one light source to provide illumination for the acquisition area corresponding to the camera in the working state when the illumination intensity meets the preset condition, and the light source irradiation area at least partially covers the visual field area of the camera.
2. The sweeping robot of claim 1, wherein the illumination controller is specifically configured to control an illumination mode of the light source such that a light beam type corresponding to the illumination mode corresponds to the illumination intensity.
3. The sweeping robot of claim 2, wherein when the illumination mode comprises a parallel illumination mode, the beam type comprises a parallel beam; when the illumination mode comprises a converging illumination mode, the beam type comprises a converging beam.
4. The sweeping robot of claim 1, wherein the light source comprises at least two sub-light sources; the illumination controller is specifically used for controlling part or all of the sub light sources to provide illumination.
5. The sweeping robot of claim 1, wherein the illumination controller is specifically configured to control the illumination intensity of the light source such that the illumination intensity of the light source is greater than or equal to a preset illumination intensity.
6. The sweeping robot of claim 5, wherein the illumination controller is further configured to adjust the illumination intensity of the light source according to a preset step length after the illumination intensity of the light source is greater than or equal to the preset illumination intensity.
7. A sweeping robot according to claim 1, wherein said illumination controller is specifically adapted to control the orientation of said light source such that the optical axis of said light source is parallel to the optical axis of at least one camera to which illumination is provided.
8. The sweeping robot of claim 1, wherein the illumination controller is further configured to determine whether the sweeping robot is currently located within a preset illumination demand area, and to control the at least one light source to provide illumination when the sweeping robot is currently located within the preset illumination demand area;
wherein the preset illumination demand area comprises at least one of a bed bottom, a sofa bottom and a dark toilet.
9. The sweeping robot of claim 8, wherein the main body further comprises a navigation unit;
the navigation unit is used for sending a current navigation map of the sweeping robot to the mobile terminal and receiving the preset illumination demand area appointed on the navigation map returned by the mobile terminal.
10. A readable storage medium having stored therein instructions which, when run on a sweeping robot, cause the sweeping robot to perform the method of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634389.XACN111374606A (en) | 2018-12-29 | 2018-12-29 | Floor sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634389.XACN111374606A (en) | 2018-12-29 | 2018-12-29 | Floor sweeping robot |
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| Publication Number | Publication Date |
|---|---|
| CN111374606Atrue CN111374606A (en) | 2020-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811634389.XAPendingCN111374606A (en) | 2018-12-29 | 2018-12-29 | Floor sweeping robot |
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| CN (1) | CN111374606A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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