SUMMERY OF THE UTILITY MODEL
Not enough to prior art exists, the utility model provides an automatic walking equipment with image acquisition device, image acquisition device do not receive external light to disturb, and work area discernment is accurate, convenient automatic walking equipment.
The technical scheme of the utility model is realized like this: an automatic walking device for automatically walking and working on the ground, comprising: the casing, install in the walking module of casing, shoot the target area and form the image acquisition device of image, connect walking module and image acquisition device in order to control the host system of automatic walking equipment work, automatic walking equipment still includes: a light shield mounted on the housing, the light shield including a cover body for blocking entry of ambient light, the cover body having an opening facing the ground; a light source disposed within the housing; the image acquisition device is arranged in the cover body.
Preferably, the target area is located directly in front of the housing.
Preferably, the distance range of the image acquisition device from the ground is 10cm-1 m.
Preferably, the viewing angle range of the image acquisition device is 50 degrees to 135 degrees.
Preferably, the cover has a top, and the image capturing device is disposed at a central position of the top.
Preferably, the light source comprises two or more main light sources, and the main light sources are symmetrically arranged around the image acquisition device.
Preferably, the light source further comprises a supplementary light source, the top is polygonal, and the supplementary light source is arranged at least one corner of the polygon.
Preferably, the light source is selected from an LED lamp or a fluorescent lamp.
Preferably, the cover body has an inner wall on which a diffuse reflection layer is provided.
Preferably, the light shield further comprises a flexible member disposed around the shield body, the flexible member extending towards and contacting the ground.
Preferably, the automatic walking equipment is an automatic mower.
The utility model provides an automatic walking equipment passes through the image acquisition device and shoots the image of target area, thereby the lens hood blocks that external light gets into the internal image production interference of shooting the target area to image acquisition, sets up and provides stable light at the internal light source of cover, so make work area's discernment more accurate, convenient.
Detailed Description
Fig. 1 shows an automatic work system according to an embodiment of the present invention. The automatic work system is disposed on the ground or other surface. In the present embodiment, the ground is divided into an operating area 5 and a non-operating area, a part of the non-operating area surrounded by the operating area 5 forms an island 71, and a boundary line between the operating area 5 and the non-operating area forms a boundary 6. The working area 5 and the non-working area are visually different.
The automatic working system includes an automatic walking apparatus 1 and a docking station 4. The automatic traveling apparatus 1 may be a robot cleaner, a robot mower, a robot trimmer, or the like. In the present embodiment, the self-propelled device 1 is a robotic lawnmower and the docking station 4 is arranged on the peripheral border 6 of the work area.
Referring to fig. 2 to 4, the automatic walking device 1 has a housing 11 and a light shielding cover 20 mounted on the housing 11, the light shielding cover 20 includes a cover 22, the cover 22 has an opening 32 facing the ground, and the light source 26 and the image capturing device 15 are disposed in the cover 22 of the light shielding cover 20. The image pickup device 15 picks up an image of a target area in front of the automatic walking apparatus.
The automatic walking device 1 further comprises a main control module 31, a walking module 17, a working module 19 and an energy module 33. The main control module 31 is connected with the walking module 17, the working module 19, the energy module 33 and the image acquisition device 15.
The job module 19 is used to perform a specific job. In this embodiment, the working module 19 is embodied as a cutting module, comprising a cutting member (not shown) for cutting grass and a cutting motor (not shown) for driving the cutting member.
The energy module 33 is used to supply energy for the operation of the self-propelled device 1. The energy source of the energy module 33 may be gasoline, a battery pack, etc., and in this embodiment the energy module 33 includes a rechargeable battery pack disposed within the housing 2. When in operation, the battery pack releases electric power to maintain the operation of the automatic walking device 1. During non-operation, the battery may be connected to an external power source to supplement the power. In particular, for a more humanized design, when the battery is detected to be low, the automatic walking device 1 will automatically search for the docking station 4 to charge for power.
The traveling module 17 includes a wheel set 13 and a traveling motor that drives the wheel set 13. There are many ways of setting the wheel set 13. Typically, the wheel set 13 comprises drive wheels driven by the travel motor, which may be 1, 2 or more in number, and auxiliary wheels 133 that assist in supporting the housing 11. As shown in fig. 3, the direction of movement of the automatic traveling apparatus 1 is defined as a front side, a side opposite to the front side is defined as a rear side, and two sides adjacent to the front and rear sides are defined as left and right sides, respectively. In the present embodiment, the number of the drive wheels of the automatic traveling apparatus 1 is 2, and the drive wheels are a left wheel 131 on the left side and a right wheel 132 on the right side. The left wheel 131 and the right wheel 132 are symmetrically disposed about the central axis of the automatic walking device 1. The left and right wheels 131, 132 are preferably located at the rear of the housing 11 and the auxiliary wheels 133 at the front, although they could be alternatively located in other embodiments.
In the present embodiment, each of the left and right wheels 131 and 132 is coupled with a driving motor to realize a differential output for controlling steering. The driving motor can be directly connected with the driving wheel, but a transmission device such as a planetary gear train and the like which are common in the technical field can also be arranged between the driving motor and the driving wheel. In other embodiments, there may be 2 drive wheels and 1 drive motor, in which case the drive motor drives the left wheel 131 via the first transmission and the right wheel 132 via the second transmission. I.e. the same motor drives the left wheel 131 and the right wheel 132 through different transmissions.
As shown in fig. 2, 3 and 5, the light shield 20 is mounted in front of the housing 11, preferably centrally located. The light shield 20 includes a housing 22, and the light shield 20 is used for blocking external light from entering the housing 22. The cover 22 has a top 30 and an opening 32 facing the ground, and the shape of the cover 22 of the light shield 20 is not particularly limited as long as the light shield can block the external light from entering the cover 22, and the cover may be a rectangular parallelepiped or a truncated cone, for example. Specifically, in the present embodiment, the cover 22 has a rectangular parallelepiped shape.
The image capture device 15 is disposed within the housing 22. preferably, the image capture device 15 is disposed at a central location on the top 30 of the housing 22 and captures images of the area in front of the housing 11, including at least the target area of the ground in front. Specifically, the front area is an area formed by projecting the opening 32 on the ground. In the present embodiment, the viewing range of the image capturing device 15 is a fixed area, and the viewing angle range of the image capturing device 15 is 50 degrees to 135 degrees.
Preferably, the target area is the area where the opening 32 projects on the ground, i.e. the BCEF area shown in fig. 5, preferably, the target area is located directly in front of the housing 11. By the arrangement, the image acquired by the image acquisition device 15 can reflect the condition of the front area of the automatic walking equipment 1 timely and truly, so that whether the front area is a working area or a non-working area can be judged.
Preferably, the image capturing device 15 is located at a distance of 10cm-1m from the ground in order to better capture the image of the target area on the ground. Specifically, in this embodiment, the image capturing device 15 is a camera, and the camera is vertically disposed on the top 30 of the cover 22 of the light shield 20 facing the ground and has a height of 25cm from the ground.
Lens hood 20 blocks that external light enters into cover 22 in, thereby disturb the quality that image acquisition device 15 gathered the image, cause image acquisition device 15 to expose excessively when illumination is too strong in daytime, image acquisition device 15 can't gather the image that corresponds with ground actual conditions when cloudy day or night light are not enough, therefore, be provided with light source 26 in the cover 22, for image acquisition device 15 provides stable light, make image acquisition device 15 can not receive the influence of external light or environment, gather the image of target area and can truly reflect the operating mode on ground.
Preferably, the height of the image capturing device 15 from the ground is less than the height of the light source 26 from the ground, so that the light emitted from the light source 26 can be prevented from directly irradiating the image capturing device 15, thereby ensuring the quality of the image captured by the image capturing device 15.
Specifically, the color temperature range of the light emitted from the light source 26 is 4500K-9000K, and preferably, the color temperature range of the light emitted from the light source 26 is 5000K-7500K, that is, the light emitted from the light source 26 is white.
Preferably, the light source 26 is selected from an LED lamp or a fluorescent lamp.
Preferably, the light source 26 includes two or more primary light sources 261, and the primary light sources 261 are mounted in the middle region of the top 30 of the housing 22, and the primary light sources 261 are symmetrically disposed around the image capturing device 15. In this embodiment, the image capturing device 15 is installed at the center of the top 30, and there are 8 light sources, and the 8 light sources are symmetrically and circumferentially arranged around the image capturing device 15.
Fig. 6-8 illustrate several different shapes for the top 30 of the cage 22, with the top 30 being polygonal in shape. In order to make the light inside the cover 22 uniform and sufficient, it is preferable that the light source 26 further includes a supplementary light source 262, and the supplementary light source 262 is disposed at the top 30 of the cover 22 near the edge region. Specifically, the top 30 having a polygonal shape has a plurality of corners, and the fill light source 262 is disposed at least one corner.
In the present invention, the installation position of the fill-in light source 262 is understood broadly, and is not limited to the intersection point formed by any two adjacent sides of the polygon, and the installation position of the fill-in light source 262 is understood to be at least one corner of the polygon on the top 30, the corner including the intersection point formed by any two adjacent sides of the polygon and the position close to the intersection point.
Specifically, in fig. 6, the top 30 of the housing 22 is a quadrilateral, the image capturing device 15 is disposed at the center of the top 30, and the 8 light sources 261 are symmetrically distributed around the image capturing device 15. In order to ensure sufficient and uniform light without dark areas at various locations within the enclosure 22, light compensating sources 262 are mounted at each of the four corners (a, b, c, d) of the quadrilateral shape of the top portion 30.
Specifically, in fig. 7, the top 30 of the housing 22 is hexagonal, and similarly, in order to ensure that the light at each position in the housing 22 is uniform and sufficient without dark areas, the light supplementing sources 262 are respectively installed on the corners (e, f) of the hexagonal top 30, which are far from the image capturing device 15.
Specifically in fig. 8, the top 30 of the housing 22 is triangular, and similarly, in order to ensure sufficient and uniform light without dark areas at various positions within the housing 22, it is preferable to install two complementary light sources 262 at three corners (g, h, i) of the triangular shape of the top 30, and more preferably, to install two complementary light sources 262 at positions close to the three corners of the triangular shape of the top 30.
Preferably, the cover 22 has an inner wall on which a diffuse reflective layer (not shown) is disposed. Thus, it is ensured that the light reflected from the ground into the image acquisition device 15 is more uniform, so that the image acquired by the image acquisition device 15 is more real and closer to the image observed by naked eyes. The material of the diffuse reflection layer is not particularly limited as long as light reflected from the ground to the inner wall of the cover 22 is diffusely reflected, and specifically, the diffuse reflection layer may be a layer of white paper or white cloth attached to the inner wall 22.
Preferably, the light shield 20 further includes a flexible member (not shown) disposed around the shield 22, the flexible member extending toward and contacting the ground. The flexible member is used for completely blocking outside light from entering the cover body 22 so as to avoid interference on the image acquisition device 15, and meanwhile, the automatic walking equipment 1 can smoothly walk when encountering obstacles such as small stones and the like when walking on the ground. Specifically, the material of the flexible member may be rubber, cloth or nylon.
The main control module 31 determines the attributes of each part in the viewing area by analyzing each item of information in the image captured by the image capturing device 15, such as analyzing that it belongs to a working area or a non-working area, or analyzing that it belongs to a working area or a to-be-worked area. Specifically, in this embodiment, the main control module 31 determines whether the position corresponding to each portion is a grassland serving as a working area by analyzing the color information and the texture information of each portion in the image. As the working area, the grass is green in color and the texture is a natural irregular pattern, while as the non-working area, the ground of the land or other ground such as cement is not generally green in color, and even if green in color, it is generally an artificially processed article and thus has a regular texture. Therefore, the main control module 31 determines that a certain portion is green in color and irregular in texture, and determines that the certain portion is grassy if the color is not green or the texture is regular, and determines that the certain portion is non-grassy.
After judging the attributes of each part, the main control module 31 also controls the traveling direction of the automatic traveling device 1, so that the automatic traveling device 1 is always located in the working area.
The utility model provides an automatic walking equipment 1, shoot the image in automatic walking equipment 1 the place ahead through the image acquisition device 15 that sets up in the cover body 22 of lens hood 20, the cover body 22 gets rid of the influence that external light caused image acquisition device, light source 26 by setting up in the cover body 22 provides stably for image acquisition device 15, sufficient light, make the image that image acquisition device 15 gathered more clear real reaction target region's operating mode, host system 31 combines colour discernment and texture analysis, judge whether regional at least part region of target is work area, so make operating system set up simply, it is humanized, and work area discernment is accurate, it is convenient.
The person skilled in the art can think of, the structure of lens hood in the utility model can have other variations, and the concrete structure of automatic walking equipment can also have a lot of variations, but its main technical characteristics that adopt technical scheme with the utility model discloses the same or similar, all should be covered in the protection scope of the utility model.