Optical navigation device

Abstract

An optical navigation device includes a processing circuit, a first light source to emit a first light, a cover, a second light source to emit a second light to the cover, and a first optical sensor to sense first optical data generated from the first light and to sense second optical data generated from the second light on the cover. The processing circuit determines a degree of dirt on the cover based on the second optical data sensed by the first optical sensor. The present invention can automatically detect the degree of dirt on the cover.

Description

Technical Field

[0001] This invention relates to an optical navigation device, and more particularly to an optical navigation device capable of determining the dirt status of the hood in an optical navigation device. Background Technology

[0002] Traditional robotic vacuum cleaners, such as those with image sensors, typically include a cover to protect the camera sensor. If this cover gets dirty, it can affect the vacuum's navigation. However, users often need to check it frequently, or only discover the dirt when the vacuum malfunctions.

[0003] Furthermore, as automatic cleaning machines become increasingly common, a single house may contain multiple machines. Automatic cleaning machines typically calculate their distance to furniture or nearby walls based on the light they emit. However, if more than one automatic cleaning machine is close to each other, the light emitted by multiple machines can interfere with each other's distance calculations. Summary of the Invention

[0004] Therefore, one objective of this invention is to disclose an optical navigation device that can determine the degree of dirt on a machine hood.

[0005] One objective of this invention is to disclose an optical navigation device that can avoid the influence of another optical navigation device.

[0006] An embodiment of the present invention discloses an optical navigation device, comprising: a processing circuit; a first light source for emitting first light; a cover; a second light source for emitting second light onto the cover; and a first optical sensor for sensing first optical data generated based on the first light, and for sensing second optical data generated based on the second light on the cover. The processing circuit determines the degree of dirtiness of the cover based on the second optical data sensed by the first optical sensor.

[0007] Another embodiment of the present invention discloses an optical navigation device, comprising: a processing circuit; a first light source for emitting first light; a cover; a first optical sensor for sensing first optical data generated based on the first light; and a second optical sensor for sensing the first optical data, wherein the cover is not in the focal plane of the first optical sensor but is in the focal plane of the second optical sensor. The processing circuit determines the degree of dirtiness based on the first optical data sensed by the second optical sensor.

[0008] Another embodiment of the present invention discloses an optical navigation device, including: a processing circuit; an optical sensor; and a light source for generating a first light pattern; wherein the processing circuit determines whether the optical sensor senses more than one light pattern to generate multiple light markers. The processing circuit calculates the distance between an object and the optical navigation device based on the multiple light markers and the first light pattern.

[0009] According to the foregoing embodiments, the degree of dirt on the cover can be automatically detected. Therefore, users do not need to check frequently, or wait until the automatic cleaning machine malfunctions before discovering that the cover is dirty. Moreover, according to the foregoing embodiments, the problem of distance calculation errors caused by multiple light patterns can be improved. Attached Figure Description

[0010] Figure 1 A block diagram of an automatic cleaning machine according to an embodiment of the present invention is shown.

[0011] Figure 2A A schematic diagram illustrating the configuration of a second light source according to an embodiment of the present invention is shown.

[0012] Figure 2B To illustrate Figure 2A The illustrated embodiment is shown as a top view schematic diagram.

[0013] Figure 3 To illustrate the basis Figure 2A The illustrated embodiment shows schematic diagrams of hoods with high and low levels of dirt, respectively.

[0014] Figure 4A A schematic diagram illustrating the configuration of a second light source according to an embodiment of the present invention is shown.

[0015] Figure 4B To illustrate Figure 4A The illustrated embodiment is shown as a top view schematic diagram.

[0016] Figure 5 To illustrate the basis Figure 4A The illustrated embodiment shows schematic diagrams of hoods with high and low levels of dirt, respectively.

[0017] Figure 6A A schematic diagram illustrating the configuration of a second optical sensor according to an embodiment of the present invention is shown.

[0018] Figure 6B To illustrate Figure 6A The illustrated embodiment is shown as a top view schematic diagram.

[0019] Figure 7 To illustrate the basis Figure 6AThe illustrated embodiment shows schematic diagrams of hoods with high and low levels of dirt, respectively.

[0020] Figure 8 A block diagram illustrating an automatic cleaning machine according to an embodiment of the present invention is provided.

[0021] Figures 9 to 11 To illustrate different embodiments of the present invention, Figure 8 A diagram illustrating the action.

[0022] The reference numerals in the attached figures are explained as follows:

[0023] 100 Automatic Sweeping Machine

[0024] 101 Engine Cover

[0025] 103, 803 processing circuit

[0026] 800 Automatic Sweeper

[0027] LS light source

[0028] LS_1 First Light Source

[0029] LS_2, LS_21-LS_2n Second Light Source

[0030] OS optical sensor

[0031] OS_1 First Optical Sensor

[0032] OS_2 Second Optical Sensor

[0033] S_1 First side

[0034] S_2 Second side Detailed Implementation

[0035] The present invention will be described below with reference to several embodiments. It should be noted that the elements in each embodiment can be implemented by hardware (e.g., a device or circuit) or firmware (e.g., at least one program written to a microprocessor). Furthermore, the terms "first," "second," and similar descriptions in the following description are used only to define different elements, parameters, data, signals, or steps, and are not intended to limit their order.

[0036] Furthermore, the following embodiments use automated cleaning machines such as robotic vacuum cleaners as examples. However, the following embodiments can be used on any type of electronic device.

[0037] Figure 1 A block diagram of an automatic cleaning machine 100 according to an embodiment of the present invention is shown. Figure 1As shown, the automatic sweeper 100 includes a first optical sensor OS_1, a first light source LS_1, a cover 101, and a processing circuit 103. The first light source LS_1 emits a first light L_1. The first optical sensor OS_1 senses first optical data (e.g., an image or any other optical data including optical features) generated based on the first light L_1. For example, the first light L_1 illuminates the ground, and the first optical data is generated based on reflected light from the ground. In one embodiment, the processing circuit 103 can determine the position of the automatic sweeper 100 based on the first optical data. The processing circuit 103 can be a processor of the automatic sweeper 100, and therefore can also control other actions of the automatic sweeper 100. However, the processing circuit 103 can be independent of the processor of the processing circuit 103. The first optical sensor OS_1 can be disposed in a space inside the automatic sweeper 100 (e.g., a cavity), and the space is sealed by the cover 101. This structure prevents the first optical sensor OS_1 from being affected by ambient light.

[0038] The automatic sweeper 100 may also include at least one second light source, different from the first light source LS_1, to assist the processing circuit 103 in determining the degree of dirt on the cover 101. The second light source LS_2 may have different configurations (i.e., different positions or different numbers), which will be described in more detail in the following embodiments. It should also be understood that the following embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Any other configuration that achieves the same function should also fall within the scope of the invention. Please also note that, for ease of understanding, it is not illustrated in the following embodiments. Figure 1 The automatic sweeper 100 and the processing circuit 103 are included.

[0039] Figure 2A A schematic diagram illustrating the configuration of a second light source according to an embodiment of the present invention is shown. Figure 2A As shown, the automatic cleaning machine 100 also includes a second light source LS_2. The second light source LS_2 is used to emit a second light L_2 onto the cover 101. The processing circuit 103 determines the degree of dirt on the cover 101 based on the second optical data sensed by the first optical sensor OS_1. The determination process will be described in more detail later.

[0040] exist Figure 2A In this embodiment, the first optical sensor OS_1 is located near the first side S_1 of the cover 101. Furthermore, the second light source LS_2 is located near the second side S_2 of the cover 101. That is, the distance between the first optical sensor OS_1 and the first side S_1 is less than the distance between the first optical sensor OS_1 and the second side S_2, and the distance between the second light source LS_2 and the first side S_1 is greater than the distance between the second light source LS_2 and the second side S_2.

[0041] In this case, the first light source LS_1 emits a first light L_1 towards the outside of the automatic cleaning machine 100 (e.g., as shown in the image). Figure 1 As shown downwards), the second light source LS_2 emits a second light L_2 into the interior of the automatic cleaning machine 100. (For example, in...) Figure 1 In one embodiment, it is upward.

[0042] Figure 2B To illustrate Figure 2A The schematic diagram shown is a top view of the embodiment, which is from... Figure 2A Looking in from the X direction. According to Figure 2B This allows us to clearly understand the relationship between the second light source LS_2 and the first optical sensor OS_1.

[0043] Figure 3 To illustrate the basis Figure 2A The illustrated embodiments are schematic diagrams of hoods with high and low levels of dirt, respectively. Figure 3 As shown, if the hood 101 is only slightly dirty, the bright spot LP caused by the second light L_2 is clear. Conversely, if the hood 101 is heavily dirty, the bright spot LP caused by the second light L_2 is blurry or not visible on the hood 101. Therefore, the processing circuit 103 can determine the degree of dirtiness based on the second optical data generated according to the second light L_2 on the hood 101.

[0044] After determining the degree of dirtiness, the automatic sweeper 100 can generate notification information indicating the level of dirtiness. For example, the automatic sweeper 100 can have at least one light source to generate notification information using different light patterns. Additionally, the automatic sweeper 100 can generate voice notification information indicating the level of dirtiness. Furthermore, the automatic sweeper 100 can communicate with a user's mobile electronic device and transmit notification information to the mobile electronic device.

[0045] The light pattern generated by the second light L_2 is not limited to Figure 2A The light spot shown. Figure 4A A schematic diagram illustrating the configuration of a second light source according to an embodiment of the present invention is shown. Figure 4B To illustrate Figure 4A The schematic diagram of the top view of the embodiment shown is from... Figure 4A Looking in from the X direction. Figure 5 To illustrate the basis Figure 4A The illustrated embodiment shows schematic diagrams of hoods with high and low levels of dirt, respectively.

[0046] Figure 4A and Figure 4BThe embodiment includes a plurality of second light sources LS_21-LS_2n. The first optical sensor OS_1 is located near a first side S_1 of the cover 101. The second light sources LS_21-LS_2n are located near a second side S_2 of the cover 101. In other words, the distance between the first optical sensor OS_1 and the first side S_1 is less than the distance between the first optical sensor OS_1 and the second side S_2, and the distance between the second light sources LS_21-LS_2n and the first side S_1 is greater than the distance between the second light sources LS_21-LS_2n and the second side S_2. Furthermore, the projection of the second light sources LS_21-LS_2n onto the cover 101 surrounds the first optical sensor OS_1. In one embodiment, the second light sources LS_21-LS_2n may be disposed on the side of the space where the first optical sensor OS_1 is located. Moreover, as described above, the cover 101 can seal this space.

[0047] Therefore, the second light source LS_21-LS_2n can be formed Figure 5 The aperture shown is LC. (As shown in the image) Figure 5 As shown, if the degree of dirt on the cover 101 is low, the aperture LC caused by the second light L_2 is clearer. Conversely, if the cover 101 has a high degree of dirt, the aperture LC caused by the second light L_2 is blurred or not visible on the cover 101. Therefore, the processing circuit 103 can determine the degree of dirt based on the second optical data generated by the second light L_2 on the cover 101.

[0048] In one embodiment, Figure 1 The storage device in the automatic cleaning machine 100 can be used to store a lookup table, which includes the relationship between the light pattern generated by the second light L_2 and the degree of dirt. After the first optical sensor OS_1 senses the light pattern, the processing circuit 103 can determine the degree of dirt based on the light pattern and the lookup table. For example, if the light pattern is A (e.g., very clear, clear, blurry, or absent), the degree of dirt is X. Another example is that if the light pattern is B, the degree of dirt is Y. However, the processing circuit 103 is not limited to determining the degree of dirt in this way.

[0049] If the aforementioned first optical sensor OS_1 is used to sense reflected light from the ground, the hood 101 may not be within the focal plane of the first optical sensor OS_1, and therefore the first optical sensor OS_1 cannot sense clear optical data (e.g., images). Therefore, one embodiment of the present invention discloses another optical sensor to sense the optical data of the hood 101.

[0050] Figure 6A A schematic diagram illustrating the configuration of a second optical sensor according to an embodiment of the present invention is shown. Figure 6B To illustrate Figure 6A The schematic diagram of the top view of the embodiment shown is from... Figure 6A The image is viewed from the X direction. Figure 6A and Figure 6B The embodiment further discloses a second optical sensor OS_2. The second optical sensor OS_2 is used to sense second optical data generated based on the second light L_2. The cover 101 is not in the focal plane of the first optical sensor OS_1, but in the focal plane of the second optical sensor OS_2. In this embodiment, the processing circuit 103 further determines the degree of dirt based on the second optical data sensed by the second optical sensor OS_2. Moreover, the processing circuit 103 can determine the degree of dirt solely based on the second optical data sensed by the second optical sensor OS_2. Furthermore, Figure 6B The relationship between the positions of the first optical sensor OS_1 and the second optical sensor OS_2 is clearly illustrated.

[0051] The second optical sensor OS_2 can be physically independent of the first optical sensor OS_1. That is, the first optical sensor OS_1 and the second optical sensor OS_2 are two different optical sensors. However, the first optical sensor OS_1 and the second optical sensor OS_2 can be different regions of the same optical sensor.

[0052] The second light source LS_2 can be, but is not limited to, [but is not limited to] Figure 2A The second light source and Figure 4A The second light source in the process. Therefore, the processing circuit 103 can determine if... Figure 3 and Figure 5 The degree of dirtiness is shown. However, in one embodiment, the second light source LS_2 can be drawn from... Figure 6A In the embodiment, it is removed. In this case, the second optical sensor OS_2 senses the first optical data generated by the first light L_1 emitted by the first light source LS_1. Therefore, in this case, the processing circuit 103 determines the degree of dirtiness based on the first optical data sensed by the second optical sensor OS_2.

[0053] Figure 7 To illustrate the basis Figure 6A The illustrated embodiments are schematic diagrams of hoods with high and low levels of dirt, respectively. Figure 7As shown, if the hood 101 has a low level of dirt, some fixed patterns FP of the hood 101 can be clearly displayed in the image captured by the second optical sensor OS_2. The fixed patterns FP may be caused by textures or scratches on the hood 101. Conversely, if the hood 101 has a high level of dirt, the fixed patterns FP may be blurred or even disappear. Therefore, the processing circuit 103 can determine the degree of dirt based on the first optical data sensed by the second optical sensor OS_2.

[0054] However, since different automatic sweepers may react differently to different light sources or ground materials, the initial optical data may have different effects in some cases. Figure 7 The illustrated embodiment yields the opposite result. More specifically, due to the type of light source, the material of the ground or the cover, or the function of the second optical sensor, in some cases, if the cover 101 has a high degree of dirtiness, the fixed pattern FP may appear in the image captured by the second optical sensor OS_2. Conversely, if the cover 101 has a low degree of dirtiness, the fixed pattern FP may become blurred or even disappear. Such variations should also fall within the scope of the invention. Furthermore, for the same reason, Figure 2A and Figure 4A The opposite result may also occur in other embodiments.

[0055] In one embodiment, Figure 1 The storage device in the automatic cleaning machine 100 can be used to store a lookup table that includes the relationship between first optical data sensed by the second optical sensor OS_2 and the degree of dirtiness. After the second optical sensor OS_2 senses the first optical data, the processing circuit 103 can determine the degree of dirtiness based on the first optical data and the lookup table. For example, if the condition of the first optical data is A (e.g., having a very clear fixed pattern, or no fixed pattern), then the degree of dirtiness is X. As another example, if the condition of the first optical data is B, then the degree of dirtiness is Y. However, the processing circuit 103 is not limited to determining the degree of dirtiness in this way.

[0056] According to the aforementioned embodiment, the degree of dirt on the cover 101 can be automatically detected. Therefore, the user does not need to check it frequently, or wait until the automatic cleaning machine 100 malfunctions before discovering that the cover 101 is dirty.

[0057] As previously mentioned, automatic cleaning robots typically calculate their distance to nearby furniture or walls based on the light they emit. However, if more than one automatic cleaning robot is close to each other, the light emitted by them may affect the distance calculation. Therefore, this invention also discloses a mechanism to solve this problem.

[0058] Figure 8A block diagram illustrating an automatic cleaning machine according to an embodiment of the present invention is provided. Figure 8 As shown, the automatic cleaning robot 800 includes a light source LS, an optical sensor OS, and a processing circuit 803. The light source LS emits light to generate a first light pattern LP_1 on an object (e.g., furniture or a wall). In one embodiment, the light source LS and the light source of another automatic cleaning robot emit structured light, but are not limited thereto. The optical sensor OS can sense the first light pattern LP_1. Moreover, the processing circuit 803 can calculate the distance between the object and the automatic cleaning robot 800 based on the first light pattern LP_1. In addition, the processing circuit 803 determines whether the optical sensor OS senses more than one light pattern to generate multiple light markers. The processing circuit 803 also calculates the distance between the object and the optical navigation device based on the multiple light markers and the first light pattern LP_1.

[0059] Figures 9 to 11 To illustrate different embodiments of the present invention, Figure 8 The diagram illustrates the action. The following embodiments use two light patterns as an example. However, the following embodiments can be applied to more than two light patterns.

[0060] exist Figures 9 to 11 In some embodiments, multiple light markers represent that the optical sensor senses more than one light pattern. For example, in Figure 9 In this embodiment, a first light pattern LP_1 generated by a light source LS and a second light pattern LP_2 generated by another automatic cleaning machine are sensed. As described above, the first light pattern LP_1 and the second light pattern LP_2 are not limited to structured light patterns. In this case, the light source LS is turned off, so that the optical sensor OS senses only the second light pattern LP_2. Then, the second light pattern LP_2 is calculated to generate a calculated second light pattern to obtain position or other parameters, such as the brightness of the second light pattern LP_2. The calculated second light pattern is not shown on the object. Then, the light source LS is turned on again to generate the first light pattern LP_1, and the distance is calculated based on the first light pattern LP_1 and the calculated second light pattern. Ideally, the calculated second light pattern will be the same as the second light pattern LP_2, so the processing circuit 103 can know which part of the optical data is the second light pattern LP_2. In this way, the processing circuit 103 can calculate the distance based only on the first light pattern LP_1, and not on the second light pattern LP_2.

[0061] exist Figure 10 In one embodiment, if multiple light markers represent that the optical sensor OS senses more than one light pattern, the light source LS is controlled to generate an adjusted first light pattern ALP_1. For example, in Figure 10In this embodiment, a first light pattern LP_1 generated by a light source LS and a second light pattern LP_2 generated by another automatic cleaning machine are sensed. Because the first light pattern LP_1 is adjusted to an adjusted first light pattern ALP_1, but the second light pattern LP_2 may be fixed or have only minor differences, the adjusted first light pattern ALP_1 and the second light pattern LP_2 can be distinguished. Then, the second light pattern LP_2 is calculated to generate the calculated second light pattern. The calculated second light pattern is not shown on the object. Then, the processing circuit 103 calculates the distance based on the first light pattern LP_1 and the calculated second light pattern. Ideally, the calculated second light pattern is the same as the second light pattern LP_2, so the processing circuit 103 can know which part of the optical data is the second light pattern LP_2. In this way, the processing circuit 103 can calculate the distance based on the first light pattern LP_1, but not based on the second light pattern LP_2.

[0062] exist Figure 10 In one embodiment, the adjusted first light pattern LP_1 can be used only to distinguish the second light pattern LP_2, and not for calculating distance. In another embodiment, the distance can be calculated based on the adjusted first light pattern ALP_1, instead of the first light pattern LP_1.

[0063] In one embodiment, the brightness level of the first light pattern LP_1 is adjusted to generate the adjusted first light pattern ALP_1. In another embodiment, the emission frequency of the light source LS is adjusted to generate the adjusted first light pattern ALP_1. In other words, the first light pattern LP_1 and the adjusted first light pattern ALP_1 have different bright periods and different dark periods.

[0064] Please note that the method for generating the adjusted first light pattern ALP_1 is not limited to the examples described above. For example, the shape of the first light pattern LP_1 can be adjusted to generate the adjusted first light pattern ALP_1.

[0065] In one embodiment, if multiple light markers indicate that the optical sensor has sensed more than one light pattern, the automatic sweeper 800 is rotated. In this way, the optical sensor OS can only sense the first light pattern LP_1. The distance is then calculated based on the first light pattern LP_1. Figure 11 As shown in the left figure, the optical sensor OS in the automatic sweeper 800 senses the first light pattern LP_1 and the second light pattern LP_2. In this case, the automatic sweeper 800 will rotate clockwise by a predetermined angle. In this way, Figure 11 In the right figure, the optical sensor OS in the automatic sweeper 800 can only sense the first light pattern LP_1 but not the second light pattern LP_2.

[0066] based on Figures 8-11 The illustrated embodiment can improve the problem of distance calculation errors caused by multiple light patterns.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An optical navigation device, characterized in that, It includes: Processing circuitry; The first light source, used to emit the first light; A first optical sensor is used to sense at least one light pattern, including a first light pattern generated based on the first light; as well as The processing circuit calculates the distance between the optical navigation device and the object based on the first light pattern; In addition to the first light pattern, the other sensed second light pattern was emitted by another optical navigation device; When the first light source is turned off, the first optical sensor only senses the second light pattern; The parameters are obtained by calculating the second light pattern; When it is determined that the second light pattern is not shown on the object, the first light source is turned on to generate the first light pattern, and the distance between the optical navigation device and the object is calculated based on the first light pattern and the calculated parameters.

2. The optical navigation device as described in claim 1, characterized in that, This optical navigation device is an automatic sweeper.

3. The optical navigation device according to claim 1, characterized in that, The first light pattern is a structured light pattern.

4. The optical navigation device as described in claim 2, characterized in that, When the first optical sensor detects multiple light patterns, it causes the automatic sweeper to rotate.

5. The optical navigation device as claimed in claim 1, characterized in that, It also includes adjusting the brightness level of the first light pattern to produce an adjusted first light pattern.

6. The optical navigation device as claimed in claim 1, characterized in that, It also includes adjusting the emission frequency of the first light pattern to produce an adjusted first light pattern.

7. The optical navigation device as described in claim 5 or 6, characterized in that, The adjusted first light pattern is used to distinguish the second light pattern.

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