Self-moving device and light supplementing assembly

Abstract

The invention provides a self-moving device and a light supplementing assembly, and the self-moving device comprises a main body which walks forward on the ground of a working area; the visual component is arranged on the main body and is configured to collect an image of a predetermined area in the moving direction of the self-moving equipment and identify target information in the image so as to execute a corresponding action based on the target information; the light supplementing assembly is arranged on the main body and is configured to be started under a preset condition to project a light beam to the preset area so as to form an effective light supplementing area in the preset area; wherein the target information comprises non-grass information, and the effective light supplementing area at least covers a corresponding area of the target information in the predetermined area. The light supplementing assembly is used for supplementing light for the preset area including the target information, the recognition effect of the visual assembly in the dark light environment is guaranteed, and the stability and reliability of the self-moving equipment are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of tool technology, and in particular to a self-propelled device and a fill light component. Background Art

[0002] With the development of science and technology, mobile devices are widely used in people's work and life, such as smart lawn mowers, smart vacuum cleaners or smart robots. They move and walk in a preset way within a pre-set working area to perform work.

[0003] Digital imaging technology is increasingly being used on self-mobile devices. The installed visual components can obtain information about the working environment in real time, and after analyzing this information, the walking of the self-mobile device can be controlled and influenced. Digital imaging technology can help self-mobile devices identify working environment information, while saving a large number of traditional sensors set up to obtain working environment information. However, when the self-mobile device works in a low-brightness environment such as at night, due to poor lighting conditions, the recognition effect of the visual component will be affected, and the self-mobile device may not be able to walk and work in the pre-set manner, and the stability and reliability are poor. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to provide a self-propelled device and a fill light component, which have high stability and reliability when working in an environment with low brightness.

[0005] In order to achieve one of the above-mentioned disclosed purposes, the present disclosure provides a self-moving device, including: a main body, walking and moving on the ground of a working area; a visual component, arranged on the main body, configured to capture an image of a predetermined area in the moving direction of the self-moving device, and identify target information in the image to perform corresponding actions based on the target information; a fill light component, arranged on the main body, configured to be turned on under predetermined conditions, project a light beam to the predetermined area to form an effective fill light area in the predetermined area; wherein the target information includes non-grass information, and the effective fill light area at least covers the corresponding area of ​​the target information in the predetermined area.

[0006] As a further improvement of the embodiment of the present disclosure, the fill light assembly further includes a light source, a light emitting surface, and a focusing device arranged on the light path between the light source and the light emitting surface.

[0007] As a further improvement of an embodiment of the present disclosure, the light source includes a plurality of light-emitting units, wherein the number of the light-emitting units located in a circumferential direction of the light source is greater than or equal to a predetermined value.

[0008] As a further improvement of the embodiment of the present disclosure, each of the light sources includes at least 6 light-emitting units in the circumferential direction.

[0009] As a further improvement of the embodiment of the present disclosure, the fill light assembly further includes a scattering device located outside the light emitting surface, and the scattering device is configured to diffuse the light beam passing through the light emitting surface.

[0010] As a further improvement of the embodiment of the present disclosure, the color temperature of the light emitted by the fill light component is between 4000 Kelvin and 6000 Kelvin, and the brightness in the fill light area is not less than 100 lumens.

[0011] As a further improvement of the embodiment of the present disclosure, the fill light assembly is pivotally connected to the main body.

[0012] As a further improvement of the embodiment of the present disclosure, the effective fill light area includes a first boundary away from the self-moving device, and the fill light component has preset fill light parameters, and the fill light parameters are configured to make the first boundary greater than 1.2m away from the front wheel.

[0013] As a further improvement of the embodiment of the present disclosure, the effective fill light area includes a second boundary away from the self-moving device, and the fill light parameters are configured so that the distance between the second boundary and the side wheel is within the interval of [20 cm, 25 cm].

[0014] As a further improvement of the embodiment of the present disclosure, an angle is formed between a plane where the light emitting surface of the fill light assembly is located and a normal line of the ground, and the angle is greater than or equal to 60 degrees.

[0015] As a further improvement of the embodiment of the present disclosure, the target information includes a docking identification code set on the charging pile, and the self-mobile device is configured to perform a pre-set docking action based on the docking identification code.

[0016] As a further improvement of the embodiment of the present disclosure, the target information includes edge information, and the self-mobile device is configured to perform a preset edge work based on the edge information.

[0017] As a further improvement of the embodiment of the present disclosure, the fill light assembly includes a first fill light unit and a second fill light unit, and the first fill light unit and the second fill light unit are symmetrically arranged on the main body along a direction parallel to the ground.

[0018] In order to achieve one of the above-mentioned disclosed purposes, the present disclosure provides a fill light component, which is arranged on a self-moving device, and the self-moving device includes: a main body, which moves forward on the ground of a working area; a visual component, which is arranged on the main body and is configured to capture an image of a predetermined area in the moving direction of the self-moving device, and identify target information in the image to perform corresponding actions based on the target information; the fill light component is arranged on the main body and is configured to be turned on under predetermined conditions to project a light beam to the predetermined area to form an effective fill light area in the predetermined area; wherein the target information includes non-grass information, and the effective fill light area at least covers the corresponding area of ​​the target information in the predetermined area.

[0019] In order to achieve one of the above-mentioned disclosed purposes, the present disclosure provides a self-moving device, including: a main body, walking and advancing on the ground of a working area; a visual component, arranged on the main body, configured to collect images of a predetermined area in the moving direction of the self-moving device, and identify target information in the image to perform corresponding actions based on the target information; a fill light component, arranged on the main body, configured to be turned on under predetermined conditions, and project a light beam to the predetermined area to form an effective fill light area in the predetermined area; the effective fill light area includes a first boundary and a second boundary away from the self-moving device, the fill light component has preset fill light parameters, and the fill light parameters are configured to make the first boundary greater than or equal to 1.5m from the front wheel, and make the second boundary within the interval of [20cm, 25cm] from the left wheel or the right wheel.

[0020] The lawn mower provided by the present disclosure uses a fill light component to fill light for a predetermined area including target information, thereby ensuring the recognition effect of the visual component in a dark light environment and improving the stability and reliability of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A three-dimensional schematic diagram of a self-moving device provided by an embodiment of the present disclosure;

[0022] Figure 2 for Figure 1 A top view from a mobile device;

[0023] Figure 3 for Figure 1 Schematic diagram of the self-mobile equipment in the working area;

[0024] Figure 4 for Figure 1 Schematic diagram of fill light angle of fill light component from mobile device;

[0025] Figure 5 for Figure 1 An exploded view of the fill light component of a mobile device;

[0026] Figure 6 for Figure 5 Front view of the fill light component. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings.

[0028] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not represent any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0029] With the development of digital imaging technology and automation technology, self-mobile equipment is often equipped with visual components, which can obtain information about the working environment in real time, store and analyze the information about the environment, and thus control the movement and work of the self-mobile equipment.

[0030] This self-moving device with visual components can not only obtain working environment information in real time, but also save a large number of various sensors that were previously configured to obtain working environment information. Therefore, its application fields are becoming more and more extensive, such as automatic house cleaning, lawn mowing and other fields.

[0031] In the working area, a self-moving device is usually provided with a variety of identification information for the self-moving device to obtain and identify, and to perform pre-set tasks. For example, in the working area, a charging identification is provided to replenish energy for the self-moving device. When the self-moving device recognizes the charging identification, it means that the self-moving device is near the charging station. Then, the pre-set docking operation is performed to dock at the charging station and perform the energy replenishment operation. Alternatively, a boundary identification is provided near the edge of the working area. When the self-moving device recognizes the boundary identification, it means that the self-moving device is near the boundary. Then, the pre-set operation needs to be performed to control the self-moving device to work efficiently in the working area and to prevent the self-moving device from crossing the boundary, causing damage to the self-moving device or bringing safety hazards.

[0032] However, when a self-moving device with a visual component operates in a dimly lit environment such as at night, the visual component will have difficulty recognizing the identification information mentioned above, resulting in the self-moving device being unable to replenish energy when needed in a pre-set manner, or adopt a preset walking method at the boundary.

[0033] Even if additional fill lights are provided, the fill light has a small fill light range and low intensity in the working area, which has limited improvement on the recognition effect of the visual component. In addition, it is easy to form a light-dark dividing line at the edge of the fill light range, causing the visual component to misjudge that there are obstacles around the mobile device, affecting the mobile work efficiency of the mobile device.

[0034] Based on the above problems, the present disclosure provides a self-moving device, including: a main body, walking and moving on the ground of a working area; a visual component, arranged on the main body, configured to collect images of a predetermined area in the moving direction of the self-moving device, and identify target information in the image to perform corresponding actions based on the target information; a fill light component, arranged on the main body, configured to be turned on under predetermined conditions, and project a light beam to the predetermined area to form an effective fill light area in the predetermined area; wherein the target information includes non-grass information, and the effective fill light area at least covers the corresponding area of ​​the target information in the predetermined area.

[0035] The self-mobile device can be an automatic vacuum cleaner, an intelligent lawn mower, an automatic trimmer, etc. This disclosure takes the intelligent lawn mower as an example for specific introduction. Figures 1 to 4 The lawn mower 100 includes a main body 10; a moving module, a visual component 11, a control module (not shown in the figure), a working module (not shown in the figure), an energy storage module (not shown in the figure), and a fill light component 12 arranged on the main body 10. The lawn mower 100 walks and works in a working area A set by a boundary line S. The energy storage module provides electric energy for the lawn mower 100; a charging station 200 is arranged on the boundary line S of the working area A. When the energy storage module needs to be charged, the lawn mower 100 walks to the charging station 200 in a pre-set manner for energy replenishment.

[0036] The mobile module is used to carry the main body 10 and drive the main body 10 to move on the ground of the working area A. It usually includes one or more driving wheels 13, and a driving motor (not shown in the figure) that drives the driving wheel 13 to move. The driving wheel 13 can be set in a variety of ways. Usually, the driving wheel 13 includes a driving wheel driven by a driving motor and an auxiliary wheel that assists in supporting the main body 10. The number of driving wheels can be 1, 2 or more. In this embodiment, the number of driving wheels is two. Taking the moving direction F of the lawn mower 100 in the figure as the front side, the side opposite to the front side is the rear side, and the two sides adjacent to the front and rear sides are left and right sides respectively. The driving wheel includes a left and right driving wheel located at the front of the main body, and the auxiliary wheel is located at the rear of the main body. Of course, in an optional embodiment, the positions of the driving wheel and the auxiliary wheel can be replaced.

[0037] In the disclosed embodiment, the installation position and shooting angle of the visual component 11 on the lawn mower 100 are not limited, and it can effectively capture images of the surroundings, for example, images in front of the lawn mower 100, or images on the sides and rear of the lawn mower 100, etc.

[0038] In a specific embodiment, the visual component 11 is disposed in front of the main body 10, with a shooting angle obliquely downward, to collect images of a predetermined area in the moving direction of the lawn mower 100, and to identify target information in the image, so as to perform corresponding actions based on the target information. The target information may include all non-lawn information in the working area, so as to help the lawn mower 100 take correct countermeasures when encountering non-working objects.

[0039] Exemplarily, the target information includes charging indication information set on the charging station 200, such as a docking identification code. When the lawn mower 100 needs to be charged, it walks to the vicinity of the charging station 200 in a pre-set walking manner, along a boundary line or other guide signals; when the visual component 11 successfully collects and identifies the charging indication information set on the charging station 200, it is determined that the lawn mower 100 is in a correct docking posture, and docking charging can be completed according to the pre-set docking.

[0040] Exemplarily, the target information also includes edge information. When the lawn mower 100 moves and works in the working area, when the boundary line is collected and identified by the visual component 11, it means that the lawn mower 100 needs to walk along the boundary line or turn in a direction away from the boundary line to avoid the lawn mower 100 crossing the boundary line and causing a safety hazard. At this time, the lawn mower 100 performs the pre-set edge work based on the edge information.

[0041] Exemplarily, the visual component 11 can identify obstacles or island information in the working area. When the lawn mower 100 collects and identifies obstacle or island information through the visual component 11, the lawn mower 100 needs to change the moving direction to avoid the obstacle or island.

[0042] In the disclosed embodiment, the installation position of the fill light component 12 is not limited. Specifically, the illumination range projected by the fill light component 12 on the working environment covers the field of view range of the visual component 11 photographed on the working environment by the field of view angle, so that the fill light component 12 can provide sufficient supplementary light for the visual component 11. In this way, the target range captured by the visual component 11 can be supplemented with light by the fill light component 12, thereby improving the image acquisition quality.

[0043] In a specific embodiment, the fill light component 12 is disposed in front of the main body 10, turned on when the visual component 11 does not have sufficient working light, and turned off when the visual component 11 has sufficient working light, so as to save energy or cause additional light pollution.

[0044] For example, the start-up condition of the fill light component 12 can be a preset light intensity condition, and the lawn mower 100 monitors the light intensity of the working environment in real time through the light sensor arranged thereon. When the current light intensity does not meet the preset brightness range required for the normal operation of the visual component 11, the fill light component 12 is started to supplement the light source.

[0045] Optionally, the start condition of the fill light component 12 can be a preset sunrise and sunset time. The lawn mower 100 obtains the sunrise and sunset information of the day through the preset sunrise and sunset information or through the real-time network, starts the fill light component 12 to supplement the light source for the visual component at sunset, and turns off the fill light component 12 at sunrise. In addition, the fill light component 12 can also be turned on and off by human remote control or operation, which will not be described in detail here.

[0046] In a specific embodiment, the fill light assembly 12 includes at least one fill light unit. Preferably, the fill light assembly 12 includes a first fill light unit and a second fill light unit, which are symmetrically arranged on the main body 10 along a direction parallel to the ground.

[0047] Furthermore, the first fill light unit and the second fill light unit can selectively start one of them to work, so as to realize unilateral fill light. When performing the aforementioned edge work, the fill light unit on the left or right side of the lawn mower 100 can be turned on at will to provide a good unilateral fill light effect for the visual component 11, thus saving energy consumption.

[0048] See also Figure 5, the fill light assembly 12 includes a bracket 121, and the first fill light unit and the second fill light unit are connected to the main body 10 through the bracket 121. In the embodiment of the present disclosure, the way in which the fill light assembly 12 is connected to the main body 10 through the bracket 121 is not limited. For example, the bracket 121 can be fixedly connected to the main body 10 according to a preset illumination angle to fill light a fixed working environment range. In a preferred embodiment, the connection between the fill light assembly 12 and the main body 10 through the bracket 121 is a pivot connection. Through the pivot connection, the fill light assembly 12 can adjust the fill light range in a horizontal direction parallel to the ground; or adjust the angle between the light emitting surface of the fill light assembly 12 and the ground, so as to conveniently adjust the illumination area of ​​the fill light assembly on the working area, and achieve a more flexible and comprehensive fill light effect.

[0049] The internal structures of the first fill light unit and the second fill light unit can be the same, or they can have different structures based on different fill light requirements. In a specific embodiment, the first fill light unit and the second fill light unit both include: a lamp housing 122, a drive circuit 123, a light source 124, and a focusing device 125. The lamp housing 122 is arranged on a bracket 121, and a receiving space is formed therein, and the opening of the receiving space forms the light emitting surface of the fill light component 12. The drive circuit 123, the light source 124 and the focusing device 125 are accommodated in the receiving space formed by the lamp housing 122. When the fill light component 12 is powered by the energy storage module of the lawn mower 100, the drive circuit 123 converts the electric energy of the energy storage module into a power supply mode for driving the light source to emit light. Of course, a power supply module can also be separately provided for the fill light component 12 to power itself.

[0050] The light source 124 may include light-emitting units in various forms, such as LED lamps or fluorescent lamps. Preferably, the light source 124 includes a plurality of light-emitting units, wherein the number of the light-emitting units is greater than or equal to a predetermined value. The predetermined value may be set to be greater than or equal to 3; that is, the light source 124 of each fill light unit includes no less than three light-emitting units to obtain a better fill light intensity. The plurality of light-emitting units are evenly arranged along the circumference of the fill light unit. Preferably, the first fill light unit and the second fill light unit include at least 6 light-emitting units in the circumference; for example, please refer to Figure 6 The light sources 124 of the first fill light unit and the second fill light unit each include 9 light emitting units, and the 9 light emitting units are evenly arranged in a matrix form along the circumference of the fill light unit.

[0051] The focusing device 125 includes a bowl-shaped reflector plate arranged corresponding to each light-emitting unit. The bowl-shaped reflector plate has multiple refractive surfaces in multiple directions. Each light-emitting unit is arranged at the center position of the bowl-shaped reflector plate. The light emitted by the light-emitting unit is aggregated after multiple reflections by the bowl-shaped reflector plate to help improve the light intensity.

[0052] Exemplarily, the bowl-shaped reflector is made of high-gloss aluminum-plated material, and the reflectivity is set to 85%.

[0053] Preferably, the fill light assembly 12 also includes a scattering device 126 located outside the light emitting surface, and the scattering device 126 is configured to diffuse the light beam passing through the light emitting surface; illustratively, the scattering device 126 is a transparent diffuser plate to diffuse the light beam corresponding to the light emitting surface; in other embodiments of the present disclosure, the scattering device 126 can also be made of a PC panel plus diffuser powder, which is not described here. By providing the scattering device 126, the brightness of the light beam passing through the light emitting surface is uniform, the boundary between light and dark is avoided, and the probability of the self-moving device recognizing obstacles is increased, thereby improving the moving efficiency.

[0054] In a specific embodiment, the color temperature of the light emitted by the fill light component 12 is between 4000 Kelvin and 6000 Kelvin, and the brightness in the fill light area is not less than 100 lumens. In this way, the brightness of the fill light area is adjusted to be optimal to prevent the lawn mower 100 from misidentifying obstacles and stopping or bypassing them.

[0055] In a specific embodiment, the effective fill light area is the area where the light emitting surface is projected on the ground, and preferably, the target area is located directly in front of the main body 10. This arrangement enables the image captured by the visual component 11 to timely and truly reflect the situation in the area in front of the lawn mower 100, so as to determine the target information in the area in front.

[0056] In a specific embodiment, the effective fill-light area includes a first boundary away from the lawn mower 100, and the fill-light component 12 has preset fill-light parameters, and the fill-light parameters are configured so that the distance between the first boundary and the front wheel is greater than 1.2m. That is, the range of fill-light in the effective fill-light area should be greater than 1.2m in the forward direction of the lawn mower 100, so that after the lawn mower 100 recognizes the information ahead, there is enough distance space to perform the pre-set work. The fill-light parameters are set by setting the fill-light angle and the number of light-emitting units that meet the requirements of the fill-light component 12. By adjusting the fill-light angle, the requirements for the fill-light range in front of the lawn mower 100 are met; by adjusting the number of light-emitting units, the requirements for the brightness of light in the fill-light range are met, and the recognition effect of the visual component 11 is guaranteed.

[0057] Preferably, the fill light assembly 12 has preset fill light parameters, and the fill light parameters are configured to make the distance between the first boundary and the front wheel greater than 1.5 m. That is, the range of the fill light in the effective fill light area should be greater than 1.5 m in the forward direction of the lawn mower 100, so that the lawn mower 100 can have sufficient distance space to perform the preset work after recognizing the front information, and at the same time, it can reserve enough braking distance for the lawn mower 100 to avoid the lawn mower 100 crossing the working area, thereby ensuring the safety of the lawn mower 100.

[0058] Furthermore, the effective fill light area includes a second boundary away from the self-moving device, and the fill light parameters are configured so that the distance between the second boundary and the side wheel is within the interval of [20cm, 25cm]. It can help the lawn mower 100 to better find and identify the boundary line S, and after identifying the boundary line S, perform the work of walking along the edge. The fill light parameters are set by setting the fill light angle and the number of light-emitting units that meet the requirements of the fill light component 12. By adjusting the fill light angle, the requirements for the side fill light range of the lawn mower 100 are met; by adjusting the number of light-emitting units, the requirements for the brightness of light in the fill light range are met, and the recognition effect of the visual component 11 is guaranteed. In other preferred embodiments of the present disclosure, the interval [20cm, 25cm] can be adjusted according to user needs, for example, it can be adjusted to [10cm, 20cm] or [25cm, 30cm], etc., without specific limitation.

[0059] In a specific embodiment, the plane where the light emitting surface of the fill light component 12 is located forms an angle α with the normal line of the ground, and the angle is greater than or equal to 60 degrees, ensuring that the light emitted by the fill light component 12 can cover a sufficiently far distance in front of the mobile device.

[0060] Another embodiment provided by the present disclosure provides a fill light assembly 12, which is arranged on a lawn mower 100, and the lawn mower 100 includes: a main body 10, which moves forward on the ground of a working area A; a visual assembly 11, which is arranged on the main body 10, and is configured to collect an image of a predetermined area in the moving direction of the lawn mower 100, and recognize target information in the image to perform a corresponding action based on the target information; the fill light assembly 12, which is arranged on the main body 10, is configured to be turned on under a predetermined condition, and project a light beam to a predetermined area to form an effective fill light area in the predetermined area;

[0061] The target information includes non-grass information, and the effective fill-light area at least covers the corresponding area of ​​the target information in the predetermined area.

[0062] The structure, implementation method and working principle of the fill light assembly 12 provided in this embodiment can be referred to the above embodiments, and will not be described in detail here.

[0063] Another embodiment of the present disclosure provides a lawn mower 100, which includes: a main body 10, which moves forward on the ground of a working area; a visual component 11, which is disposed on the main body 10 and is configured to collect an image of a predetermined area in the moving direction of the lawn mower 100, and recognize target information in the image to perform a corresponding action based on the target information; a fill light component 12, which is disposed on the main body 10 and is configured to be turned on under a predetermined condition, and project a light beam to a predetermined area to form an effective fill light area in the predetermined area;

[0064] The effective fill light area includes a first boundary and a second boundary away from the lawn mower 100. The fill light component 12 has preset fill light parameters, which are configured to make the first boundary greater than or equal to 1.5m from the front wheel and the second boundary within the interval of [20cm, 25cm] from the left wheel or the right wheel.

[0065] In summary, the lawn mower provided by the present disclosure uses a fill light component to fill light for a predetermined area including target information, thereby ensuring the recognition effect of the visual component in a dark light environment and improving the stability and reliability of the lawn mower.

[0066] It should be noted that "some body" or "some part" can be a part of the corresponding "component", that is, "some body" or "some part" can be integrally formed with the "other parts of the component"; or it can be an independent component that can be separated from the "other parts of the component", that is, "some body" or "some part" can be independently manufactured and then combined with the "other parts of the component" into a whole. The expression of the above-mentioned "some body" or "some part" in this disclosure is only one of the implementation methods, for the convenience of reading, rather than limiting the scope of protection of this disclosure, as long as it contains the above-mentioned features and has the same function, it should be understood as an equivalent technical solution of this disclosure.

[0067] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results.

[0068] It should be understood by those skilled in the art that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; based on the concept of the present disclosure, the above embodiments or technical features in different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0069] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A self-propelled device, characterized in that: include: The main body walks forward on the ground of the working area; a visual component, disposed on the main body, configured to capture an image of a predetermined area in a moving direction of the self-mobile device, and identify target information in the image to perform a corresponding action based on the target information; A fill light component, disposed on the main body, is configured to be turned on under a predetermined condition to project a light beam to the predetermined area to form an effective fill light area in the predetermined area; The target information includes non-grass information, and the effective fill-light area at least covers a corresponding area of ​​the target information in the predetermined area.

2. The self-moving device according to claim 1, characterized in that: The fill light assembly further comprises a light source, a light emitting surface and a focusing device arranged on the light path between the light source and the light emitting surface.

3. The self-moving device according to claim 2, characterized in that: The light source includes a plurality of light emitting units, wherein the number of the light emitting units located in a circumferential direction of the light source is greater than or equal to a predetermined value.

4. The self-moving device according to claim 3, characterized in that: Each of the light sources includes at least 6 light-emitting units in the circumferential direction.

5. The self-moving device according to claim 2, characterized in that: The fill light assembly further includes a scattering device located outside the light emitting surface, and the scattering device is configured to diffuse the light beam passing through the light emitting surface.

6. The self-moving device according to claim 1, characterized in that: The color temperature of the light emitted by the fill light component is between 4000 Kelvin and 6000 Kelvin, and the brightness in the fill light area is not less than 100 lumens.

7. The self-moving device according to claim 1, characterized in that: The fill light component is pivotally connected to the main body.

8. The self-moving device according to claim 1, characterized in that: The effective fill light area includes a first boundary away from the mobile device, the fill light component has preset fill light parameters, and the fill light parameters are configured to make the first boundary greater than 1.2 m away from the front wheel.

9. The self-moving device according to claim 8, characterized in that: The effective fill light area includes a second boundary away from the self-moving device, and the fill light parameters are configured so that the distance between the second boundary and the side wheel is within the interval of [20 cm, 25 cm].

10. The self-moving device according to claim 8 or 9, characterized in that: An angle is formed between a plane where the light emitting surface of the fill light component is located and a normal line of the ground, and the angle is greater than or equal to 60 degrees.

11. The self-moving device according to claim 1, characterized in that: The target information includes a docking identification code set on the charging pile, and the self-mobile device is configured to perform a preset docking action based on the docking identification code.

12. The self-moving device according to claim 1, characterized in that: The target information includes edge information, and the self-mobile device is configured to perform a preset edge work based on the edge information.

13. The self-moving device according to claim 1, characterized in that: The fill light assembly comprises a first fill light unit and a second fill light unit, and the first fill light unit and the second fill light unit are symmetrically arranged on the main body along a direction parallel to the ground.

14. A fill light assembly, arranged on a self-moving device, characterized in that: The self-moving device comprises: a main body, which moves forward on the ground of the working area; a visual component, disposed on the main body, configured to capture an image of a predetermined area in a moving direction of the self-mobile device, and identify target information in the image to perform a corresponding action based on the target information; A fill light component, disposed on the main body, is configured to be turned on under a predetermined condition to project a light beam to the predetermined area to form an effective fill light area in the predetermined area; The target information includes non-grass information, and the effective fill-light area at least covers a corresponding area of ​​the target information in the predetermined area.

Images