Autonomous mobile device

Abstract

The present disclosure provides an autonomous mobile device. The autonomous mobile device is capable of autonomously moving on a surface of travel, and includes a host, a transmitter, and an image acquisition unit assembled together. The emitter is arranged at the bottom of the host and is configured to emit ultraviolet light to the advancing face so as to form an irradiation area on the advancing face. The image acquisition unit is also provided in the host and is configured to be able to acquire an image of the traveling surface, the acquired image including at least a portion of the illuminated area. As a result, the autonomous mobile device can effectively detect liquid such as liquid excreta on the traveling surface thereof.

Description

Technical Field

[0001] The present disclosure relates to the structure of a detection component of an autonomous mobile device. Background Art

[0002] An autonomous mobile device refers to an intelligent mobile device that autonomously performs preset tasks and can autonomously move on a traveling surface according to the results sensed by its sensing components. Currently, autonomous mobile devices generally include, but are not limited to, cleaning robots (such as intelligent floor sweepers, intelligent floor scrubbers, window cleaning robots), companion mobile robots (such as intelligent electronic pets, nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (such as power inspection robots, intelligent forklifts, etc.), and security robots (such as household or commercial intelligent guard robots).

[0003] In the environment where the above-mentioned autonomous mobile devices are applied, there may be animals such as pets. Liquid excreta such as their urine will remain on the traveling surface before being cleaned. When the autonomous mobile device performs operations, sometimes it needs to bypass the liquid excreta, and sometimes it needs to clean the liquid excreta. Regardless of what post-processing the autonomous mobile device needs to perform after detecting the above-mentioned liquid excreta on the traveling surface, the autonomous mobile device needs to be able to effectively detect the excreta on the traveling surface. Therefore, there is an urgent need in the field of autonomous mobile devices for a detection means that can effectively detect liquid excreta on the traveling surface. Summary of the Utility Model

[0004] Based on the problems of the above-mentioned prior art, the purpose of the present disclosure is to provide an autonomous mobile device that can effectively detect liquids such as liquid excreta on its traveling surface.

[0005] To achieve the above purpose, the present disclosure adopts the following technical solutions.

[0006] The present disclosure provides an autonomous mobile device that can autonomously move on a traveling surface, and the autonomous mobile device includes:

[0007] A main body;

[0008] A transmitter, which is arranged at the bottom of the main body, and the transmitter is configured to emit ultraviolet light to the traveling surface to form an irradiation area on the traveling surface; and

[0009] An image acquisition unit, which is arranged on the main body, and the image acquisition unit is configured to be able to acquire an image, and the image includes at least a part of the irradiation area.

[0010] In an alternative embodiment, the image acquisition unit is fixedly connected to the host, and the image acquisition unit is configured such that the acquired image can include the entire irradiated area.

[0011] In another alternative embodiment, the image acquisition unit is located at the bottom of the host; or the image acquisition unit is located at the front side of the host.

[0012] In another alternative embodiment, the image acquisition unit is rotatably connected to the front side of the host, and the image acquisition unit can acquire the image in a state of being rotated to a predetermined posture.

[0013] In another alternative embodiment, the image acquisition unit includes a unit body and a rotating shaft assembled together, and the unit body is rotatably connected to the host via the rotating shaft, and the rotating shaft enables the unit body to rotate in a plane perpendicular to the traveling surface.

[0014] In another alternative embodiment, at the front side of the host, the host is formed with an avoidance structure, and the image acquisition unit can acquire the image by using the avoidance structure.

[0015] In another alternative embodiment, the emitter is configured such that at least a part of the irradiated area is always located at the front side of the host; or the emitter is configured such that the entire irradiated area is always located directly below the host.

[0016] In another alternative embodiment, the autonomous mobile device has a center line extending along its front-rear direction, and the structure of the autonomous mobile device is symmetric about the center line left and right.

[0017] including only one such emitter, and the emitter is located on the center line; or

[0018] including a plurality of such emitters, and the plurality of emitters are configured to be symmetrically arranged with respect to the center line.

[0019] In another alternative embodiment, the emitter is rotatably connected to the host.

[0020] In another alternative embodiment, the autonomous mobile device includes a wet cleaning assembly, and the wet cleaning assembly includes a rag capable of cleaning liquid.

[0021] By adopting the above technical solution, the present disclosure provides an autonomous mobile device capable of autonomous movement on a traveling surface. The autonomous mobile device includes a main body, a transmitter, and an image acquisition unit assembled together. The transmitter is disposed at the bottom of the main body and is configured to emit ultraviolet light onto the traveling surface to form an illumination area on the traveling surface. The image acquisition unit is also disposed on the main body and is configured to be able to acquire an image of the traveling surface, and the image includes at least a part of the illumination area.

[0022] By adopting the above solution, the ultraviolet light emitted by the transmitter is irradiated onto the traveling surface. Once there is a liquid such as animal excrement in the illumination area of the ultraviolet light on the traveling surface, these liquids will produce fluorescence. The image acquisition unit is used to acquire an image including the fluorescence, and the control unit of the autonomous mobile device can detect data such as the position and area of the above liquids on the traveling surface based on the acquired image. Thus, the control unit can control the autonomous mobile device to perform post-processing such as detouring or cleaning based on these data. Therefore, the autonomous mobile device according to the present disclosure can effectively detect liquids such as liquid excrement on its traveling surface. In addition, by disposing the transmitter that emits ultraviolet light at the bottom of the main body, the harm of ultraviolet light to the human body can be minimized or even eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. 1 is a schematic side view of an autonomous mobile device according to a first embodiment of the present disclosure, in which a partial structure of the autonomous mobile device is shown in a perspective manner.

[0024] Figure 2 FIG. 2 is Figure 1 a schematic bottom view of the autonomous mobile device in FIG. 1.

[0025] Figure 3 FIG. 3 is a schematic bottom view of an autonomous mobile device according to a second embodiment of the present disclosure.

[0026] Figure 4 FIG. 4 is a schematic side view of an autonomous mobile device according to a third embodiment of the present disclosure, in which a partial structure of the autonomous mobile device is shown in a perspective manner.

[0027] Figure 5 FIG. 5 is a schematic side view of an autonomous mobile device according to a fourth embodiment of the present disclosure, in which a partial structure of the autonomous mobile device is shown in a perspective manner, and the image acquisition unit is in a first posture.

[0028] Figure 6 FIG. 6 is Figure 5 a schematic side view of the autonomous mobile device in FIG. 5, in which a partial structure of the autonomous mobile device is shown in a perspective manner, and the image acquisition unit is in a second posture.

[0029] Description of Reference Numerals

[0030] 1—main unit; 11—bottom; 12—front side; 1c—avoidance structure;

[0031] 2—emitter; 2a—irradiation area;

[0032] 3—image acquisition unit; 3a—field of view; 31—unit body; 32—rotating axis;

[0033] 4—control unit;

[0034] 5—driving wheel;

[0035] S—travel surface; L—center line; D1—front and back direction; D2—up and down direction; D3—left and right direction. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present disclosure with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements whose sizes and scales are different from the actual sizes and scales.

[0037] In the present disclosure, unless otherwise specified, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", and "lower (lower side)" are all relative to the normal operating state of the autonomous mobile device according to the present disclosure. Specifically, the autonomous mobile device has a positive moving direction (i.e., positive direction) when it is in a normal operating state on the traveling surface. The so-called "normal operating state" refers to the moving state of the autonomous mobile device when performing a task, which is different from the non-normal operating state such as backward and swinging of the autonomous mobile device in the escape mode. "Front (front side)" and "rear (rear side)" refer to the front side and rear side of the autonomous mobile device in the positive forward direction when the autonomous mobile device according to the present disclosure is in a normal operating state, "left (left side)" and "right (right side)" refer to the left side and right side when the autonomous mobile device according to the present disclosure is in a normal operating state, when viewed toward the front side of the positive forward direction, and "upper (upper side)" and "lower (lower side)" refer to the upper side and lower side in the height direction perpendicular to the traveling surface when the autonomous mobile device according to the present disclosure is in a normal operating state. Accordingly, the “front-rear direction”, “up-down direction” and “left-right direction” refer to the front-rear direction, up-down direction and left-right direction of the autonomous mobile device, respectively.

[0038] In the present disclosure, unless otherwise specifically stated, the "top" and "bottom" of the host respectively refer to the top and bottom when the autonomous mobile device according to the present disclosure is in a normal operating state. That is to say, the top refers to the part that is away from the traveling surface and is located on the upper side in the up-down direction when the autonomous mobile device is in a normal operating state. Accordingly, the top surface refers to the uppermost surface of the top; and the bottom refers to the part that is close to the traveling surface and is located on the lower side in the up-down direction when the autonomous mobile device is in a normal operating state. Accordingly, the bottom surface refers to the lowermost surface of the bottom.

[0039] In the present disclosure, the autonomous mobile device according to the present disclosure can move autonomously according to a control scheme preset in its control unit. The traveling surface on which the autonomous mobile device moves autonomously can be a plane or a curved surface with a relatively large radius of curvature. Typically, for example, it is the ground in each room of a building.

[0040] The following describes the autonomous mobile device according to the first embodiment of the present disclosure with reference to the accompanying drawings of the specification.

[0041] In this embodiment, as Figure 1 and Figure 2 shown, the autonomous mobile device according to the first embodiment of the present disclosure includes a host 1, a transmitter 2, an image acquisition unit 3, a control unit 4, and drive wheels 5 assembled together.

[0042] In this embodiment, as Figure 2 shown, in a top view, the host 1 as a whole has a circular shape. In other variant examples, the host 1 as a whole can have various shapes such as a D shape, an oval shape, a square shape, etc. When the autonomous mobile device is in a normal operating state, the bottom surface of the host 1 faces the traveling surface S, and the bottom surface of the host 1 is usually parallel to the traveling surface S. Here, "parallel" not only includes the geometric parallel relationship between the bottom surface of the host 1 and the traveling surface S, but also includes the case where the two are substantially parallel. The above "substantially" means that within the reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be established. For example, if the acute angle between the bottom surface of the host 1 and the traveling surface S is not greater than 5 degrees, it can be considered that the two are parallel to each other. In addition, in order to support and protect other components, other components of the autonomous mobile device are usually installed inside the host 1 or have a connection relationship with the host 1. Further, the host 1 can include a face cover and a base that can be detachably assembled together. The face cover and the base are stacked in the up-down direction D2 and an installation space is formed by enclosing between the face cover and the base. The face cover mainly constitutes the top of the host 1, and the top surface of the face cover serves as the top surface of the host 1. The base mainly constitutes the bottom 11 of the host 1, and the bottom surface of the base serves as the bottom surface of the host 1. In other alternative solutions, the host 1 can adopt other structures as needed.

[0043] In this embodiment, as Figure 1and Figure 2 As shown in Figure 2 , only one emitter 2 is provided, and the emitter 2 is provided at the bottom 11 of the host 1 and fixedly connected to the host 1. The emitter 2 includes a mechanism for emitting ultraviolet light, and the mechanism may include a radiation source, an emission optical system, an ultraviolet light modulator, a trigger circuit, a photoelectric conversion circuit, etc. As long as the emitter 2 can emit ultraviolet light and the ultraviolet light forms an irradiation area 2a after irradiating the traveling surface S and the irradiation area 2a covers a sufficiently large area, any of the above-mentioned available mechanisms can be adopted as needed. In addition, the wavelength of the ultraviolet light emitted by the emitter 2 can be selected from the following bands as needed: band A (wavelength from 315.0 nm to 400.0 nm), band B (wavelength from 280.0 nm to 315.0 nm), and band C (wavelength from 100.0 nm to 280.0 nm). In this embodiment, ultraviolet light with a wavelength greater than or equal to 360.0 nm can be selected.

[0044] As Figure 1 shown in Figure 1 , the emitter 2 is signal-connected to the control unit 4, so that the emitter 2 is controlled by the control unit 4 to perform operations. The emitter 2 can continuously emit ultraviolet light toward the traveling surface S, or intermittently emit ultraviolet light toward the traveling surface S based on a predetermined frequency, or emit ultraviolet light toward the traveling surface S based on preset conditions (for example, when other sensors detect liquid or reflected light different from ordinary ground on the front traveling surface S ahead, the emitter 2 is activated). In this embodiment, the irradiation area 2a formed after the ultraviolet light irradiates the traveling surface S is typically a circular area. Figure 1 The range of the irradiation area 2a in the front-rear direction D1 is shown in Figure 1 . As Figure 1 shown in Figure 1 , a part of the irradiation area 2a is always located on the front side of the host 1 relative to the host 1, and most of the remaining part of the irradiation area 2a is always located below the host 1 relative to the host 1. Thus, when a part of the irradiation area 2a is always located on the front side of the host 1 relative to the host 1, the control unit 4 can use the image including the irradiation area 2a obtained by the image acquisition unit 3 to timely detect liquid such as animal urine, etc., and reserve sufficient computing and processing time for post-processing of the autonomous mobile device. In addition, as Figure 2 shown in Figure 2 , the autonomous mobile device has a center line L extending along its front-rear direction D1, and the structure of the autonomous mobile device is substantially left-right mirror-symmetrical with respect to the center line L, and the emitter 2 is located on the center line L. In the case of using only one emitter 2, it is possible to save costs and simplify the structure of the autonomous mobile device when detecting liquid such as animal urine, etc.

[0045] In this embodiment, as Figure 1 and Figure 2As shown, the image acquisition unit 3 is disposed at the bottom 11 of the host 1 and fixedly connected to the host 1. In the front-rear direction D1, the image acquisition unit 3 is located at the rear side of the transmitter 2, and the image acquisition unit 3 is also disposed on the center line L. A typical example of the image acquisition unit 3 is a camera. Thus, advantageously, both the image acquisition unit 3 and the transmitter 2 can be modularized, thereby simplifying the assembly of the autonomous mobile device.

[0046] As Figure 1 shown, the image acquisition unit 3 is signal-connected to the control unit 4, so that the image acquisition unit 3 is controlled by the control unit 4 to perform operations. The image acquisition frequency of the image acquisition unit 3 can be set as needed to ensure that enough images are acquired per unit time for the control unit 4 to process and analyze. In this embodiment, the field of view range 3a of the image acquisition unit 3 is mainly determined by its field of view angle. Figure 1 The field of view range 3a of the image acquisition unit 3 in the front-rear direction D1 is shown. As Figure 1 shown, the image acquisition unit 3 is capable of acquiring images including the entire irradiation area 2a (the whole of the irradiation area 2a). Once there is a liquid such as animal excrement in the irradiation area 2a of the ultraviolet light of the transmitter 2 on the traveling surface S, these liquids will produce fluorescence, and the image acquisition unit 3 is used to acquire images including the fluorescence. In this embodiment, each frame of image acquired by the image acquisition unit 3 may include the above-mentioned irradiation area 2a, so that it is possible to basically detect in real time whether there is a liquid such as animal excrement in the irradiation area 2a, and it is possible to more accurately detect whether there is the above-mentioned liquid on the traveling surface S, avoiding the problem of insufficiently accurate detection due to the acquired image including only a part of the irradiation area 2a.

[0047] In this embodiment, as Figure 1As shown, the control unit 4 can be installed inside the host 1. The control unit 4 is a general term, and there are no restrictions on the type, quantity, and form of the control unit 4. Specifically, the control unit 4 can be one or several of an MCU, a DSP, an FPGA, and a GPU, or can be other various hardware chips, processors, or software algorithms with data processing and computing capabilities. Further, the control unit 4 can be the unified and unique processor of the autonomous mobile device, or can be a collection of multiple control units, and the connection method, functions, and computing power distribution of the multiple control units can be adjusted as needed. For example, in an alternative solution, it can include a first control unit and a second control unit. In this case, the first control unit and the second control unit together implement various functions of the above control unit. In addition, the control unit of the autonomous mobile device according to the present disclosure can receive data from a sensing component including, for example, a lidar or an infrared sensor, and can perform relevant control on the autonomous mobile device through a preset program stored in the storage unit. In the present disclosure, the data, information, and programs required by the control unit 4 during the processing process can be stored in the storage unit and obtained from the storage unit as needed, and the control unit 4 can store the processed data, information, etc. in the storage unit again. The storage unit can be a RAM, a ROM, etc., or can be a device and / or equipment with a storage function such as a cloud / server / mobile terminal connected through a wired / wireless network. Therefore, the control unit 4 can not only obtain data of obstacles through the above sensing component, but also collect an image including fluorescence by using the image acquisition unit 3, and the control unit 4 can detect data such as the position and area of a liquid such as animal excrement on the traveling surface S.

[0048] In this embodiment, as Figure 1 and Figure 2 shown, two drive wheels 5 can be installed on the host 1 and protrude relative to the bottom surface of the host 1, and are used to drive the entire autonomous mobile device to travel on the traveling surface S under the control of the control unit 4. The two drive wheels 5 are located in the central part of the host 1 in the front-rear direction D1 and are spaced apart in the left-right direction D3, and the two drive wheels 5 are located behind the transmitter 2 and the image acquisition unit 3 in the front-rear direction D1. Further, by rotating the two drive wheels 5 at the same speed in the same direction (for example, rotating clockwise at the same time or rotating counterclockwise at the same time), the autonomous mobile device can be driven to perform a linear motion along the forward travel direction; by rotating the two drive wheels 5 at different speeds and / or in different directions (for example, one drive wheel 5 rotates clockwise while the other drive wheel 5 rotates counterclockwise), the autonomous mobile device can be driven to perform a steering motion along a direction different from the forward travel direction. The autonomous mobile device can also include a caster wheel provided on the host 1, so that the caster wheel can support the entire autonomous mobile device no matter how the drive wheel 5 rolls on the traveling surface.

[0049] In this way, the ultraviolet light emitted by the above-mentioned one emitter 2 irradiates the traveling surface S. Once there is a liquid such as animal excrement in the irradiation area 2a of the ultraviolet light on the traveling surface S, these liquids will produce fluorescence. The image acquisition unit 3 acquires an image including the fluorescence, and the control unit 4 of the autonomous mobile device can detect data such as the position and area of these liquids on the traveling surface S. Thus, based on these data, the control unit 4 can control the autonomous mobile device to perform post-processing such as detouring or cleaning. That is to say, the autonomous mobile device according to the present disclosure can effectively detect liquids such as liquid excrement on its traveling surface S.

[0050] The following describes the autonomous mobile device according to the second embodiment of the present disclosure.

[0051] As Figure 3 described, the structure of the autonomous mobile device according to the second embodiment of the present disclosure is basically the same as the structure of the autonomous mobile device according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0052] In this embodiment, as Figure 3 shown, two emitters 2 are provided, and each emitter 2 can have the same structure as the emitter 2 described in the first embodiment. These two emitters 2 are spaced apart in the left-right direction D3 and symmetrically arranged with respect to the center line L. Correspondingly, the image acquired by one image acquisition unit 3 can include all of the irradiation areas 2a of the two emitters 2.

[0053] In this way, in this embodiment, in the case of adopting multiple emitters 2, not only can the same effect as the first embodiment be achieved, but also since the irradiation areas 2a of the multiple emitters 2 are large enough, the situation of missed detection is greatly avoided.

[0054] It can be understood that in other alternative solutions, more emitters 2 can be provided, and correspondingly, multiple image acquisition units 3 can also be provided.

[0055] The following describes the autonomous mobile device according to the third embodiment of the present disclosure.

[0056] As Figure 4 shown, the structure of the autonomous mobile device according to the third embodiment of the present disclosure is basically the same as the structure of the autonomous mobile device according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0057] In this embodiment, as Figure 4As shown, the entire irradiation area 2a of the emitter 2 is always located in front of the main body 1 with respect to the main body 1. The image acquisition unit 3 is fixedly connected to the front portion 12 of the main body 1, and the image acquisition unit 3 can acquire an image including a part of the irradiation area 2a (the front part of the irradiation area 2a).

[0058] Thus, in this embodiment, not only can the same effects as those of the first embodiment be achieved, but in addition to cooperating with the emitter 2 to acquire the above-mentioned image, the image acquisition unit 3 can also be used for other functions such as detecting obstacles on the traveling surface S, thereby being able to save the cost of the entire autonomous mobile device and simplify the structure.

[0059] The following describes an autonomous mobile device according to a fourth embodiment of the present disclosure.

[0060] As Figure 5 and Figure 6 shown, the structure of the autonomous mobile device according to the fourth embodiment of the present disclosure is basically the same as the structure of the autonomous mobile device according to the third embodiment of the present disclosure. The following mainly describes the differences between the two.

[0061] In this embodiment, as Figure 5 and Figure 6 shown, the entire irradiation area 2a of the emitter 2 is always located directly below the main body 1 with respect to the main body 1. Further, the image acquisition unit 3 is rotatably connected to the front portion 12 of the main body 1. Specifically, the image acquisition unit 3 includes a unit main body 31 and a rotating shaft 32 assembled together. The unit main body 31 includes all functional components capable of realizing the image acquisition function. The rotating shaft 32 can extend linearly along the left-right direction D3, so that the rotating shaft 32 is parallel to the traveling surface S when the autonomous mobile device is in a normal motion state. The unit main body 31 is rotatably connected to the front portion 12 of the main body 1 via the rotating shaft 32. Furthermore, the rotating shaft 32 enables the unit main body 31 to rotate within a predetermined range in a plane perpendicular to the traveling surface S, so that the image acquisition unit 3 can be in, for example, Figure 5 the first posture shown in Figure 6 and

[0062] the second posture shown in Figure 5The notch formed by the inclined plane shown may also be a notch formed by other shapes such as an arc surface. In this embodiment, as Figure 5 shown, the image acquisition unit 3 is in the first posture, and the irradiation area 2a is located outside the field of view 3a. At this time, the image acquisition unit 3 cannot acquire an image including the irradiation area 2a. Further, as Figure 6 shown, the image acquisition unit 3 is in the second posture by rotation, and then the avoidance structure 1c is used to make the entire irradiation area 2a located within the field of view 3a. At this time, the image acquisition unit 3 can acquire an image including the entire irradiation area 2a. Based on the above description with reference to Figure 5 and Figure 6 , it can be understood that when the image acquisition unit 3 rotates to a predetermined posture (including but not limited to the above second posture), the image acquisition unit 3 can acquire an image including at least a part of the irradiation area 2a. Since the avoidance structure 1c is formed on the front side portion 12 of the host 1, even if the irradiation area 2a of the ultraviolet light is located directly below the host 1, it will not prevent the image acquisition unit 3 from acquiring an image including the irradiation area 2a.

[0063] In this way, in this embodiment, not only can the same effect as the first embodiment be achieved, but in addition to cooperating with the emitter 2 to acquire the above-mentioned image, the image acquisition unit 3 can be more advantageously used for other functions such as detecting obstacles on the traveling surface S because it can rotate.

[0064] It should be understood that the above embodiments are merely exemplary and are not used to limit the present disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teaching of the present disclosure without departing from the scope of the present disclosure. The technical solutions of the present disclosure are supplemented as follows.

[0065] i. It can be understood that in the present disclosure, the emitter 2 can be configured such that a part of the irradiation area 2a is always located on the front side of the host 1, or the emitter 2 can be configured such that the entire irradiation area 2a is always located on the front side of the host 1, or the emitter 2 can be configured such that the entire irradiation area 2a is always located directly below the host 1. Based on the above relative position relationship between the irradiation area 2a and the host 1, the position of the emitter 2 and the connection relationship between the emitter 2 and the host 1 can be set as needed.

[0066] For example, in an alternative solution, the emitter 2 and the host 1 can be rotatably connected, so that the irradiation area 2a of the emitter 2 can be switched among the three relative position relationships described above. This not only enables the irradiation area 2a to cover a larger area, but also makes the working mode of the emitter 2 more flexible, thereby improving the detection effect. Specifically, the emitter 2 and the host 1 can be rotatably connected by a rotating shaft, which can extend linearly along the left-right direction D3, enabling the emitter 2 to rotate in a plane perpendicular to the traveling surface S. The above rotating shaft includes not only the structural forms described above, but also any other structural forms that can enable the emitter 2 to rotate relative to the host 1.

[0067] ii. It can be understood that in the case where the autonomous mobile device according to the present disclosure is a self-mobile cleaning device, the autonomous mobile device may further include a dry cleaning component and a wet cleaning component. The dry cleaning component is provided on the host 1 and may include a main brush, a side brush (edge brush), a suction device, etc. The wet cleaning component is provided on the host 1 and may include a rag and a water tank, etc. Thus, when the self-mobile cleaning device travels on the traveling surface S (the surface to be cleaned), the traveling surface S can be cleaned by the dry cleaning component and / or the wet cleaning component. In different working modes, the cleaning operations achieved by the self-mobile cleaning device include, but are not limited to, one or more of operations such as sweeping the floor, mopping the floor, and vacuuming. Moreover, in the post-treatment process, the self-mobile cleaning device can use the wet cleaning component to clean liquids such as animal excrement on the traveling surface S, and the operation of further cleaning the liquid can be designed to have a higher priority and be preferentially executed.

Claims

1. An autonomous mobile device capable of autonomous movement on a traveling surface, characterized in that: The autonomous mobile device comprises: Host; an emitter disposed at the bottom of the mainframe, the emitter being configured to emit ultraviolet light toward the traveling surface to form an irradiation area on the traveling surface; and An image acquisition unit is provided in the host, and is configured to acquire an image, wherein the image includes at least a portion of the irradiated area.

2. The autonomous mobile device according to claim 1, characterized in that The image acquisition unit is fixedly connected to the host, and is configured such that the acquired image can include the entire irradiation area.

3. The autonomous mobile device according to claim 2, characterized in that The image acquisition unit is located at the bottom of the host; or The image acquisition unit is located at the front side of the host.

4. The autonomous mobile device according to claim 1, characterized in that: The image acquisition unit is rotatably connected to the front side of the host, and the image acquisition unit can acquire the image when it is rotated to a predetermined posture.

5. The autonomous mobile device according to claim 4, characterized in that: The image acquisition unit comprises a unit body and a rotating shaft assembled together, wherein the unit body is rotationally connected to the host via the rotating shaft, and the rotating shaft enables the unit body to rotate in a plane perpendicular to the traveling surface.

6. The autonomous mobile device according to claim 5, characterized in that: The main unit is formed with an avoidance structure at the front side of the main unit, and the image acquisition unit is enabled to acquire the image by utilizing the avoidance structure.

7. The autonomous mobile device according to any one of claims 1 to 6, characterized in that: The emitter is configured so that at least a portion of the irradiation area is always located in front of the host; or The emitter is configured so that the entirety of the irradiation area is always located directly below the host.

8. The autonomous mobile device according to any one of claims 1 to 6, characterized in that: The autonomous mobile device has a center line extending along the front-to-back direction thereof, and the structure of the autonomous mobile device is left-right symmetrical with respect to the center line. comprising only one said transmitter, said transmitter being located on said centre line; or A plurality of the transmitters are included, and the plurality of the transmitters are configured to be symmetrically arranged relative to the center line.

9. The autonomous mobile device according to any one of claims 1 to 6, characterized in that: The transmitter is rotatably connected to the host.

10. The autonomous mobile device according to any one of claims 1 to 6, characterized in that: The autonomous mobile device includes a wet cleaning assembly including a wipe capable of cleaning liquids.

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