Intelligent light filtering circuit, image acquisition device and cleaning robot

Abstract

The utility model provides an intelligent light filtering circuit, an image acquisition device and a cleaning robot, and relates to the technical field of automatic cleaning, the circuit comprises a signal acquisition module, a main control module, a driving module and a light filtering module; the main control module is electrically connected with the signal acquisition module and the driving module respectively; the driving module is also electrically connected with the light filtering module; the signal acquisition module is used for acquiring an optical signal, converting the optical signal into an electric signal and sending the electric signal to the main control module; the main control module is used for sending a driving signal to the driving module according to the electric signal; the driving module is used for driving the filtering module to be arranged in front of the camera lens in parallel when receiving a driving signal; and the light filtering module is used for filtering preset light waves, so that the camera obtains a filtered initial image, and the definition of the initial image is greater than a preset definition threshold. The image definition of the initial image is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic cleaning technology, and in particular to an intelligent light filtering circuit, an image acquisition device, and a cleaning robot. Background Art

[0002] Autonomous cleaning equipment refers to intelligent devices that can autonomously complete cleaning tasks, such as cleaning robots. By integrating multiple sensors, cameras, artificial intelligence algorithms, and autonomous driving technologies, these devices can identify and avoid obstacles, automatically plan cleaning paths, and perform cleaning tasks. However, in various application scenarios, traditional cleaning equipment suffers from image blur in low-light environments. Utility Model Content

[0003] In view of this, the purpose of this application is to overcome the shortcomings of the existing technology and provide an intelligent filtering circuit, image acquisition device and cleaning robot. The purpose is to improve the clarity of images captured by automatic cleaning equipment. This application provides the following technical solutions:

[0004] In a first aspect, the present application provides an intelligent light filtering circuit, comprising: a signal acquisition module, a main control module, a driving module, and a light filtering module; the main control module is electrically connected to the signal acquisition module and the driving module respectively; the driving module is also electrically connected to the light filtering module;

[0005] The signal acquisition module is used to acquire optical signals, convert the optical signals into electrical signals, and send the electrical signals to the main control module; the main control module is used to send a driving signal to the driving module according to the electrical signal; the driving module is used to drive the filter module to be arranged parallel to the front of the camera lens when receiving the driving signal; the filter module is used to filter out preset light waves so that the camera obtains the filtered initial image, and the clarity of the initial image is greater than the preset clarity threshold.

[0006] In one embodiment, the driving signal includes a first driving signal or a second driving signal, and the main control module includes: a main control chip electrically connected to the signal acquisition module and the driving module respectively;

[0007] The main control chip is used to obtain the electrical signal from the signal acquisition module and determine whether the electrical signal is less than or equal to a preset voltage threshold; if so, send a first drive signal to the drive module; if not, send a second drive signal to the drive module; the drive module is used to drive the filter module to be arranged parallel to the front of the camera lens when the first drive signal is obtained; and drive the filter module to move away from the front of the camera lens when the second drive signal is obtained.

[0008] In one embodiment, the driving module includes: a driving chip and a driving motor, wherein the driving chip is electrically connected to the main control chip and the driving motor respectively; and the driving motor is also electrically connected to the light filtering module.

[0009] In one embodiment, the circuit further includes a power supply module, which is electrically connected to the signal acquisition module, the main control module and the driving module respectively; the signal acquisition module includes: a photodiode, a current limiting resistor and a pull-up resistor; the first end of the current limiting resistor is electrically connected to the photodiode, and the second end of the current limiting resistor is electrically connected to the main control chip and the first end of the pull-up resistor respectively; the second end of the pull-up resistor is electrically connected to the power supply module.

[0010] In one embodiment, the signal acquisition module further includes: a voltage stabilizing diode and a filter capacitor, one end of the voltage stabilizing diode and the filter capacitor connected in parallel is electrically connected to the second end of the current limiting resistor, and the other end of the voltage stabilizing diode and the filter capacitor connected in parallel is grounded.

[0011] In one embodiment, the circuit also includes: a lighting module, electrically connected to the main control chip; the main control chip is also used to send a lighting start signal to the lighting module when the electrical signal is less than or equal to the preset voltage threshold; when the electrical signal is greater than the preset voltage threshold, send a lighting shutdown signal to the lighting module; the lighting module is used to start when receiving the lighting start signal; and shut down when receiving the lighting shutdown signal.

[0012] In one embodiment, the filter module includes a filter lens electrically connected to the driving module.

[0013] In a second aspect, the present application provides an image acquisition device, comprising: a camera and the intelligent filtering circuit described in the first aspect, wherein the camera is electrically connected to the main control module; the camera is used to acquire an initial image after filtering processing.

[0014] In one embodiment, the device further includes: an RGB chip connected in series between the camera and the main control module; the camera is further configured to send the initial image to the RGB chip; the RGB chip is configured to pre-process the initial image to obtain a target image; and send the target image to the main control module.

[0015] In a third aspect, the present application provides a cleaning robot comprising: a robot body and the image acquisition device described in the second aspect.

[0016] The present application provides an intelligent optical filtering circuit, image acquisition device, and cleaning robot. The circuit includes: a signal acquisition module, a main control module, a driver module, and an optical filtering module. The main control module is electrically connected to the signal acquisition module and the driver module, respectively. The driver module is also electrically connected to the optical filtering module. The signal acquisition module is configured to acquire an optical signal, convert the optical signal into an electrical signal, and transmit the electrical signal to the main control module. The main control module is configured to transmit a drive signal to the driver module based on the electrical signal. The driver module is configured to, upon receiving the drive signal, drive the optical filtering module to be positioned parallel to a camera lens. The optical filtering module is configured to filter out a predetermined light wave, so that the camera captures a filtered initial image with a clarity greater than a predetermined clarity threshold. The present application determines the current light intensity using the electrical signal acquired by the main control module from the signal acquisition module. When the light intensity is low, the driver module controls the optical filtering module to be positioned in front of the camera lens to filter out the predetermined light wave, thereby enabling the camera to capture a filtered initial image, improving image clarity and thereby improving the cleaning effect of the automatic cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic diagram of the structure of the intelligent filter circuit provided in an embodiment of the present application;

[0019] Figure 2 A circuit diagram of a driver chip provided in an embodiment of the present application;

[0020] Figure 3 A circuit diagram of a signal acquisition module provided in an embodiment of the present application;

[0021] Figure 4 Another structural diagram of the intelligent filtering circuit provided in an embodiment of the present application;

[0022] Figure 5 A schematic structural diagram of an image acquisition device provided in an embodiment of the present application;

[0023] Figure 6 Another structural schematic diagram of the image acquisition device provided in an embodiment of the present application.

[0024] icon:

[0025] 100 - intelligent filtering circuit; 110 - signal acquisition module; 120 - main control module; 130 - drive module; 140 - filtering module; 150 - lighting module; 200 - image acquisition device; 210 - camera; 220 - RGB chip. DETAILED DESCRIPTION

[0026] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in the template description herein are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] Example 1

[0030] Automatic cleaning equipment refers to intelligent devices that can complete cleaning tasks autonomously. They usually integrate multiple sensors, cameras, artificial intelligence algorithms, and autonomous driving technologies. However, the cameras installed on automatic cleaning equipment usually do not have night vision capabilities. When the light is dim, the cameras cannot obtain images that meet the required clarity. This has an adverse effect on the automatic cleaning equipment's path planning based on the acquired images, which in turn affects the cleaning efficiency of the automatic cleaning equipment. For this, please refer to Figure 1 Embodiment 1 of the present application provides an intelligent optical filtering circuit 100, comprising: a signal acquisition module 110, a main control module 120, a driving module 130, and an optical filtering module 140; the main control module 120 is electrically connected to the signal acquisition module 110 and the driving module 130, respectively; the driving module 130 is also electrically connected to the optical filtering module 140;

[0031] The signal acquisition module 110 is used to acquire optical signals, convert the optical signals into electrical signals, and send the electrical signals to the main control module 120; the main control module 120 is used to send a driving signal to the driving module 130 according to the electrical signal; the driving module 130 is used to drive the filter module 140 to be arranged parallel to the front of the camera lens when receiving the driving signal; the filter module 140 is used to filter out preset light waves so that the camera obtains the filtered initial image, and the clarity of the initial image is greater than the preset clarity threshold.

[0032] In the embodiment of the present application, the signal acquisition module 110 is used to identify the current light intensity and convert the light signal of the corresponding intensity into a corresponding electrical signal and send it to the main control module 120. The main control module 120 determines whether it is necessary to turn on the filter module 140 based on the received electrical signal. If necessary, a driving signal is sent to the driving module 130 to drive the filter module 140 to be arranged parallel to the front end of the camera lens through the driving signal.

[0033] It should be noted that the filter module 140 includes a filter lens for filtering out predetermined light waves, such as infrared light waves, so that the optical signal after passing through the filter lens does not include the predetermined light waves, thereby allowing the camera to capture the initial filtered image. It is understood that the longer the wavelength of light waves, the more likely they are to cause diffraction in the imaging system, resulting in a decrease in image contrast and clarity. Therefore, by filtering out light waves with longer wavelengths, such as infrared light waves, image quality can be effectively improved.

[0034] It should be noted that the intelligent light filtering circuit 100 further includes a power supply module, which is electrically connected to the signal acquisition module 110 , the main control module 120 and the driving module 130 , respectively.

[0035] In one embodiment, the driving signal includes a first driving signal or a second driving signal, and the main control module 120 includes: a main control chip electrically connected to the signal acquisition module 110 and the driving module 130 respectively;

[0036] The main control chip is used to obtain the electrical signal from the signal acquisition module 110 and determine whether the electrical signal is less than or equal to a preset voltage threshold; if so, send a first drive signal to the drive module 130; if not, send a second drive signal to the drive module 130; the drive module 130 is used to drive the filter module 140 to be arranged parallel to the front of the camera lens when the first drive signal is obtained; and drive the filter module 140 to move away from the front of the camera lens when the second drive signal is obtained.

[0037] In this embodiment, the optical signal acquired by the signal acquisition module 110 is positively correlated with the electrical signal converted from the optical signal. Specifically, the stronger the optical signal, the larger the corresponding electrical signal voltage value, and the weaker the optical signal, the smaller the corresponding electrical signal voltage value. It can be understood that when the electrical signal is greater than a preset voltage threshold, it can be determined that the light intensity is high and the filter module 140 is not required. When the electrical signal is less than or equal to the preset voltage threshold, it can be determined that the light intensity is low and the filter module 140 is required to improve the clarity of the initial image captured by the camera.

[0038] It should be noted that, in order to avoid the additional cost of adding an MCU as a main control chip, in this embodiment, a CPU with integrated big and small cores is directly used as the main control chip to send a driving signal to the driving module 130 according to the acquired electrical signal.

[0039] In one embodiment, the driving module 130 includes: a driving chip and a driving motor, wherein the driving chip is electrically connected to the main control chip and the driving motor respectively; and the driving motor is also electrically connected to the light filtering module 140 .

[0040] In the examples of this application, see Figure 2 , Figure 2 A circuit schematic diagram of the driver chip provided in an embodiment of the present application is shown. The model of the driver chip is TMI8113. The first pin and the third pin of the driver chip are electrically connected to the drive motor respectively, the fifth pin and the sixth pin of the driver chip are electrically connected to the main control chip respectively, the second pin of the driver chip is grounded, and the fourth pin is electrically connected to the power module. The power module provides 3.3V voltage to the driver chip.

[0041] It should be noted that the driving module 130 further includes a capacitor C1 and a capacitor C2. One end of the parallel capacitor C1 and the parallel capacitor C2 are electrically connected to the fourth pin of the driving chip, and the other end of the parallel capacitor C1 and the parallel capacitor C2 are grounded.

[0042] In one embodiment, the circuit further includes a power supply module, which is electrically connected to the signal acquisition module 110, the main control module 120 and the driving module 130 respectively; the signal acquisition module 110 includes: a photodiode, a current limiting resistor R1 and a pull-up resistor R2; the first end of the current limiting resistor R1 is electrically connected to the photodiode, and the second end of the current limiting resistor R1 is electrically connected to the main control chip and the first end of the pull-up resistor R2 respectively; the second end of the pull-up resistor R2 is electrically connected to the power supply module.

[0043] In the examples of this application, see Figure 3 , Figure 3A circuit diagram of the signal acquisition module 110 provided in an embodiment of the present application is shown. Specifically, the signal acquisition module 110 includes a photodiode electrically connected to the first end of the current limiting resistor R1 ( Figure 3 The photodiode is used to obtain the optical signal and convert the optical signal into a corresponding electrical signal and transmit it to the current limiting resistor R1, which is then transmitted to the main control chip through the connector J1.

[0044] Signal acquisition module 110 also includes a pull-up resistor R2. A first end of pull-up resistor R2 is electrically connected to the second end of current-limiting resistor R1. A second end of pull-up resistor R2 is electrically connected to the power module and receives a 1.8V voltage from the power module. Signal acquisition module 110 also includes a capacitor C4 for filtering the power received by pull-up resistor R2 from the power module. A first end of capacitor C4 is electrically connected to the second end of pull-up resistor R2, and a second end of capacitor C4 is grounded.

[0045] In one embodiment, the signal acquisition module 110 further includes: a Zener diode T1 and a filter capacitor C3, wherein one end of the Zener diode T1 and the filter capacitor C3 connected in parallel is electrically connected to the second end of the current limiting resistor R1, and the other end of the Zener diode T1 and the filter capacitor C3 connected in parallel is grounded.

[0046] In the embodiment of the present application, the voltage stabilizing diode T1 and the filter capacitor C3 are connected in parallel to play the role of voltage clamping and overvoltage protection to protect the main control chip from damage.

[0047] In one embodiment, see Figure 4 The circuit also includes: a lighting module 150, which is electrically connected to the main control chip; the main control chip is further used to send a lighting start signal to the lighting module 150 when the electrical signal is less than or equal to the preset voltage threshold; when the electrical signal is greater than the preset voltage threshold, send a lighting shutdown signal to the lighting module 150; the lighting module 150 is used to start when receiving the lighting start signal; and shut down when receiving the lighting shutdown signal.

[0048] In an embodiment of the present application, the lighting module 150 includes an infrared LED. In order to ensure that the camera can capture clear black and white images in dim light conditions, an infrared LED is set on the automatic cleaning device and electrically connected to the main control chip. When the main control chip determines that the current light is weak, the infrared LED is controlled to start lighting. When the main control chip determines that the current light is weak, the infrared LED is controlled to turn off.

[0049] In one embodiment, the filter module 140 includes a filter lens electrically connected to the driving module 130 .

[0050] In the embodiment of the present application, the filter module 140 includes an IR-CUT filter (Infrared Cut-off Filter) made of glass or plastic. The filter is coated with an interference film layer for filtering predetermined light waves, such as infrared light waves.

[0051] The intelligent optical filtering circuit provided in an embodiment of the present application includes: a signal acquisition module, a main control module, a driver module, and an optical filtering module; the main control module is electrically connected to the signal acquisition module and the driver module respectively; the driver module is also electrically connected to the optical filtering module; the signal acquisition module is configured to acquire an optical signal, convert the optical signal into an electrical signal, and transmit the electrical signal to the main control module; the main control module is configured to transmit a driving signal to the driver module based on the electrical signal; the driver module is configured to, upon receiving the driving signal, drive the optical filtering module to be positioned parallel to a camera lens; the optical filtering module is configured to filter out a predetermined light wave, so that the camera captures a filtered initial image, the clarity of which exceeds a predetermined clarity threshold. The present application determines the current light intensity using the electrical signal acquired by the main control module from the signal acquisition module, and controls the driver module to drive the optical filtering module to be positioned in front of the camera lens to filter out the predetermined light wave when the light is low, thereby enabling the camera to capture a filtered initial image, improving image clarity and thereby improving the cleaning effect of the automatic cleaning device.

[0052] Example 2

[0053] Also, see Figure 5 The present application also provides an image acquisition device 200, which includes a camera 210 and the intelligent filter circuit 100 described in Example 1. Figure 4 The main control module 120 shown is electrically connected; the camera 210 is used to obtain the initial image after filtering.

[0054] In one embodiment, see Figure 6 The device further includes: an RGB chip 220 connected in series to the camera 210 and Figure 4 The main control module 120 shown in FIG. 1 is connected to the main control module 120 ; the camera 210 is further used to send the initial image to the RGB chip 220 ; the RGB chip 220 is used to pre-process the initial image to obtain a target image; and send the target image to the main control module 120 .

[0055] In an embodiment of the present application, the RGB chip is used to perform image processing such as mean filtering noise reduction, contrast enhancement, and edge detail enhancement on the initial image to improve the quality of the target image.

[0056] The image acquisition device 200 provided in the embodiment of the present application can implement the functions of the intelligent filter circuit provided in the above-mentioned embodiment 1, and will not be described again here to avoid repetition.

[0057] The image acquisition device provided in the embodiment of the present application acquires the initial image after filtering through a camera, and performs image processing on the initial image through an RGB chip, thereby improving the image clarity and thereby improving the cleaning effect of the automatic cleaning equipment.

[0058] Example 3

[0059] In addition, an embodiment of the present application also provides a cleaning robot, comprising: a robot body and an image acquisition device as described in Example 2.

[0060] The cleaning robot provided in the embodiment of the present application can realize the functions of the image acquisition device provided in the above-mentioned embodiment 2. To avoid repetition, it will not be described here.

[0061] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not limiting, and thus other examples of the exemplary embodiments may have different values.

[0062] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0063] The above-described embodiments merely represent several implementation methods of the application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the application. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the scope of the application, and these variations and improvements are all within the scope of protection of the application.

Claims

1. An intelligent light filtering circuit, characterized in that: The circuit includes: a signal acquisition module, a main control module, a driving module and a filter module; The main control module is electrically connected to the signal acquisition module and the driving module respectively; The driving module is also electrically connected to the filter module; The signal acquisition module is used to acquire optical signals, convert the optical signals into electrical signals, and send the electrical signals to the main control module; The main control module is configured to send a driving signal to the driving module according to the electrical signal; The driving module is configured to drive the filter module to be arranged parallel to the front of the camera lens when receiving the driving signal; The filter module is used to filter out the preset light waves so that the camera can obtain the filtered initial image, and the clarity of the initial image is greater than the preset clarity threshold.

2. The intelligent light filtering circuit according to claim 1, wherein: The driving signal includes a first driving signal or a second driving signal, and the main control module includes: a main control chip electrically connected to the signal acquisition module and the driving module respectively; The main control chip is configured to obtain the electrical signal from the signal acquisition module and determine whether the electrical signal is less than or equal to a preset voltage threshold; if so, send a first drive signal to the drive module; if not, send a second drive signal to the drive module; The driving module is configured to drive the filter module to be arranged parallel to the front of the camera lens when the first driving signal is obtained; When the second driving signal is obtained, the filter module is driven to move away from the camera lens.

3. The intelligent light filtering circuit according to claim 2, wherein: The driving module includes: a driving chip and a driving motor, wherein the driving chip is electrically connected to the main control chip and the driving motor respectively; The driving motor is also electrically connected to the light filtering module.

4. The intelligent light filtering circuit according to claim 3, wherein: The circuit further includes a power supply module, which is electrically connected to the signal acquisition module, the main control module and the driving module respectively; The signal acquisition module includes: a photodiode, a current limiting resistor and a pull-up resistor; The first end of the current limiting resistor is electrically connected to the photodiode, and the second end of the current limiting resistor is electrically connected to the main control chip and the first end of the pull-up resistor respectively; The second end of the pull-up resistor is electrically connected to the power module.

5. The intelligent light filtering circuit according to claim 4, characterized in that: The signal acquisition module further includes: a voltage stabilizing diode and a filter capacitor, wherein one end of the voltage stabilizing diode and the filter capacitor connected in parallel is electrically connected to the second end of the current limiting resistor, and the other end of the voltage stabilizing diode and the filter capacitor connected in parallel is grounded.

6. The intelligent light filtering circuit according to claim 2, characterized in that: The circuit further includes: a lighting module electrically connected to the main control chip; The main control chip is further configured to send a lighting start signal to the lighting module when the electrical signal is less than or equal to the preset voltage threshold; and send a lighting stop signal to the lighting module when the electrical signal is greater than the preset voltage threshold. The lighting module is configured to start up when receiving the lighting start signal and to shut down when receiving the lighting shut down signal.

7. The intelligent optical filtering circuit according to any one of claims 1 to 6, characterized in that: The filter module includes a filter lens electrically connected to the driving module.

8. An image acquisition device, characterized in that: The device comprises: a camera and the intelligent light filtering circuit according to any one of claims 1 to 7, wherein the camera is electrically connected to the main control module; The camera is used to obtain the initial image after filtering.

9. The image acquisition device according to claim 8, characterized in that: The device further comprises: an RGB chip connected in series between the camera and the main control module; The camera is further configured to send the initial image to the RGB chip; The RGB chip is used to pre-process the initial image to obtain a target image; and send the target image to the main control module.

10. A cleaning robot, characterized in that: include: A robot body and an image acquisition device as claimed in claim 8 or 9.

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