Identification device and cleaning equipment having it

Abstract

This utility model discloses an identification device and a cleaning device incorporating the same. The identification device includes a laser emitter and a camera. The camera is used to detect ambient brightness and acquire visible light and infrared light images. According to the identification device of this utility model, the camera simultaneously has the functions of detecting ambient brightness, acquiring visible light images, and acquiring infrared light images. This can significantly improve the integration of the camera, thereby reducing the number of parts in the identification device, reducing the installation space and cost occupied by the parts, and improving the structural compactness of the identification device while lowering investment costs.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to an identification device and a cleaning equipment having the same. Background Technology

[0002] As people's living standards improve, automated cleaning equipment such as cleaning robots are gradually entering households, saving people a significant amount of energy on housework. Furthermore, with the rapid development of automated cleaning equipment, cleaning robots with both sweeping and mopping functions are being chosen by more and more users. During the operation of cleaning robots with sweeping and mopping functions, a cleaning base station is usually used to clean the mop, enhancing the robot's cleaning capabilities. However, the identification module of related cleaning robots has a large number of parts, resulting in a large installation space and high production costs. Therefore, improvements are needed. Utility Model Content

[0003] This invention proposes an identification device that has the advantages of compact structure and low production cost.

[0004] This utility model also proposes a cleaning device with the above-mentioned identification device.

[0005] The identification device according to a first aspect of the present invention includes: a laser emitter; and a camera, the camera being used to detect ambient brightness and acquire visible light images and infrared light images.

[0006] According to the identification device of the first aspect of the present invention, the camera has the functions of detecting ambient brightness, acquiring visible light images and acquiring infrared light images, which can improve the integration of the camera, thereby reducing the number of parts in the identification device, reducing the installation space and cost occupied by the parts, and improving the structural compactness of the identification device and reducing investment costs.

[0007] According to some embodiments of the present invention, within the field of view of the laser emitter, the intensity of the laser emitted by the laser emitter is enhanced in the direction from the center line of the field of view of the laser emitter toward the edge of the field of view.

[0008] According to some embodiments of the present invention, the angle between one side edge of the field of view of the laser emitter and the center line of the field of view is a1, and the angle between the other side edge of the field of view of the laser emitter and the center line of the field of view is a2, satisfying: |a1-a2|≤5°; and / or, within the field of view of the laser emitter, the minimum laser intensity i1 and the maximum laser intensity i2 of the laser emitter satisfy: 1.5≤i2 / i1≤5.

[0009] According to some embodiments of the present invention, the identification device further includes: a supplementary light, which is used to adjust the brightness of the environment.

[0010] According to some embodiments of this utility model, the fill light is located above the camera.

[0011] According to some embodiments of this utility model, the supplementary light is two lights distributed on opposite sides of the camera.

[0012] According to some embodiments of the present invention, the distance L1 between the two fill lights satisfies: 40≤L1≤60mm; and / or, the two fill lights are symmetrically arranged with respect to the center line of the camera.

[0013] According to some embodiments of the present invention, the identification device further includes: a recharge signal transmitter, which is adapted to transmit a recharge signal, and the recharge signal transmitter consists of two transmitters distributed on opposite sides of the camera.

[0014] According to some embodiments of the present invention, the distance L2 between the two recharge signal transmitters satisfies: 10≤L2≤15mm; and / or, the two recharge signal transmitters are symmetrically arranged with respect to the center line of the camera.

[0015] According to some embodiments of the present invention, the horizontal field of view of the camera is greater than the vertical field of view of the camera; and / or, the laser emitter is used to emit a linear laser, and the center line of the camera intersects with the plane on which the linear laser emitted by the laser emitter is located.

[0016] According to some embodiments of the present invention, there is one laser emitter, and the distance H0 between the laser emitter and the camera satisfies: 12≤H0≤18mm; or, there are two laser emitters distributed on opposite sides of the camera, and the distance L3 between each laser emitter and the camera satisfies: 30≤L3≤60mm.

[0017] According to some embodiments of the present invention, the camera has a first working state and a second working state. In the first working state, the camera is used to capture visible light images, and in the second working state, the camera captures infrared light images. The exposure of the camera in the first working state is greater than the exposure of the camera in the second working state.

[0018] According to some embodiments of the present invention, the laser emitter and the camera are arranged in a vertical direction, and the laser emitter is adapted to emit a linear laser extending in a horizontal direction.

[0019] According to some embodiments of the present invention, the laser emitter is located above the camera; and / or, the identification device further includes a fill light, which is located between the laser emitter and the camera in the vertical direction.

[0020] According to some embodiments of this utility model, the laser emitter is two lasers symmetrically distributed on the left and right sides of the camera, and the laser emitter is used to emit linear lasers extending in the vertical direction.

[0021] According to some embodiments of the present invention, the identification device further includes a supplementary light, which is located between the two laser emitters in the left-right direction.

[0022] The cleaning device according to a second aspect of the present invention includes: the identification device described above.

[0023] According to the cleaning device of the second aspect of the present invention, the camera has the functions of detecting ambient brightness, acquiring visible light images and acquiring infrared light images, which can improve the integration of the camera, thereby reducing the number of parts in the recognition device, reducing the installation space and cost occupied by the parts, and improving the structural compactness of the recognition device and reducing investment costs.

[0024] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the identification device according to Embodiment 1 of the present utility model;

[0026] Figure 2 This is a schematic diagram of the identification device according to Embodiment 2 of the present invention;

[0027] Figure 3 This is a schematic diagram of the identification device according to Embodiment 3 of the present invention;

[0028] Figure 4 This is a schematic diagram of the identification device according to Embodiment 4 of the present utility model;

[0029] Figure 5 This is a schematic diagram of the field of view of the laser emitter of the identification device according to an embodiment of the present utility model;

[0030] Figure 6 This is a schematic diagram of the light intensity distribution of the laser emitter of the identification device according to an embodiment of the present utility model;

[0031] Figure 7 This is a schematic diagram of the structure of an identification device according to an embodiment of the present invention;

[0032] Figure 8 yes Figure 7 Front view of the identification device;

[0033] Figure 9 This is a front view of an identification device according to another embodiment of the present invention;

[0034] Figure 10 yes Figure 9 Top view of the identification device;

[0035] Figure 11 yes Figure 9 A schematic diagram of the laser emitter emitting laser light in the identification device.

[0036] Figure label:

[0037] Identification device 100;

[0038] Laser emitter 1; camera 2; field of view center line 21; field of view edge 22; fill light 3; recharge signal transmitter 4. Detailed Implementation

[0039] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0040] The following disclosure provides numerous different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0041] The identification device 100 according to a first aspect embodiment of the present invention is described below with reference to the accompanying drawings.

[0042] like Figures 1 to 10As shown, the identification device 100 according to the first aspect of this utility model includes: a laser emitter 1 and a camera 2. The camera 2 is used to detect ambient brightness and acquire visible light and infrared light images. That is, the laser emitter 1 can emit laser light towards an object, and the camera 2 can acquire the infrared light emitted by the laser emitter 1 onto the object. Therefore, the distance between the identification device 100 and the object can be obtained through methods such as triangulation. In other words, object distance measurement can be achieved through the cooperation of the laser emitter 1 and the camera 2. Furthermore, the camera 2 can also acquire visible light images of the object and analyze these images to determine the object's type, shape, etc., thereby enabling the identification device 100 to intelligently identify objects.

[0043] Therefore, the identification device 100 can simultaneously have distance measurement and object recognition functions. Furthermore, the camera 2 can simultaneously detect ambient brightness, acquire visible light images, and acquire infrared light images. This can significantly improve the integration of the camera 2, thereby reducing the number of parts in the identification device 100, reducing the installation space and cost occupied by the parts, and improving the structural compactness of the identification device 100 while reducing investment costs.

[0044] According to the first aspect of the present invention, the identification device 100 has the functions of detecting ambient brightness, acquiring visible light images and acquiring infrared light images. This can improve the integration of the camera 2, thereby reducing the number of parts in the identification device 100, reducing the installation space and cost occupied by the parts, and improving the structural compactness of the identification device 100 and reducing the investment cost.

[0045] In a specific example, camera 2 is a monocular camera with a dual-bandpass filter lens that allows both visible light and narrow infrared bands to pass through. The camera's photosensitive chip is an RGB photosensitive chip, enabling the perception of color images to output color photographs, thus improving the object recognition accuracy of the recognition device 100. The laser emitted by laser emitter 1 has a wavelength range of 780nm to 1650nm, preferably 808nm, 850nm, or 940nm. Furthermore, during the cleaning process of the cleaning robot equipped with the recognition device 100, since the dual-bandpass filter lens allows visible light, video or real-time video can be captured by camera 2. Because the dual-bandpass filter lens allows infrared light, camera 2 can identify hidden cameras in the environment or potentially harmful light sources such as infrared lidar, thereby enhancing environmental privacy and security.

[0046] According to some embodiments of this utility model, within the field of view of the laser emitter 1, the intensity of the laser emitted by the laser emitter 1 is enhanced in the direction from the center line 21 of the field of view of the laser emitter 1 towards the edge 22 of the field of view. For example, Figure 5 and Figure 6 As shown, the field of view edge 22 here refers to the two edges that constitute the field of view angle of the laser emitter 1, where θ in the figure refers to the deflection angle of the object relative to the center line 21 of the field of view. Figure 6 The diagram shows the relationship between θ and the intensity of light emitted by laser emitter 1. That is, within the field of view of laser emitter 1, the closer to the edge 22 of the field of view, the greater the intensity of the laser emitted by laser emitter 1. This can be understood as follows: when the laser intensity is fixed, the closer the object is to the center line 21 of the field of view, the closer the distance between the object in front of the recognition device 100 and the camera 2, the shorter the optical path of the light emitted by laser emitter 1 to the object and reflected back to camera 2. Simultaneously, the larger the reflection angle (typically diffuse reflection), the stronger the light intensity acquired by camera 2. Conversely, the closer the object is to the edge 22 of the field of view, the farther the distance between the object in front of the recognition device 100 and the camera 2, the longer the optical path of the light emitted by laser emitter 1 to the object and reflected back to camera 2. Simultaneously, the smaller the reflection angle (typically diffuse reflection), the weaker the light intensity acquired by camera 2. Therefore, it can better avoid uneven light acquisition by camera 2 due to different deflection angles of objects relative to the center line 21 of the field of view. In other words, it can better ensure the uniformity of light acquisition by camera 2, thereby improving the accuracy of image acquisition by camera 2.

[0047] In a specific example, such as Figure 6 As shown, the laser intensity distribution of laser emitter 1 is M-shaped. Within the field of view of laser emitter 1, the laser intensity emitted by laser emitter 1 gradually increases in the direction from the center line 21 of the field of view of laser emitter 1 toward the edge 22 of the field of view.

[0048] According to some embodiments of this utility model, the angle between one side of the field of view edge 22 of the laser emitter 1 and the center line 21 of the field of view is a1, and the angle between the other side of the field of view edge 22 of the laser emitter 1 and the center line of the field of view is a2, satisfying |a1-a2|≤5°. That is, the angle difference between the two sides of the field of view edge 22 of the laser emitter 1 and the center line 21 of the field of view is controlled within 5° (inclusive). For example, the angle difference between the two sides of the field of view edge 22 of the laser emitter 1 and the center line 21 of the field of view can be 1°, 1.5°, 2°, 2.5°, 3°, 4°, 5°, etc., without specific limitations. Therefore, the symmetrical distribution of light intensity on both sides of the center line 21 of the field of view can be better guaranteed, thereby ensuring the uniformity of light in the image acquired by the camera 2 and improving the accuracy of the image acquired by the camera 2.

[0049] According to some embodiments of this utility model, within the field of view of the laser emitter 1, the minimum laser intensity i1 and the maximum laser intensity i2 of the laser emitter 1 satisfy the following condition: 1.5 ≤ i2 / i1 ≤ 5. That is, the ratio of the maximum laser intensity to the minimum laser intensity of the laser emitter 1 within the field of view is controlled within the range of 1.5 to 5. For example, the ratio of the maximum laser intensity to the minimum laser intensity of the laser emitter 1 within the field of view can be 1.5, 1.8, 2.1, 2.5, 2.8, 3.4, 3.9, 4, 4.5, 5, etc., without specific limitations. Among them, with the minimum laser intensity of laser emitter 1 remaining constant, the larger the ratio of maximum laser intensity to minimum laser intensity, the stronger the laser length near the edge of the field of view 22, and the more light returns from objects near the time edge 22 to camera 2. However, the power requirements of laser emitter 1 also increase accordingly. Conversely, the larger the ratio of maximum laser intensity to minimum laser intensity, the weaker the laser length near the edge of the field of view 22, and the less light returns from objects near the time edge 22 to camera 2.

[0050] Therefore, by controlling the ratio of the maximum laser intensity to the minimum laser intensity within the range of 1.5 to 5, the maximum and minimum laser intensities of laser emitter 1 can be effectively controlled within a reasonable range. This ensures the uniformity of light in the image acquired by camera 2 while reducing the operating cost of laser emitter 1. In a specific example, within the field of view of laser emitter 1, the laser intensity is minimum at the center line 21 and maximum at the edge 22. The ratio of the laser intensity at the edge 22 to the laser intensity at the center line 21 is controlled within the range of 1.5 to 5.

[0051] In some embodiments, the angle between one side of the field of view edge 22 of the laser emitter 1 and the center line 21 of the field of view is α1, and the angle between the other side of the field of view edge 22 of the laser emitter 1 and the center line of the field of view is α2, satisfying |α1-α2|≤5°. Within the field of view of the laser emitter 1, the minimum laser intensity i1 and the maximum laser intensity i2 of the laser emitter 1 satisfy 1.5≤i2 / i1≤5. Therefore, the symmetrical distribution of light intensity on both sides of the center line 21 of the field of view can be better guaranteed, thereby ensuring the uniformity of light in the image acquired by the camera 2, improving the accuracy of image acquisition by the camera 2, and reducing the operating cost of the laser emitter 1.

[0052] According to some embodiments of this utility model, the identification device 100 further includes a supplementary light 3, which is used to adjust the brightness of the environment. That is, after the camera 2 acquires the brightness of the environment, the supplementary light 3 can be turned on or off according to the acquired brightness to adjust the ambient brightness, thereby ensuring that the ambient brightness meets the shooting requirements of the camera 2, and thus ensuring that the camera 2 can acquire a clear image. Specifically, when the camera 2 detects that the ambient brightness is greater than a preset brightness threshold, the ambient brightness meets the shooting requirements of the camera 2, and the supplementary light 3 is turned off; when the camera 2 detects that the ambient brightness is less than the preset brightness threshold, the supplementary light 3 is turned on to increase the ambient brightness, so as to ensure that the camera 2 can acquire a clear image of the object.

[0053] The supplementary light 3 can emit visible light to enable the camera 2 to acquire visible light images during object recognition. It can also emit infrared light to enable the camera 2 to acquire infrared images during object recognition. No specific restrictions are placed on the type of light emitted by the supplementary light 3. Furthermore, the opening and closing of the camera 2 and the laser emitter 1 can be controlled by a control circuit board, or by installing a barrier that can block or avoid the light on the front of the camera 2 and the laser emitter 1. No specific restrictions are placed on this either.

[0054] It should be noted that the supplementary light 3 can be set on the identification device 100, or it can be set directly on a part of the cleaning equipment other than the identification device 100, such as on the cleaning equipment and spaced apart from the identification device 100. There are no specific restrictions on the specific installation position of the supplementary light 3.

[0055] According to some embodiments of this utility model, the supplementary light 3 is located above the camera 2. That is, the supplementary light 3 and the camera 2 are arranged vertically, so that the supplementary light 3 and the camera 2 can make full use of the installation space in the vertical direction, thereby reducing the size of the recognition device 100 in the horizontal direction. At the same time, in the horizontal direction, the supplementary light 3 and the camera 2 can be relatively centered. Therefore, the beam emitted by the supplementary light 3 and the field of view of the camera 2 can better cover the areas on the left and right sides, thereby saving the number of parts while ensuring the recognition area of ​​the recognition device 100.

[0056] Furthermore, the supplementary light 3 is positioned relatively high relative to the camera 2. The higher the position of the supplementary light 3, the larger the radiation range of its emitted light beam, meaning the larger the area that the supplementary light 3 can illuminate. This increases the adjustable brightness range of the supplementary light 3, thus improving the accuracy of the image captured by the camera 2. Additionally, by positioning the camera 2 at a relatively low position, the blind spot of the camera 2's field of view below the front end of the recognition device 100 is effectively reduced, thereby improving the reliability of the recognition device 100.

[0057] According to some embodiments of this utility model, there are two supplementary lights 3 distributed on opposite sides of the camera 2. That is, there are two supplementary lights 3, and the camera 2 is located between the two supplementary lights 3. The two supplementary lights 3 can adjust the brightness of the opposite side areas of the camera 2 respectively. Therefore, by increasing the number of supplementary lights 3, the brightness adjustment range of the recognition device 100 can be increased, while ensuring the brightness adjustment effect of the supplementary lights 3 on the opposite side areas of the camera 2, thereby improving the clarity of the image acquired by the camera 2.

[0058] In a specific example, one of the two fill lights 3 is located on the left side of the camera 2 and the other is located on the right side of the camera 2. Thus, the two fill lights 3 can be used to adjust the left and right sides of the area in front of the camera 2 respectively, so as to improve the clarity of the image acquired by the camera 2.

[0059] According to some embodiments of this utility model, the distance L1 between the two supplementary lights 3 satisfies: 40 ≤ L1 ≤ 60 mm. That is, the distance between the two supplementary lights 3 is controlled within the range of 40 mm to 60 mm (inclusive). For example, the distance between the two supplementary lights 3 can be 40 mm, 42 mm, 45 mm, 47 mm, 50 mm, 52 mm, 54 mm, 57 mm, 60 mm, etc., without specific limitations. This effectively avoids the two supplementary lights 3 being too close together, resulting in excessive overlap of their illumination areas. This prevents overexposure of the image acquired by the camera 2 due to excessive overlap and high brightness in the overlapping area, thus improving the clarity of the image acquired by the camera 2. Furthermore, it effectively avoids the two supplementary lights 3 being too far apart, thus avoiding excessive installation space occupation. In other words, it effectively controls the installation space occupied by the two supplementary lights 3 in the arrangement direction, making the structure of the recognition device 100 compact.

[0060] According to some embodiments of this utility model, the two supplementary lights 3 are symmetrically arranged with respect to the center line of the camera 2. This ensures that the illuminated areas of the two supplementary lights 3 are symmetrically distributed with respect to the center line of the camera 2, thereby allowing the two supplementary lights 3 to symmetrically adjust the areas on opposite sides of the camera 2 to improve the clarity of the images acquired by the camera 2.

[0061] In some embodiments, the distance L1 between the two supplementary lights 3 satisfies: 40≤L1≤60mm, and the two supplementary lights 3 are symmetrically arranged with respect to the center line of the camera 2. This avoids overexposure of the image acquired by the camera 2 due to excessive overlap in the illumination areas of the two supplementary lights 3. Furthermore, the two supplementary lights 3 can symmetrically adjust the areas on opposite sides of the camera 2, which helps improve the clarity of the image acquired by the camera 2. Simultaneously, it allows for better control of the installation space occupied by the two supplementary lights 3 in their arrangement direction, resulting in a compact structure for the recognition device 100.

[0062] According to some embodiments of this utility model, the identification device 100 further includes: a recharge signal transmitter 4, which is adapted to transmit a recharge signal. It should be noted that the cleaning equipment can be a cleaning robot, which automatically cleans the ground by moving. The identification device 100 is installed on the cleaning robot, and the base station cooperating with the cleaning robot is equipped with a recharge signal receiver corresponding to the recharge signal transmitter 4. The recharge signal receiver is used to receive the recharge signal transmitted by the corresponding recharge signal transmitter 4 and to provide feedback that the cleaning robot has aligned with the base station. It also guides the cleaning robot back to the base station through the cooperation of the recharge signal transmitter 4 and the recharge signal receiver. There are two recharge signal transmitters 4 distributed on opposite sides of the camera 2. The base station is equipped with two recharge signal receivers, each corresponding to one of the two recharge signal transmitters 4. The recharge signal receivers can only receive the recharge signal transmitted by the corresponding recharge signal transmitter 4 to avoid identification errors. When the two return-to-charge signal receivers receive the return-to-charge signals from the two return-to-charge signal transmitters 4 respectively, the cleaning robot aligns with the base station. The robot is then guided back to the base station through the cooperation of the return-to-charge signal receivers and transmitters 4. This significantly improves the positioning accuracy of the identification device 100. In a specific example, the return-to-charge signal transmitter 4 is a return-to-charge signal light.

[0063] According to some embodiments of this utility model, the distance L2 between the two recharge signal transmitters 4 satisfies: 10 ≤ L2 ≤ 15 mm. That is, the distance between the two recharge signal transmitters 4 is controlled within the range of 10 mm to 15 mm (inclusive). For example, the distance between the two recharge signal transmitters 4 can be 10 mm, 11 mm, 12 mm, 13 mm, 14 mm, 15 mm, etc., without specific limitations. This effectively avoids the installation difficulty caused by the two recharge signal transmitters 4 being too close, while also preventing the two recharge signal transmitters 4 from occupying too much installation space in the arrangement direction due to an excessively large distance, thus making the identification device 100 structurally compact.

[0064] According to some embodiments of this utility model, the two recharge signal transmitters 4 are symmetrically arranged with respect to the center line of the camera 2. That is, the center of the line connecting the centers of the two recharge signal transmitters 4 is located on the center line of the camera 2, i.e., the camera 2 is located at the center position between the two recharge signal transmitters 4. Therefore, after the two recharge signal receivers receive the signals emitted by their respective recharge signal transmitters 4, since the camera 2 is located at the center position between the two recharge signal transmitters 4, the cleaning robot can face the base station and move into the base station, which can improve the alignment accuracy of the identification device 100 and thus improve the alignment accuracy between the cleaning robot and the base station.

[0065] In some embodiments, the distance L3 between the two recharge signal transmitters 4 satisfies: 10 ≤ L3 ≤ 15 mm, and the two recharge signal transmitters 4 are symmetrically arranged with respect to the center line of the camera 2. This effectively avoids the installation difficulty caused by the two recharge signal transmitters 4 being too close together, while also making the structure of the identification device 100 compact and improving the alignment accuracy of the identification device 100 to enhance the alignment accuracy between the cleaning robot and the base station.

[0066] According to some embodiments of this utility model, the horizontal field of view of camera 2 is greater than the vertical field of view of camera 2. That is, the field of view of camera 2 in the horizontal direction is greater than its field of view in the vertical direction. For example, if camera 2 is positioned at the front of a cleaning robot, the field of view of camera 2 in the left-right direction is greater than its field of view in the up-down direction. This allows camera 2 to acquire images over a larger area in the horizontal direction. It is understood that cleaning robots typically have relatively small thickness dimensions, so the vertical recognition range only needs to ensure that the cleaning robot can pass smoothly. Therefore, while ensuring the vertical field of view of camera 2, increasing the horizontal field of view can increase the area of ​​images that camera 2 can acquire in the horizontal direction, thereby improving the horizontal recognition range of the recognition device 100 and enhancing the obstacle avoidance capability of the cleaning robot.

[0067] According to some embodiments of this utility model, the laser emitter 1 is used to emit a linear laser, and the center line of the camera 2 intersects the plane where the linear laser emitted by the laser emitter 1 is located. That is, the laser emitter 1 is a linear laser emitter 1, and the laser is inclined in the direction of emission towards the center line of the camera 2. Therefore, the blind zone between the field of view of the laser emitter 1 and the field of view of the camera 2 can be effectively reduced, thereby improving the reliability of the recognition device 100. In a specific example, the camera 2 is positioned facing directly forward, that is, the center line of the field of view of the camera 2 is perpendicular to the vertical direction, and the laser emitter 1 emits a linear laser towards the direction of emission from back to front towards the camera 2.

[0068] In some embodiments, the horizontal field of view of camera 2 is greater than the vertical field of view of camera 2, and laser emitter 1 is used to emit linear lasers. The centerline of camera 2 intersects the plane in which the linear laser emitted by laser emitter 1 is located. This improves the horizontal recognition range of recognition device 100, enhancing the obstacle avoidance capability of the cleaning robot. Simultaneously, it effectively reduces the blind zone between the field of view of laser emitter 1 and the field of view of camera 2, thereby improving the reliability of recognition device 100.

[0069] According to some embodiments of this utility model, there is one laser emitter 1, and the distance H0 between the laser emitter 1 and the camera 2 satisfies: 12 ≤ H0 ≤ 18 mm. That is, the distance between the laser emitter 1 and the camera 2 is controlled within the range of 12 mm to 18 mm (inclusive). For example, the distance between the laser emitter 1 and the camera 2 can be 12 mm, 12.5 mm, 13 mm, 13.6 mm, 14 mm, 14.4 mm, 15 mm, 16 mm, 17 mm, 18 mm, etc., without specific limitations. Therefore, it is possible to avoid the laser emitter 1 being too close to the camera 2, affecting the accuracy of the infrared light image captured by the camera 2. At the same time, it is possible to better avoid the blind zone between the field of view of the laser emitter 1 and the field of view of the camera 2 being too far apart, and to avoid occupying too much installation space in the arrangement direction of the laser emitter 1 and the camera 2. Thus, the accuracy of the recognition device 100 can be guaranteed while making the structure of the recognition device 100 compact.

[0070] According to some embodiments of this utility model, there are two laser emitters 1 distributed on opposite sides of the camera 2, and the distance L3 between each laser emitter 1 and the camera 2 satisfies: 30≤L3≤60mm. That is, the distance between each laser emitter 1 and the camera 2 is controlled within the range of 30mm to 60mm (inclusive). For example, the distance between the laser emitter 1 and the camera 2 can be 30mm, 32mm, 35mm, 39mm, 45mm, 49mm, 52mm, 55mm, 60mm, etc., without specific limitations. This avoids the laser emitter 1 being too close to the camera 2, affecting the accuracy of the infrared image captured by the camera 2, and also avoids the laser emitter 1 being too far from the camera 2, resulting in an excessively large blind zone between the field of view of the laser emitter 1 and the field of view of the camera 2, and avoiding excessive installation space occupied in the arrangement direction of the laser emitter 1 and the camera 2. Therefore, the accuracy of the recognition device 100 can be guaranteed while making the structure of the recognition device 100 compact.

[0071] According to some embodiments of this utility model, the camera 2 has a first working state and a second working state. In the first working state, the camera 2 is used to capture visible light images, and in the second working state, the camera 2 captures infrared light images. The exposure of the camera 2 in the first working state is greater than the exposure of the camera 2 in the second working state. That is, the amount of light entering the camera 2 when capturing visible light images is greater than the amount of light entering the camera 2 when capturing infrared light images. Therefore, it can better ensure that the camera 2 has sufficient brightness to obtain clearer visible light images, while avoiding excessive light intake from affecting the capture of infrared light images, thus improving the clarity of both visible light and infrared light images acquired by the camera 2.

[0072] In a specific example, camera 2 and laser emitter 1 operate in a time-sharing manner. When laser emitter 1 emits laser light, camera 2 measures distance based on the laser image and triangulation. When laser emitter 1 is turned off, camera 2 acquires visible light images of objects and performs object AI recognition.

[0073] According to some embodiments of this utility model, the laser emitter 1 and the camera 2 are arranged vertically. Therefore, the laser emitter 1 and the camera 2 can fully utilize the vertical installation space, thereby reducing the installation space occupied by the laser emitter 1 and the camera 2 in the horizontal direction, and thus reducing the size of the recognition device 100 in the horizontal direction. Simultaneously, in the horizontal direction, the laser emitter 1 and the camera 2 can be relatively centered, so the field of view of the laser emitter 1 and the camera 2 can better cover the areas on both sides, thus ensuring the recognition area of ​​the recognition device 100 while saving on the number of parts. Specifically, the laser emitter 1 is suitable for emitting a linear laser beam extending horizontally. That is, the laser emitter 1 is a linear laser emitter 1, and the laser emitted by the laser emitter 1 irradiates the surface of the object to form a line segment extending horizontally. Therefore, the coverage area of ​​the laser emitted by the laser emitter 1 in the horizontal direction can be significantly increased, thereby improving the recognition area of ​​the recognition device 100 in the horizontal direction.

[0074] According to some embodiments of this utility model, the laser emitter 1 is located above the camera 2. Therefore, by placing the laser emitter 1 at a relatively high position, obstruction of the laser emitter 1 can be effectively avoided, ensuring that the laser emitted by the laser emitter 1 can illuminate the object in front of the recognition device 100. Furthermore, by placing the camera 2 at a relatively low position, the blind spot of the camera 2's field of view below the front end of the recognition device 100 can be effectively reduced, thereby improving the reliability of the recognition device 100.

[0075] According to some embodiments of this utility model, the identification device 100 further includes a supplementary light 3, which is located between the laser emitter 1 and the camera 2 in the vertical direction. That is, the laser emitter 1, the supplementary light 3, and the camera 2 are arranged sequentially from top to bottom, with the supplementary light 3 positioned relatively centrally in the vertical direction. Therefore, the laser emitter 1, the supplementary light 3, and the camera 2 can fully utilize the vertical installation space. The supplementary light 3, located above the camera 2, can effectively increase its radiation range, thereby improving the accuracy of the object image acquired by the camera 2. Furthermore, it can effectively shorten the distance between the supplementary light 3 and the camera 2, allowing the supplementary light 3 to adjust the brightness of the area near the camera 2, preventing the area near the camera 2 from being unilluminated and resulting in unclear images, thus improving the reliability of the identification device 100.

[0076] In some embodiments, the laser emitter 1 is located above the camera 2, and the fill light 3 is located between the laser emitter 1 and the camera 2 in the vertical direction. Thus, the identification device 100 has a compact structure and high reliability.

[0077] According to some embodiments of this utility model, there are two laser emitters 1 symmetrically distributed on the left and right sides of the camera 2. The laser emitters 1 emit linear laser beams extending in the vertical direction. That is, the camera 2 is located between the two laser emitters 1, and the camera 2 can capture the light rays formed on the object surface by the laser beams emitted by the two laser emitters 1. Therefore, the cooperation between the two laser emitters 1 and the camera 2 can significantly improve the recognition accuracy of the recognition device 100. Furthermore, it can effectively reduce the number of cameras 2, thereby lowering the investment cost of the recognition device 100.

[0078] According to some embodiments of this utility model, the identification device 100 further includes a supplementary light 3, which is located between the two laser emitters 1 in the left-right direction. Thus, in the left-right direction, the supplementary light 3 and the camera 2 are relatively centrally positioned, so the beam emitted by the supplementary light 3 and the field of view of the camera 2 can effectively cover the areas on both sides, thereby ensuring the identification area of ​​the identification device 100 while saving on the number of parts.

[0079] The following is for reference. Figures 1-4 The present invention describes an identification device 100 according to a specific embodiment of the present invention. It is to be understood that the following description is merely exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0080] Example 1

[0081] like Figure 1 As shown, the identification device 100 includes a laser emitter 1, a camera 2, two fill lights 3, and two recharge signal transmitters 4. The laser emitter 1 is located directly above the camera 2, near the top, and the camera 2 is near the bottom. The two recharge signal transmitters 4 are located below the laser emitter 1 and above the camera 2. The two recharge signal transmitters 4 are symmetrically arranged and spaced apart along the left-right direction with respect to the line connecting the center of the camera 2 and the center of the laser emitter 1. The two fill lights 3 are symmetrically arranged and spaced apart along the left-right direction with respect to the line connecting the center of the camera 2 and the center of the laser emitter 1. In the left-right direction, the two recharge signal transmitters 4 are located between the two fill lights 3. The recharge signal transmitters 4 and the fill lights 3 are centered in the up-down direction.

[0082] Example 2

[0083] This embodiment has a largely the same structure as Embodiment 1, with identical components using the same reference numerals. Figure 2 The difference between Embodiment 2 and Embodiment 1 is that the identification device 100 has only one supplementary light 3. The laser emitter 1, the supplementary light 3 and the camera 2 are arranged in sequence and aligned in the vertical direction. In the horizontal direction, the supplementary light 3 is located between the recharge signal emitters 4 on both sides.

[0084] Example 3

[0085] refer to Figure 3 The identification device 100 includes two laser emitters 1, a camera 2, two fill lights 3, and two recharge signal transmitters 4. The two laser emitters 1 are symmetrically arranged with respect to the center line of the camera 2, and the camera 2 is located near the bottom. The two recharge signal transmitters 4 are located above the camera 2 and near the top. The two recharge signal transmitters 4 are symmetrically arranged with respect to the center line of the camera 2 in the left-right direction and are spaced apart. The two fill lights 3 are symmetrically arranged with respect to the center line of the camera 2 in the left-right direction and are spaced apart. The two fill lights 3 are located below the two recharge signal transmitters 4 and above the camera 2. The laser emitters 1 and the fill lights 3 are centered in the vertical direction.

[0086] Example 4

[0087] This embodiment has a largely the same structure as Embodiment 3, with identical components using the same reference numerals. Figure 4 The difference between Embodiment 4 and Embodiment 3 is that the identification device 100 has only one fill light 3, which is aligned with the camera 2 in the vertical direction. In the horizontal direction, two recharge signal transmitters 4 are located on opposite sides of the fill light 3.

[0088] The cleaning device according to a second aspect embodiment of the present invention is described below with reference to the accompanying drawings.

[0089] The cleaning device according to a second aspect of the present invention includes: an identification device 100.

[0090] According to the cleaning device of the second aspect of the present invention, the camera 2 has the functions of detecting ambient brightness, acquiring visible light images and acquiring infrared light images, which can improve the integration of the camera 2, thereby reducing the number of parts in the identification device 100, reducing the installation space and cost occupied by the parts, and improving the structural compactness of the identification device 100 and reducing the investment cost.

[0091] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0092] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An identification device, characterized in that include: A laser emitter is used to emit laser light towards an object; A camera is used to detect ambient brightness and acquire visible light images and infrared light images of infrared light emitted by the laser emitter onto an object. The camera is centrally positioned in the left-right direction. The camera has a first working state and a second working state. In the first working state, the camera is used to capture visible light images. In the second working state, the camera captures infrared light images. The exposure of the camera in the first working state is greater than the exposure of the camera in the second working state.

2. The identification device of claim 1, wherein Within the field of view of the laser emitter, the intensity of the laser emitted by the laser emitter is enhanced in the direction from the center line of the field of view toward the edge of the field of view.

3. The identification device of claim 2, wherein, The angle between one side edge of the field of view of the laser emitter and the center line of the field of view is a1, and the angle between the other side edge of the field of view of the laser emitter and the center line of the field of view is a2, satisfying: |a1-a2|≤5°; and / or, within the field of view of the laser emitter, the minimum laser intensity i1 and the maximum laser intensity i2 of the laser emitter satisfy: 1.5≤i2 / i1≤5.

4. The identification device of claim 1, wherein Also includes: A fill light, used to adjust the brightness of the environment.

5. The identification device of claim 4, wherein, The fill light is located above the camera.

6. The identification device of claim 4, wherein, The fill light consists of two lights located on opposite sides of the camera.

7. The identification device of claim 6, wherein The distance L1 between the two fill lights satisfies: 40≤L1≤60mm; and / or, the two fill lights are symmetrically arranged with respect to the center line of the camera.

8. The identification device of claim 1, wherein Also includes: A recharge signal transmitter, wherein the recharge signal transmitter is adapted to transmit a recharge signal, and the recharge signal transmitter comprises two transmitters distributed on opposite sides of the camera.

9. The identification device of claim 8, wherein, The distance L2 between the two recharge signal transmitters satisfies: 10≤L2≤15mm; and / or, the two recharge signal transmitters are symmetrically arranged with respect to the center line of the camera.

10. The identification device of claim 1, wherein, The horizontal field of view of the camera is greater than the vertical field of view of the camera; and / or, the laser emitter is used to emit a linear laser, and the centerline of the camera intersects with the plane on which the linear laser emitted by the laser emitter is located.

11. The identification device of claim 1, wherein The laser emitter is one, and the distance H0 between the laser emitter and the camera satisfies: 12≤H0≤18mm; or, the laser emitter is two distributed on opposite sides of the camera, and the distance L3 between each laser emitter and the camera satisfies: 30≤L3≤60mm.

12. The identification device of claim 1, wherein, The laser emitter and the camera are arranged vertically, and the laser emitter is adapted to emit a linear laser beam extending horizontally.

13. The identification device of claim 12, wherein, The laser emitter is located above the camera; and / or, the identification device further includes a fill light, which is located between the laser emitter and the camera in the vertical direction.

14. The identification device of claim 1, wherein, The laser emitters are two symmetrically distributed on the left and right sides of the camera, and the laser emitters are used to emit linear lasers that extend in the vertical direction.

15. The identification device of claim 14, wherein, The recognition device further comprises a light supplement lamp, which is located between the two laser emitters in the left-right direction.

16. A cleaning apparatus, characterized by Comprising: The recognition device according to any one of claims 1-15.

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