Fill light module, cleaning device, control method and related device

Abstract

A fill light module, a cleaning device, a control method and a related device. The fill light module (100) comprises a mounting member (110), a light source (120) and an adjustment member (130). During use, the fill light module (100) may be connected to other electric appliances by means of the mounting member (110), and the mounting member (110) also provides mounting positions for the light source (120) and the adjustment member (130). When using fill light, the light source (120) is turned on, and then the light source (120) emits a light beam, and the adjustment member (130) adjusts the boundary of the light beam, so that a part of the region of the boundary of the light beam gets close to the normal direction of the light beam. During the process of mounting the fill light module (100), the mounting manner of the fill light module (100) can be adjusted, such that a light beam, the boundary of which gets close to the normal direction, is arranged in a manner of facing the top of an electric appliance.

Description

Fill light module, cleaning equipment, control method and related equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application No. 202311084811.X filed on August 25, 2023, which is incorporated herein by reference in its entirety. Technical Field

[0003] The embodiments of the present application relate to the field of electrical technology, and in particular to a fill light module, a cleaning device, a control method, and related devices. Background Art

[0004] With the advancement of technology, service robots are becoming increasingly ubiquitous in everyday life, including cleaning robots, food delivery robots, and commercial robots. All of these types of robots require active obstacle avoidance. These functions require robots to accurately navigate complex environments, including shoes, chairs, toys, and scales.

[0005] Summary of the Invention

[0006] According to a first aspect of an embodiment of the present application, a fill light module is provided, comprising:

[0007] Mounting parts;

[0008] a light source, the light source being disposed on the mounting member;

[0009] An adjusting member is provided on the mounting member and is used for adjusting the boundary of the light beam emitted by the light source so that a partial area of ​​the boundary of the light beam moves closer to the normal direction of the light beam.

[0010] In a feasible embodiment, the adjusting member includes: a curved lens, wherein the curved lens is connected to the mounting member;

[0011] The light source includes an LED light source.

[0012] In a feasible implementation manner, the surface of the curved lens opposite to the light source is an adjustment surface, and the adjustment surface is arranged at an angle.

[0013] In a feasible embodiment, the mounting member includes:

[0014] a first mounting member, the light source being connected to the first mounting member;

[0015] A second mounting member, the adjusting member is arranged on the second mounting member, and the first mounting member is connected to the second mounting member.

[0016] In a feasible implementation, the horizontal direction of the light source is taken as the first direction, the direction perpendicular to the horizontal direction is taken as the second direction, and the beam boundaries of part of the light beams emitted by the light source in the second direction are close to the horizontal direction.

[0017] According to a second aspect of an embodiment of the present application, a cleaning device is provided, comprising:

[0018] The fill light module as described in any of the above technical solutions;

[0019] The cleaning device body is connected to the fill light module.

[0020] In a feasible embodiment, the cleaning device body includes:

[0021] a housing connected to the main body of the automatic cleaning device;

[0022] a bracket, the bracket being used to be connected to the housing;

[0023] Wherein, the fill light module is connected to the bracket.

[0024] In a feasible embodiment, the cleaning device further includes:

[0025] A line laser module and an RGB image acquisition module are arranged on the bracket.

[0026] In a feasible embodiment, the cleaning device further includes:

[0027] A protective lens, the protective lens being used to cover at least one of the RGB image acquisition module, the fill light module, and the line laser module;

[0028] Wherein, a hollow portion is formed in the area where the protective lens faces the fill light module.

[0029] In a feasible implementation manner, a mounting hole is formed on the housing, and the line laser module and / or the RGB image acquisition module sends or receives signals through the mounting hole.

[0030] In a feasible embodiment, the automatic cleaning device further includes:

[0031] A pile-finding light receiving module, which is used to receive a pile-finding signal transmitted by a base station;

[0032] Wherein, the pile-finding light receiving module is arranged on the bracket.

[0033] In a feasible implementation, the moving direction of the cleaning device body is taken as the third direction, the height direction of the cleaning device body is taken as the fourth direction, and a beam boundary of part of the light beam emitted by the light source in the fourth direction is close to the third direction.

[0034] In a feasible embodiment, in the fourth direction, an angle between a beam boundary of the light beam emitted by the light source facing the ground and the third direction is a first angle, and an angle between a beam boundary of the light beam emitted by the light source facing away from the ground and the third direction is a second angle;

[0035] The first angle is greater than or equal to 21°, and the second angle is less than or equal to 13°.

[0036] According to a third aspect of an embodiment of the present application, a control method for a cleaning device is provided, which is used to control the cleaning device according to any of the above technical solutions. The control method includes:

[0037] Collect image information and obtain brightness information of the image information;

[0038] When the brightness information does not meet the recognition requirements, the fill light module is turned on to obtain the corrected image information;

[0039] Navigation or obstacle avoidance is performed for the cleaning device body based on the corrected image information.

[0040] In a feasible implementation manner, when the brightness information does not meet the recognition requirement, the step of activating the fill light module to obtain the corrected image information includes:

[0041] When the brightness information does not meet the recognition requirements, the fill light module is turned on to obtain first corrected image information;

[0042] When the brightness of the first corrected image information is less than a first threshold, increasing the duty cycle of the fill light module and reacquiring image information until corrected image information that meets the recognition requirement is acquired;

[0043] When the brightness of the first corrected image information is greater than or equal to a second threshold, reducing the duty cycle of the fill light module and reacquiring image information until corrected image information that meets the recognition requirement is acquired;

[0044] When the brightness of the first corrected image information is greater than or equal to a first threshold and less than or equal to a second threshold, using the first corrected image information as the corrected image information;

[0045] The value of the first threshold is smaller than the second threshold.

[0046] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided.

[0047] The computer-readable storage medium stores a computer program for implementing the control method described in any of the above technical solutions.

[0048] According to a fifth aspect of an embodiment of the present application, a control device is provided, including:

[0049] a memory storing a computer program;

[0050] a processor, configured to execute the computer program;

[0051] Wherein, when the processor executes the computer program, it implements the control method described in any of the above technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0053] FIG1a and FIG1b are schematic diagrams showing the divergence angle distribution of the fill light on the X-axis and the Y-axis in the conventional technology, respectively;

[0054] FIG2 is a schematic structural diagram of a fill light module according to an embodiment of the present application;

[0055] FIG3 is a schematic structural diagram of a fill light module in an exploded state according to an embodiment of the present application from one angle;

[0056] FIG4 is a schematic structural diagram of a fill light module in an exploded state according to an embodiment of the present application from another angle;

[0057] FIG5 is a schematic structural diagram of a cleaning device in use according to an embodiment of the present application;

[0058] FIG6 is a partially enlarged schematic structural diagram of a fill light module of a cleaning device according to an embodiment of the present application;

[0059] FIG7 is a schematic structural diagram of a cleaning device according to an embodiment of the present application in a usage state from another angle;

[0060] FIG8 is a schematic diagram showing the distribution of divergent angles of a fill light module of a cleaning device according to an embodiment of the present application on the X-axis and the Y-axis;

[0061] FIG9 is a schematic structural diagram of a housing and a bracket of a cleaning device according to an embodiment of the present application;

[0062] FIG10 is a schematic structural diagram of the housing and the bracket of a cleaning device according to an embodiment of the present application from another angle;

[0063] FIG11 is a schematic flowchart of a method for controlling a cleaning device according to an embodiment of the present application;

[0064] FIG12 is a schematic flowchart of a method for controlling a cleaning device according to another embodiment of the present application;

[0065] FIG13 is a block diagram of a computer-readable storage medium according to an embodiment of the present application;

[0066] FIG14 is a structural block diagram of a control device according to an embodiment of the present application.

[0067] Among them, the correspondence between the reference numbers in the figure and the component names is: 100 fill light module; 110 mounting part, 120 light source, 130 adjustment part, 140 protective cover; 111 first mounting part, 112 second mounting part, 113 positioning column, 114 guide column, 131 adjustment surface; 210 cleaning equipment main body, 220 shell, 230 bracket, 240 line laser module, 250 RGB image acquisition module, 260 protective lens, 270 pile-finding light receiving module 231 mounting hole, 261 hollow part. DETAILED DESCRIPTION

[0068] In order to better understand the above technical solution, the technical solution of the embodiment of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present application and the specific features in the embodiment are detailed descriptions of the technical solution of the embodiment of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiment of the present application and the technical features in the embodiment can be combined with each other.

[0069] Currently, robots generally use camera-based AI recognition solutions, which require supplemental lighting for the cameras at night or in cloudy conditions. However, in traditional electrical appliances, when the supplemental lighting function is activated, the light emitted by the supplemental lighting module will shine into the human eye, causing glare and discomfort.

[0070] As shown in Figures 2 to 4, according to the first aspect of an embodiment of the present application, a fill light module 100 is proposed, including: a mounting member 110; a light source 120, the light source 120 is arranged on the mounting member 110; an adjustment member 130, the adjustment member 130 is arranged on the mounting member 110, and the adjustment member 130 is used to adjust the boundary of the light beam emitted by the light source 120 so that a partial area of ​​the light beam boundary is closer to the normal direction of the light beam.

[0071] The fill light module 100 provided in the embodiment of the present application includes a mounting member 110, a light source 120 and an adjustment member 130. During use, the fill light module 100 can be connected to other electrical appliances through the mounting member 110, and the mounting member 110 provides an installation position for the light source 120 and the adjustment member 130. When performing fill light, the light source 120 is turned on, and then the light source 120 emits a light beam, and the adjustment member 130 adjusts the boundary of the light beam so that part of the area of ​​the light beam boundary is closer to the normal direction of the light beam. During the installation of the fill light module 100, the installation method of the fill light module 100 can be adjusted so that the light beam with the boundary closer to the normal direction is arranged toward the top of the electrical appliance. Based on this, the probability of light entering the human eye can be greatly reduced, while ensuring the fill light intensity of the light beam to other areas, thereby improving the user experience.

[0072] As shown in Figures 1a and 1b, where the horizontal axis represents the divergence angle and the vertical axis represents the light intensity, it shows the distribution of the divergence angle of the fill light on the X-axis and Y-axis in traditional technology. The divergence angle of the light on the X-axis and Y-axis is about 120°. Based on this, during the installation of the fill light, no matter how the fill light is installed, the shape of the light emitted by the fill light is a light cone. The distribution direction of the beam boundary of this light cone is the same, so the light will be captured by the human eye while filling the light. In order to meet the uniform brightness of the entire screen of the camera field of view, the illumination needs to be high, and glare, dazzling and other discomforts will be generated when it enters the human eye. The fill light module 100 provided in the embodiment of the present application adjusts the beam boundary of a part of the light beam through the setting of the adjustment part 130. Based on this, the probability of light being captured by the human eye can be reduced, which can improve the user experience.

[0073] As shown in FIG. 2 to FIG. 4 , in a feasible implementation manner, the adjustment member 130 includes: a curved lens connected to the mounting member 110 ; and the light source 120 includes an LED light source 120 .

[0074] This technical solution further provides a style of an adjustment member 130. The adjustment member 130 may include a curved lens, which can adjust the refraction angle of light and thus adjust the light beam boundary, so that part of the light beam boundary is closer to the normal direction of the light beam, reducing the probability of light entering the human eye. At the same time, the curved lens has strong light transmittance, which can ensure the intensity of the fill light.

[0075] In this technical solution, a pattern of light source 120 is further provided. Light source 120 includes LED light source 120. Such a setting can ensure the intensity of fill light, and at the same time is more energy-saving and has a low failure rate.

[0076] As shown in Figure 4, in a feasible embodiment, the surface of the curved lens facing the light source 120 is an adjustment surface 131, and the adjustment surface 131 is tilted. This arrangement facilitates adjustment of the boundary of the light beam through the curved lens.

[0077] As shown in Figures 3 and 4, in a feasible embodiment, the mounting member 110 includes: a first mounting member 111, the light source 120 is connected to the first mounting member 111; a second mounting member 112, the adjustment member 130 is arranged on the second mounting member 112, and the first mounting member 111 is connected to the second mounting member 112.

[0078] This technical solution further provides a pattern for the mounting member 110. The mounting member 110 may include a first mounting member 111 and a second mounting member 112. The first mounting member 111 is used to secure the light source 120, and the second mounting member 112 is used to secure the adjustment member 130. Thus, by connecting the first mounting member 111 and the second mounting member 112, the fill light module 100 is assembled. This also facilitates adjustment of the positions of the light source 120 and the adjustment member 130, thereby improving the assembly accuracy between the light source 120 and the adjustment member 130.

[0079] In some examples, the first mounting member 111 and the second mounting member 112 may both be plate-shaped.

[0080] In some examples, when the adjustment member 130 includes a curved lens, the optical center of the light source 120 is aligned with the optical center of the curved lens with a tolerance of ±0.15 mm.

[0081] As shown in FIG. 6 , in a feasible implementation manner, the fill light module 100 further includes a protective cover 140 . The protective cover 140 is connected to the mounting member 110 and is located on a side of the mounting member 110 close to the adjusting member 130 .

[0082] In this technical solution, the fill light module 100 may further include a shield 140 , which is connected to the mounting member 110 . The shield 140 may protect the adjusting member 130 , thereby reducing the probability of the adjusting member 130 being worn and ensuring the fill light intensity.

[0083] It is understood that the shield 140 can be made of a transparent material to facilitate the passage of light. The shield 140 can also be connected to the mounting member 110 in a detachable manner to facilitate maintenance of the adjusting member 130.

[0084] In a feasible implementation, the horizontal direction of the light source 120 is the first direction, the direction perpendicular to the horizontal direction is the second direction, and the beam boundary of part of the light beam emitted by the light source 120 in the second direction is close to the horizontal direction.

[0085] In this technical solution, a method for bringing the light beams of the light source 120 closer is further provided. The horizontal direction in which the light source 120 emits light is taken as the first direction, the direction perpendicular to the horizontal direction is taken as the second direction, and the second direction is the vertical direction. Part of the light beams emitted by the light source 120 have their beam boundaries in the second direction closer to the horizontal direction. In other words, the divergence angle of the light in the horizontal direction is greater than the divergence angle of the light in the vertical direction. Based on this, when the fill light module 100 is applied to electrical appliances, the light emitted in the horizontal direction can better fill the light, and the divergence angle of the light in the vertical direction is reduced, which can reduce the probability of the human eye taking in light, thereby avoiding glare in the human eye and improving the user experience.

[0086] As shown in FIG5 to FIG8 , according to the second aspect of the embodiment of the present application, a cleaning device is proposed, including: a fill light module 100 as any of the above technical solutions; and a cleaning device body 210 , to which the fill light module 100 is connected.

[0087] Since the cleaning device provided in the embodiment of the present application includes the fill light module 100 according to any of the above technical solutions, the cleaning device has all the beneficial effects of the fill light module 100 according to the above technical solutions.

[0088] During use, the cleaning device provided by the embodiments of the present application may have difficulty capturing clear image information when the cleaning device main body 210 is in dim light, which may affect the navigation and obstacle avoidance accuracy of the cleaning device main body 210. In this case, the fill light module 100 can be activated. The light source 120 of the fill light module 100 emits light, which can increase the brightness of the image captured by the cleaning device main body 210, thereby ensuring the navigation and obstacle avoidance of the cleaning device main body 210. When performing fill light, the light source 120 is activated, and then the light source 120 emits a light beam. The adjustment member 130 adjusts the boundary of the light beam so that part of the boundary of the light beam is aligned with the normal direction of the light beam. During the installation of the fill light module 100, the installation method of the fill light module 100 can be adjusted so that the light beam with the boundary aligned with the normal direction is arranged toward the top of the appliance. Based on this, the probability of light entering the human eye can be greatly reduced, while ensuring the fill light intensity of the light beam in other areas, thereby improving the user experience.

[0089] As shown in Figures 9 and 10, in a feasible embodiment, the cleaning device further includes: a shell 220, which is connected to the automatic cleaning device body 210; a bracket 230, which is used to be connected to the shell 220; wherein the fill light module is connected to the bracket 230.

[0090] In this technical solution, the structure of the cleaning device is further provided. The cleaning device can include a housing 220 and a bracket 230. The bracket 230 can be used to connect the line laser module 240 and / or the RGB image acquisition module 250 to the bracket 230.

[0091] This technical solution further provides the structural components of the cleaning device. The cleaning device may include a housing 220 and a bracket 230. The bracket 230 provides a mounting location for the fill light module. During assembly, the fill light module can be first assembled on the bracket 230, then the bracket 230 is connected to the housing 220, and finally, the housing 220 is connected to the main body 210 of the automatic cleaning device. This allows for precise positioning of the fill light module.

[0092] In a feasible embodiment, the cleaning device further includes: a line laser module 240 and an RGB image acquisition module 250. The line laser module 240 and the RGB image acquisition module 250 are disposed on the bracket 230.

[0093] In this technical solution, the cleaning device also includes a line laser module 240 and an RGB image acquisition module 250. The line laser module 240 can determine the distance to an obstacle, while the RGB image acquisition module 250 can determine the obstacle's outline. Therefore, the combined use of the RGB image acquisition module 250 and the line laser module 240 allows the automatic cleaning device 210 to more accurately determine its surrounding environment, improving its obstacle avoidance and operational performance.

[0094] In this technical solution, the line laser module 240 and / or RGB image acquisition module 250 are connected to the bracket 230, which provides a mounting location for the line laser module 240 and / or RGB image acquisition module 250. During assembly, the line laser module 240 and / or RGB image acquisition module 250 can be first mounted on the bracket 230, then connected to the housing 220, and finally, the housing 220 is connected to the automatic cleaning device body 210. This allows for modular assembly of the sensing module, facilitating precise positioning of the line laser module 240 and / or RGB image acquisition module 250.

[0095] In a feasible embodiment, the automatic cleaning device further includes: a protective lens 260 , which is used to cover at least one of the RGB image acquisition module 250 , the fill light, and the line laser module 240 .

[0096] In this technical solution, the automatic cleaning device may further include a protective lens 260. By covering at least one of the RGB image acquisition module 250, the fill light, and the line laser module 240 with the protective lens 260, dust and water can be prevented, thereby extending the service life of the sensing module and improving sensing accuracy.

[0097] In some examples, the protective lens 260 can be made of a single lens or a plurality of lenses stacked together.

[0098] In a feasible embodiment, the protective lens 260 is provided with a hollow portion 261 in the area corresponding to the fill light module. This configuration can improve the light transmittance of the fill light module and ensure the fill light intensity.

[0099] In a feasible embodiment, a mounting hole 231 is formed on the housing 220 , and the line laser module 240 and / or the RGB image acquisition module 250 sends or receives signals through the mounting hole 231 .

[0100] By forming a mounting hole 231 on the shell 220, the aperture of the mounting hole 231 can be slightly larger than the line laser module 240 and / or the RGB image acquisition module 250, so as to facilitate the transmission and reception of signals of the line laser module 240 and / or the RGB image acquisition module 250, facilitate accurate acquisition of the position and outline of the obstacle, and enable the operation of the automatic cleaning device body 210 to be more accurate.

[0101] In a feasible embodiment, the cleaning device further includes:

[0102] The pile-finding light receiving module 270 is used to receive the pile-finding signal transmitted by the base station.

[0103] In this technical solution, the sensing module may also include a pile-finding light receiving module 270. The setting of the pile-finding light receiving module 270 facilitates the reception of the pile-finding signal transmitted by the base station, so that the automatic cleaning device body 210 can return to the base station according to the received signal, thereby facilitating the smooth progress of operations such as charging, dust collection, and cleaning.

[0104] As shown in Figures 5 to 8, in a feasible embodiment, the moving direction of the cleaning device body 210 is the third direction, the height direction of the cleaning device body 210 is the fourth direction, and part of the light beam emitted by the light source 120 has a beam boundary in the fourth direction approaching the third direction.

[0105] This technical solution further provides a relationship between the beam boundary of the light and the cleaning device body 210. With the direction of travel of the cleaning device body 210 as the third direction and the height direction of the cleaning device body 210 as the fourth direction, the beam boundary of part of the light beam emitted by the light source 120 in the fourth direction is closer to the third direction. Based on this, when the fill light module 100 is turned on, the fill light module 100 can have a larger divergence angle in the direction of travel of the cleaning device body 210, and a smaller divergence angle in the height direction of the cleaning device body 210. With this arrangement, the cleaning device body 210 can capture image information of sufficient brightness through horizontal fill light, while reducing the probability of light intake by the human eye, thereby improving the user experience.

[0106] As shown in Figure 5, in a feasible embodiment, in the fourth direction, the angle between the beam boundary of the light beam emitted by the light source 120 facing the ground and the third direction is a first angle, and the angle between the beam boundary of the light beam emitted by the light source 120 facing away from the ground and the third direction is a second angle; wherein, the first angle is greater than or equal to 21°, and the second angle is less than or equal to 13°.

[0107] This technical solution further provides parameters for converging beam boundaries. In the fourth direction, the angle between the beam boundary of the light beam emitted by light source 120, which faces the ground, and the third direction is a first angle, and the angle between the beam boundary of the light beam emitted by light source 120, which faces away from the ground, and the third direction is a second angle. The first angle is greater than or equal to 21°, and the second angle is less than or equal to 13°. In other words, during use of the cleaning device, the angle between the upward beam boundary of the light beam emitted by fill light module 100 and the horizontal direction is less than or equal to 13°, while the angle between the beam boundary of the light beam emitted by light source 120 and the horizontal direction is greater than or equal to 21°. This results in the fill light module 100 having a larger divergence angle in the horizontal and ground directions, and a smaller divergence angle in the upward direction. The divergence angle in the upper half of the vertical direction is compressed to avoid glare or discomfort caused by the fill light entering the human eye. The horizontal and lower divergence angles are maintained at large angles to match the size of the sweeper and the requirements for close-range obstacle avoidance.

[0108] As shown in Figure 5, using a cleaning device as an example, a person is seated 400 cm from the device, with their eyes approximately 100 cm from the ground. The fill light module 100 is installed 6 cm above the ground. To prevent vertical light from entering the human eye, the vertical divergence angle of the light field can be compressed to 13°, with the vertical lower half exceeding 21° to ensure illumination of obstacles on the ground. This still ensures that the fill light module 100 can illuminate obstacles less than 10.7 cm high and at a distance of 20 cm from the cleaning device body 210. The typical height of the cleaning device body 210 is 9.5 cm, and obstacles less than 10.7 cm high are sufficient to prevent the cleaning device body 210 from becoming stuck.

[0109] In some examples, parameters of the light beam emitted by the light source 120 after being adjusted by the adjustment member 130 can be shown in the following table and FIG. 8 .

[0110] Table 1 Parameters after beam adjustment

[0111] As shown in Figure 8, where the horizontal axis represents the divergence angle and the vertical axis represents the light intensity, the horizontal divergence angle is 98.125°, and the vertical direction is asymmetric, with a divergence angle of 13.8° in the upper half and 21.2° in the lower half. This arrangement ensures that the beam, with its boundary oriented toward the normal, is directed toward the top of the appliance. This significantly reduces the probability of light entering the human eye while ensuring the intensity of the supplemental light to other areas, improving the user experience.

[0112] As shown in FIG7 , the diffusion angle of the light beam emitted by the fill light module 100 in the third direction can be 120°. An obstacle 10 cm in front of the cleaning device body 210 and 35 cm wide, which is the same width as the cleaning device body 210, can be seen to ensure that the cleaning device body 210 is not stuck in the horizontal direction.

[0113] As shown in FIG11 , according to a third aspect of an embodiment of the present application, a control method for a cleaning device is proposed, which is used to control a cleaning device such as any of the above technical solutions. The control method includes:

[0114] Step 301: Collect image information and obtain brightness information of the image information. It is understandable that the image information can be collected by an RGB image acquisition module on the cleaning device.

[0115] Step 302: If the brightness information does not meet the recognition requirements, the fill light module is activated to obtain corrected image information. It will be appreciated that after obtaining the image information, it can be analyzed to plan the cleaning equipment's path. During the image analysis process, if the brightness information is too low, it may not meet the recognition requirements. In this case, the fill light module can be activated to provide additional light, and then the corrected image information can be re-acquired.

[0116] Step 303: Navigate or avoid obstacles for the cleaning device based on the corrected image information. It will be appreciated that since the corrected image information is acquired after the fill light module is activated, the brightness of the corrected image information meets the required brightness. In this case, the corrected image information can be used to provide a basis for the movement of the cleaning device, thereby controlling the cleaning device's navigation or obstacle avoidance.

[0117] The control method provided in the embodiment of the present application is used to control the cleaning equipment of any of the above technical solutions, so the control method has all the beneficial effects of the cleaning equipment of the above technical solutions.

[0118] The control method provided in the embodiment of the present application first collects image information. If the image information can meet the recognition requirements, there is no need to turn on the fill light module. If the image information cannot meet the recognition requirements, then the fill light module is turned on. Based on this, automatic control of the filling light module on and off can be achieved, and the filling light module is only controlled to be turned on when necessary. Corrected image information can be obtained through the fill light module. Based on the corrected image information, a basis can be accurately provided for navigation and obstacle avoidance of the cleaning equipment, which can improve the accuracy of the movement of the cleaning equipment without irritating the human eye, and the user experience is high.

[0119] In a feasible embodiment, when the brightness information does not meet the recognition requirements, the fill light module is turned on, and the steps of obtaining corrected image information include: when the brightness information does not meet the recognition requirements, the fill light module is turned on to obtain first corrected image information; when the brightness of the first corrected image information is less than a first threshold, the duty cycle of the fill light module is increased, and the image information is reacquired until the corrected image information that meets the recognition requirements is obtained; when the brightness of the first corrected image information is greater than or equal to a second threshold, the duty cycle of the fill light module is reduced, and the image information is reacquired until the corrected image information that meets the recognition requirements is obtained; when the brightness of the first corrected image information is greater than or equal to the first threshold and less than or equal to the second threshold, the first corrected image information is used as the corrected image information; wherein, the value of the first threshold is less than the second threshold.

[0120] This technical solution further provides a specific method for obtaining corrected image information. Considering that activating the fill light module may result in an image with excessive brightness or still low brightness, failing to meet recognition requirements, after activating the fill light module, first corrected image information is captured, and then its brightness is determined. If the brightness is less than a first threshold, the fill light module's duty cycle is increased, image information is recaptured, and the brightness is increased until corrected image information that meets the requirements is obtained. In some cases, the brightness of the captured first corrected image information may be greater than or equal to a second threshold. This indicates that the brightness of the first corrected image information is too high. In this case, the fill light module's duty cycle can be reduced, image information can be recaptured, and the brightness can be reduced until corrected image information that meets the requirements is obtained. In some cases, the brightness of the captured first corrected image information may fall directly between the first and second thresholds. In this case, the first corrected image information can be considered to meet recognition requirements and can be used directly as the corrected image information. Based on this, the control method provided in the embodiment of the present application can monitor the ambient light brightness in real time through the image brightness, and can intelligently adjust the fill light illumination to ensure the recognition requirements for image brightness in both light and dark environments, thereby ensuring the navigation and obstacle avoidance accuracy of the cleaning equipment.

[0121] In some examples, precise millimeter-level obstacle avoidance can be achieved based on image information or modified image information combined with a triangulation ranging sensor.

[0122] As shown in FIG12 , in some examples, a method for controlling a cleaning device may include the following steps:

[0123] Step 401: Collect image information through the RGB image acquisition module to determine whether the ambient light is dim. If so, execute step 402; otherwise, execute step 405;

[0124] Step 402: Turn on the fill light module, collect the first corrected image information through the RGB image acquisition module, and determine whether it meets the recognition requirements. If not, execute step 403; if so, execute step 404;

[0125] Step 403: Adjust the duty cycle of the fill light module until the first corrected image information meets the recognition requirement;

[0126] Step 404: Navigating the cleaning device based on the first corrected image information;

[0127] Step 405: Turn off the fill light module;

[0128] Step 406: Navigating the cleaning device based on the image information;

[0129] Through the control method provided in the embodiment of the present application, the ambient light brightness is monitored in real time through the image brightness, and the light intensity of the fill light module is intelligently adjusted to ensure that AI recognition requirements for image brightness can be met in both light and dark environments, thereby ensuring smooth navigation and obstacle avoidance of the cleaning equipment.

[0130] As shown in FIG13 , according to the fourth aspect of an embodiment of the present application, a computer-readable storage medium 410 is proposed. The computer-readable storage medium 410 stores a computer program 420 to implement a control method as described in any of the above technical solutions.

[0131] The computer-readable storage medium 410 provided in the embodiment of the present application implements the control method of any of the above technical solutions, so the computer-readable storage medium 410 has all the beneficial effects of the control method of any of the above technical solutions.

[0132] The computer-readable storage medium 410 provided in the embodiment of the present application first collects image information. If the image information meets the recognition requirements, then there is no need to turn on the fill light module 100. If the image information does not meet the recognition requirements, then the fill light module 100 is turned on. Based on this, automatic control of the opening and closing of the fill light module 100 can be achieved, and the fill light module 100 is only controlled to be turned on when necessary. Corrected image information can be obtained through the fill light module 100. Based on the corrected image information, it can accurately provide a basis for navigation and obstacle avoidance of the cleaning equipment, which can improve the accuracy of the cleaning equipment's movement without irritating the human eye, and provide a high user experience.

[0133] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0134] As shown in Figure 14, according to the fifth aspect of an embodiment of the present application, a control device is proposed, including: a memory 510, which stores a computer program; a processor 520, which executes the computer program; wherein, when the processor 520 executes the computer program, it implements a control method such as any of the above technical solutions.

[0135] The control device provided in the embodiment of the present application implements the control method of any of the above technical solutions, so the control device has all the beneficial effects of the control method of any of the above technical solutions.

[0136] The control device provided in the embodiment of the present application first collects image information. If the image information meets the recognition requirements, then there is no need to activate the fill light module 100. If the image information does not meet the recognition requirements, then the fill light module 100 is activated. Based on this, the fill light module 100 can be automatically turned on and off, and the fill light module 100 is only activated when necessary. Corrected image information can be obtained through the fill light module 100. Based on this corrected image information, it can accurately provide a basis for navigation and obstacle avoidance of the cleaning equipment, thereby improving the accuracy of the cleaning equipment's movement without irritating the human eye, and providing a high user experience.

[0137] In some examples, the control device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0138] In an exemplary embodiment, the control device may further include an input / output interface and a display device. The various functional units may communicate with each other via a bus. The memory stores a computer program. The processor is configured to execute the program stored in the memory and perform the method described in the above embodiment.

[0139] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device used in the above method, supporting the execution of the information processing program and other software and / or programs. The network communication module is used to enable communication between components within the storage medium and with other hardware and software within the physical information processing device.

[0140] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or by hardware.

[0141] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each process and / or box in the flow chart and / or block diagram and the combination of the process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one process or multiple processes and / or one box or multiple boxes of the flow chart.

[0142] In the present invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0143] In the description of the present invention, it should be understood that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0144] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these 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 any one or more embodiments or examples.

[0145] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A fill light module, comprising: Mounting parts; a light source, the light source being disposed on the mounting member; An adjusting member is arranged on the mounting member, and is used for adjusting the boundary of the light beam emitted by the light source so that a partial area of ​​the boundary of the light beam moves closer to the normal direction of the light beam.

2. The fill light module according to claim 1, wherein: The adjusting member comprises: a curved lens, wherein the curved lens is connected to the mounting member; The light source includes an LED light source.

3. The fill light module according to claim 2, wherein: The surface of the curved lens opposite to the light source is an adjustment surface, and the adjustment surface is arranged inclined.

4. The fill light module according to any one of claims 1 to 3, wherein: The mounting member comprises: a first mounting member, the light source being connected to the first mounting member; A second mounting member, the adjusting member is arranged on the second mounting member, and the first mounting member is connected to the second mounting member.

5. The fill light module according to any one of claims 1 to 4, wherein: The horizontal direction in which the light source emits light is taken as the first direction, and the direction perpendicular to the horizontal direction is taken as the second direction. The beam boundaries of part of the light beams emitted by the light source in the second direction are close to the horizontal direction.

6. A cleaning device comprising: The fill light module according to any one of claims 1 to 5; The cleaning device body is connected to the fill light module.

7. The cleaning device according to claim 6, further comprising: A shell connected to the main body of the automatic cleaning device; A bracket, the bracket is used to be connected to the housing; Wherein, the fill light module is connected to the bracket.

8. The cleaning device according to claim 7, further comprising: A line laser module and an RGB image acquisition module, wherein the line laser module and the RGB image acquisition module are arranged on the bracket.

9. The cleaning device according to claim 8, further comprising: A protective lens, the protective lens is used to cover at least one of the RGB image acquisition module, the fill light module and the line laser module; Wherein, a hollow portion is formed in the area where the protective lens is opposite to the fill light module.

10. The automatic cleaning device according to claim 8, wherein: The housing is formed with a mounting hole, and the line laser module and / or the RGB image acquisition module sends or receives signals through the mounting hole.

11. The automatic cleaning device according to claim 7, further comprising: A pile-finding light receiving module, which is used to receive a pile-finding signal transmitted by a base station; Wherein, the pile-finding light receiving module is arranged on the bracket.

12. A cleaning device according to any one of claims 6 to 11, wherein: The moving direction of the cleaning device body is taken as the third direction, the height direction of the cleaning device body is taken as the fourth direction, and the beam boundary of part of the light beam emitted by the light source in the fourth direction is close to the third direction.

13. The cleaning device according to claim 12, wherein: In the fourth direction, the angle between the beam boundary of the light beam emitted by the light source facing the ground and the third direction is a first angle, and the angle between the beam boundary of the light beam emitted by the light source facing away from the ground and the third direction is a second angle; Wherein, the first angle is greater than the second angle.

14. A method for controlling a cleaning device, for controlling the cleaning device according to any one of claims 6 to 13, the method comprising: Collect image information and obtain brightness information of the image information; When the brightness information does not meet the recognition requirements, the fill light module is turned on to obtain the corrected image information; Navigation or obstacle avoidance is performed for the cleaning device body based on the corrected image information.

15. The control method according to claim 14, wherein: When the brightness information does not meet the recognition requirement, the step of starting the fill light module to obtain the corrected image information includes: When the brightness information does not meet the recognition requirement, the fill light module is turned on to obtain the first corrected image information; When the brightness of the first corrected image information is less than a first threshold, increasing the duty cycle of the fill light module, and reacquiring image information until corrected image information that meets the recognition requirement is acquired; When the brightness of the first corrected image information is greater than or equal to a second threshold, reducing the duty cycle of the fill light module, and reacquiring image information until corrected image information that meets the recognition requirement is acquired; When the brightness of the first corrected image information is greater than or equal to a first threshold value and less than or equal to a second threshold value, using the first corrected image information as the corrected image information; The value of the first threshold is smaller than the second threshold.

16. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program for implementing the control method according to claim 14 or 15.

17. A control device comprising: a memory storing a computer program; A processor, configured to execute the computer program; Wherein, when the processor executes the computer program, it implements the control method as claimed in claim 14 or 15.

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