Recognition apparatus, control method, cleaning device and cleaning system

Abstract

A recognition apparatus (100), a control method, a cleaning device and a cleaning system. The recognition apparatus (100) comprises a laser emitter (1), a fill light lamp (3) and an image acquisition module (2), wherein the image acquisition module (2) is adapted to acquire color images and receive infrared light reflected by an external environment. Thus, the accuracy of distance measurement and obstacle recognition of the recognition apparatus (100) can be improved, thereby improving the obstacle avoidance and cleaning performance of a cleaning device.

Description

Identification device, control method, cleaning equipment and cleaning system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on Chinese patent applications with application numbers 202410329483.3, 202411034726.7, 202423218608.X and 202420595403.4, and claims the priority of the above Chinese patent applications. The entire contents of the above Chinese patent applications are hereby incorporated into this application by reference. Technical Field

[0003] The present application relates to the technical field of cleaning equipment, and in particular to an identification device, a control method, a cleaning equipment and a cleaning system. Background Art

[0004] As people's living standards improve, automatic cleaning devices such as cleaning robots are gradually entering thousands of households, saving people a lot of energy in housework. Furthermore, with the rapid development of automatic cleaning devices, cleaning robots with both sweeping and mopping functions are increasingly being chosen by users. During the operation of cleaning robots with sweeping and mopping functions, they are usually equipped with a cleaning base station to perform mopping to enhance the cleaning ability of the cleaning robots. However, the ranging and obstacle recognition accuracy of the recognition modules of cleaning robots in related technologies are not high, which directly affects the cleaning efficiency of the cleaning devices. Summary of the Invention

[0005] In a first aspect, the present application provides an identification device, which has the advantages of high accuracy in distance measurement and obstacle identification.

[0006] According to the first aspect of the present application, the recognition device includes: a laser transmitter; a fill light; and an image acquisition module, wherein the image acquisition module is suitable for acquiring color images and receiving infrared light reflected by the external environment.

[0007] According to the recognition device of the first aspect of the present application, the accuracy of the recognition device's ranging and obstacle recognition can be improved through the cooperation of the image acquisition module with the laser emitter and the fill light, so as to improve the obstacle avoidance and cleaning performance of the cleaning equipment.

[0008] In some embodiments, within the field of view angle range of the laser emitter, the intensity of the laser emitted by the laser emitter increases in a direction from the center line of the field of view of the laser emitter toward the edge of the field of view.

[0009] In some embodiments, the angle between the edge of the field of view on one side 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 edge of the field of view on the other side of the field of view of the laser emitter and the center line of the field of view is a2, which satisfies: |a1-a2|≤5°.

[0010] In some embodiments, within the field of view angle of the laser emitter, the minimum laser intensity i1 of the laser emitter and the maximum laser intensity i2 of the laser emitter satisfy: 1.5≤i2 / i1≤5.

[0011] In some embodiments, the fill light is located above the image acquisition module.

[0012] In some embodiments, the fill lights are two distributed on opposite sides of the image acquisition module.

[0013] In some embodiments, the distance L1 between the two fill lights satisfies: 40≤L1≤60mm.

[0014] In some embodiments, the two fill lights are symmetrically arranged relative to the center line of the image acquisition module.

[0015] In some embodiments, the identification device further includes: a recharging signal transmitter, the recharging signal transmitter being adapted to transmit a recharging signal, and the recharging signal transmitter being two distributed on opposite sides of the image acquisition module.

[0016] In some embodiments, the distance L2 between the two recharging signal transmitters satisfies: 10≤L2≤15mm.

[0017] In some embodiments, the two recharging signal transmitters are symmetrically arranged relative to a center line of the image acquisition module.

[0018] In some embodiments, the horizontal field of view angle of the image acquisition module is greater than the vertical field of view angle of the image acquisition module.

[0019] In some embodiments, the laser emitter is used to emit linear laser light, and the center line of the image acquisition module intersects with the plane where the linear laser light emitted by the laser emitter is located.

[0020] In some embodiments, there is one laser emitter, and the distance H0 between the laser emitter and the image acquisition module satisfies: 12≤H0≤18mm.

[0021] In some embodiments, the number of the laser emitters is two and they are located on opposite sides of the image acquisition module. The distance L3 between each of the laser emitters and the image acquisition module satisfies the following relationship: 30≤L3≤60mm.

[0022] In some embodiments, the image acquisition module has a first working state and a second working state. In the first working state, the image acquisition module is used to capture visible light images. In the second working state, the image acquisition module captures infrared light images. The exposure amount of the image acquisition module in the first working state is greater than the exposure amount of the image acquisition module in the second working state.

[0023] In some embodiments, the laser emitter and the image acquisition module are arranged in the vertical direction, and the laser emitter is suitable for emitting a linear laser extending in the horizontal direction.

[0024] In some embodiments, the laser emitter is located above the image acquisition module.

[0025] In some embodiments, in the up and down directions, the fill light is located between the laser emitter and the image acquisition module.

[0026] In some embodiments, the number of the laser emitters is two and they are symmetrically distributed on the left and right sides of the image acquisition module. The laser emitters are used to emit linear lasers extending in the up-down direction.

[0027] In some embodiments, the fill light is located between the two laser emitters in the left and right directions.

[0028] In some embodiments, the laser emitter is an infrared laser emitter, and the image acquisition module is a dual-channel camera, which is used to detect ambient brightness and acquire visible light images and infrared light images.

[0029] In some embodiments, the fill light is a visible light fill light for adjusting the brightness of the environment.

[0030] In some embodiments, the recognition device further includes: a bracket, the image acquisition module includes a visible light camera and an infrared camera, the fill light includes an infrared fill light, the visible light camera, the infrared camera and the infrared fill light are spaced apart on the bracket, the infrared fill light is used to emit infrared light to the external environment of the recognition device, and the infrared camera is used to receive infrared light reflected by the external environment of the recognition device.

[0031] In some embodiments, the light emitting direction of the infrared fill light is set obliquely downward along the height direction of the recognition device.

[0032] In some embodiments, the angle between the light emitting direction of the infrared fill light and the horizontal plane of the ground is 0 degrees to 50 degrees.

[0033] In some embodiments, the infrared fill light is closer to the bottom of the recognition device than the infrared camera.

[0034] In some embodiments, along the height direction of the recognition device, the distance between the center of the infrared fill light and the center of the infrared camera is 0 mm to 30 mm.

[0035] In some embodiments, the laser emitter includes an infrared laser emitter, which is disposed on the bracket and located above the infrared camera.

[0036] In some embodiments, the identification device includes a dustproof sheet, which is provided on the bracket. The dustproof sheet covers the visible light camera, the infrared camera, the infrared fill light and the infrared laser emitter on the light-emitting side of the infrared fill light. The dustproof sheet includes a visible light area and an infrared light area. The visible light camera is used to receive visible light through the visible light area, and the infrared camera is used to receive infrared light through the infrared light area. The infrared light emitted by the infrared fill light and the infrared laser emitter passes through the infrared light area.

[0037] In some embodiments, the area of ​​a single infrared light region is greater than 25 square millimeters, and / or the infrared light transmittance of the infrared light region is greater than 80%.

[0038] In some embodiments, the identification device includes a single dustproof sheet, the distance between the center of the infrared laser emitter and the center of the infrared camera is greater than 10 mm, and the distance between the center of the infrared fill light and the center of the infrared camera is greater than 10 mm.

[0039] In some embodiments, the bracket includes an upper part and a lower part, the infrared laser emitter is arranged in the upper part, the visible light camera, the infrared camera and the infrared fill light are arranged in the lower part, and the dustproof sheet includes a first dustproof sheet and a second dustproof sheet arranged at intervals, the first dustproof sheet is arranged in the upper part and covers the infrared laser emitter, and the second dustproof sheet is arranged in the lower part and covers the visible light camera, the infrared camera and the infrared fill light.

[0040] In some embodiments, the identification device includes a recharging signal receiver, which is arranged in the upper part, and the first dustproof sheet covers the recharging signal receiver, and the recharging signal receiver is used to receive infrared light emitted by the base station through the infrared light area.

[0041] In some embodiments, the identification device includes a visible light fill light, which is arranged at the lower part, and the second dustproof sheet covers the visible light fill light, and the visible light emitted by the visible light fill light passes through the visible light area.

[0042] In some embodiments, the bracket is provided with a plurality of holes, and the recharging signal receiver and / or the visible light fill light, the visible light camera, the infrared laser transmitter, the infrared camera, and the infrared fill light are arranged in a corresponding hole, and the lower edge of the hole where the visible light fill light is located is horizontal.

[0043] In some embodiments, the bracket is provided with a through hole, and the through hole is suitable for removing the dustproof sheet from a side of the bracket away from the dustproof sheet.

[0044] In some embodiments, the infrared fill light has a lighting angle of greater than 90 degrees in the horizontal direction and a lighting angle of 20 to 60 degrees in the vertical direction.

[0045] In some embodiments, the laser emitter includes a visible light laser, the visible light laser is suitable for emitting visible light, the image acquisition module is suitable for acquiring color images, and the visible light laser is suitable for cooperating with the image acquisition module to perform ranging.

[0046] In some embodiments, the recognition device further includes a circuit board, which is electrically connected to the visible light laser and the image acquisition module. The recognition device can switch between a ranging mode and an image acquisition mode. In the ranging mode, the visible light laser cooperates with the image acquisition module to perform ranging. In the image acquisition mode, the visible light laser stops operating and the image acquisition module performs image acquisition operations.

[0047] In some embodiments, the visible light laser is configured to emit green laser light, blue laser light, or red laser light.

[0048] In some embodiments, the switching frequency of the visible light laser is greater than or equal to 30 Hz and less than or equal to 90 Hz.

[0049] In some embodiments, the number of the visible light lasers is greater than or equal to 1 and less than or equal to 3.

[0050] In some embodiments, there is one visible light laser, which emits horizontal laser light forward or downward, and the angle between the optical axis of the visible light laser and the horizontal plane may be greater than or equal to 0 degrees and less than or equal to 45 degrees.

[0051] In some embodiments, the visible light laser is disposed above the image acquisition module.

[0052] In some embodiments, the field of view angle of the visible light laser is greater than or equal to 90 degrees and less than or equal to 140 degrees.

[0053] In some embodiments, the number of the visible light lasers is two, and the two visible light lasers are respectively disposed on both sides of the image acquisition module in the horizontal direction.

[0054] In some embodiments, both of the two visible light lasers emit vertical linear lasers, and an angle between an optical axis of the visible light laser and an optical axis of the image acquisition module is greater than or equal to 30 degrees and less than or equal to 60 degrees.

[0055] In some embodiments, the field of view angle of the visible light laser is greater than or equal to 50 degrees and less than or equal to 90 degrees.

[0056] In some embodiments, the transmittance of the image acquisition module to visible light is greater than 90%, and the wavelength range of the visible light is greater than or equal to 380 nm and less than or equal to 760 nm.

[0057] In some embodiments, the recognition device further includes a bracket, and the visible light laser and the image acquisition module are both fixed on the bracket.

[0058] In a second aspect, the present application proposes a control method.

[0059] According to the control method of the second aspect of the present application, applied to the above-mentioned identification device, the control method includes: controlling the identification device to operate alternately between a ranging mode and an image acquisition mode, wherein in the ranging mode, the visible light laser cooperates with the image acquisition module to perform ranging, and in the image acquisition mode, the visible light laser stops operating and the image acquisition module performs image acquisition operations.

[0060] According to the control method of the second embodiment of the present application, by being applied to the recognition device of the above-mentioned first embodiment, the obstacle avoidance operation and video cruising needs of the cleaning equipment can be well met. The visible light laser emits visible light, so that the user can well perceive the ranging operation of the recognition device, so that the user has a better experience. The recognition device performs ranging and image acquisition in time, which can well avoid the color deviation problem of the image, so that the recognition device can obtain good ranging effect and image acquisition effect, thereby making the cleaning equipment run more stably and providing the user with a better experience.

[0061] In some embodiments, the image acquisition module is a camera with three RGB channels, wherein the channel used to acquire the laser emitted by the visible light laser is a preset channel, and the remaining channels are judgment channels. The image acquisition module cooperates with the visible light laser to perform ranging, including: acquiring an image; confirming that the signal of the image in the preset channel among the three RGB channels of the image acquisition module is a valid laser signal; processing the valid laser signal to obtain distance information.

[0062] In some embodiments, the confirmation that the signal of the image in the preset channel of the RGB three channels of the image acquisition module is a valid laser signal includes: acquiring the light intensity value of the image in the three RGB channels; confirming that the light intensity value in each of the determination channels is less than the first calibration value, and / or confirming that the ratio of the light intensity value in each of the determination channels to the light intensity value in the preset channel is less than the second calibration value; and determining that the signal in the preset channel is a valid laser signal.

[0063] A third aspect of the present application provides a cleaning device.

[0064] The cleaning device according to the third embodiment of the present application includes: a device body and the above-mentioned identification device, wherein the identification device is provided on the device body.

[0065] According to the cleaning equipment of the third aspect embodiment of the present application, the accuracy of the distance measurement and obstacle recognition of the recognition device can be improved through the cooperation of the image acquisition module with the laser emitter and the fill light, so as to improve the obstacle avoidance and cleaning performance of the cleaning equipment.

[0066] In some embodiments, the cleaning device further includes: a drive assembly installed on the device body, the image acquisition module is drivingly connected to the drive assembly, and the drive assembly is used to drive the image acquisition module to move relative to the device body.

[0067] In some embodiments, the drive assembly includes: a transmission member, which is rotatably connected to the device body, and the image acquisition module is installed on the transmission member; a drive component, which is arranged on the device body, and the drive component is used to drive the transmission member to rotate to drive the image acquisition module to rotate.

[0068] In some embodiments, the position where the transmission member is rotationally connected to the device body is a first position, the transmission member has a mounting portion and a transmission portion, the first position is located between the mounting portion and the transmission portion along the arrangement direction of the mounting portion and the transmission portion, the image acquisition module is installed on the mounting portion, and the driving assembly is transmission-connected to the transmission portion to drive the transmission portion to rotate.

[0069] In some embodiments, the transmission member includes a front shell and a rear shell, the mounting portion is formed on the front shell, the front shell and the rear shell are surrounded to form a mounting cavity, and the image acquisition module is disposed in the mounting cavity.

[0070] In some embodiments, the rear shell includes a first shell and a second shell, the first shell and the second shell are arranged crosswise, and the front shell and the first shell are arranged to form the installation cavity.

[0071] In some embodiments, the driving assembly includes a driving member and a cam, the driving member is mounted on the device body, and the driving member can drive the cam to rotate, thereby driving the transmission part to rotate around the first position.

[0072] In some embodiments, the cleaning device includes an elastic return member, one end of which is connected to the device body, and the other end of which abuts against a side of the transmission portion away from the cam.

[0073] In some embodiments, the device body has a limiting step, the transmission member has a limiting protrusion, the limiting step is located below the limiting protrusion, and the elastic return member makes the limiting protrusion tend to abut against the limiting step.

[0074] In some embodiments, the central axis of rotation of the transmission member relative to the device body is a target central axis, and the target central axis is arranged to intersect with the up and down directions and the front and back directions of the device body respectively.

[0075] In some embodiments, the drive assembly is used to drive the image acquisition module to move in an up and down direction relative to the device body.

[0076] In a fourth aspect, the present application proposes a cleaning system.

[0077] According to the fourth aspect of the present application, the cleaning system includes: the above-mentioned cleaning device, which is a cleaning robot; and a base station having a accommodating cavity for accommodating the cleaning device.

[0078] According to the cleaning system of the fourth embodiment of the present application, the accuracy of the distance measurement and obstacle recognition of the recognition device can be improved through the cooperation of the image acquisition module with the laser emitter and the fill light, so as to improve the obstacle avoidance and cleaning performance of the cleaning equipment.

[0079] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] FIG1 is a schematic diagram of an identification device according to Embodiment 1 of the present application;

[0081] FIG2 is a schematic diagram of an identification device according to a second embodiment of the present application;

[0082] FIG3 is a schematic diagram of an identification device according to a third embodiment of the present application;

[0083] FIG4 is a schematic diagram of an identification device according to a fourth embodiment of the present application;

[0084] FIG5 is a schematic diagram of the field of view of a laser transmitter of an identification device according to an embodiment of the present application;

[0085] FIG6 is a schematic diagram of light intensity distribution of a laser emitter of an identification device according to an embodiment of the present application;

[0086] FIG7 is a schematic structural diagram of an identification device according to an embodiment of the present application;

[0087] FIG8 is a front view of the identification device in FIG7;

[0088] FIG9 is a front view of an identification device according to another embodiment of the present application;

[0089] FIG10 is a top view of the identification device in FIG9;

[0090] FIG11 is a schematic diagram of the laser emitter of the identification device in FIG9 emitting laser light;

[0091] FIG12 is a front view of an identification device according to some embodiments of the present application;

[0092] 13 and 14 are front views of partial structures of identification devices according to some embodiments of the present application;

[0093] 15 and 16 are schematic perspective views of identification devices according to some embodiments of the present application;

[0094] FIG17 is a rear view of an identification device according to some embodiments of the present application;

[0095] FIG18 is a top view of an identification device according to some embodiments of the present application;

[0096] FIG19 is a cross-sectional view of an identification device according to some embodiments of the present application;

[0097] 20 and 21 are schematic perspective views of stents according to some embodiments of the present application;

[0098] FIG22 is a front view of a stent according to some embodiments of the present application;

[0099] FIG23 is a rear view of a stent according to some embodiments of the present application;

[0100] FIG24 is a schematic diagram of the structure of tableting according to some embodiments of the present application;

[0101] FIG25 is a diagram showing the shooting effect of an infrared camera + an infrared fill light according to some embodiments of the present application;

[0102] FIG26 is a diagram showing the shooting effect of a visible light camera according to some embodiments of the present application;

[0103] FIG27 is a schematic diagram of an identification device having a single visible light laser emitter according to the present application;

[0104] FIG28 is a schematic diagram of an identification device having two visible light laser emitters according to the present application;

[0105] FIG29 is a flow chart of a control method according to an embodiment of the present application;

[0106] FIG30 is a flow chart of a control method according to another embodiment of the present application;

[0107] FIG31 is a flow chart of a control method according to yet another embodiment of the present application;

[0108] FIG32 is a schematic diagram of a Bayer array of a chip in an image acquisition module according to an embodiment of the present application;

[0109] FIG33 is a schematic diagram of a chip in an image acquisition module according to an embodiment of the present application sensing a green line laser.

[0110] FIG34 is a schematic structural diagram of a cleaning device in a certain working state according to an embodiment of the present application;

[0111] Figure 35 is an enlarged view of point A in Figure 34;

[0112] FIG36 is a schematic structural diagram of a cleaning device in another working state according to an embodiment of the present application;

[0113] Figure 37 is an enlarged view of point B in Figure 36;

[0114] FIG38 is a schematic structural diagram of a transmission member and an image acquisition module according to an embodiment of the present application;

[0115] FIG39 is an exploded view of FIG38;

[0116] FIG40 is a schematic structural diagram of a driving assembly according to an embodiment of the present application;

[0117] Figure 41 is a schematic diagram of a cleaning device at a certain angle in one embodiment of the present application.

[0118] Figure numerals: 100, identification device; 1, laser emitter; 1a, visible light laser emitter; 1b, infrared laser emitter; 2, image acquisition module; 2a, dual-channel camera; 2b, visible light camera; 2c, infrared camera; 21, center line of field of view; 22, edge of field of view; 3, fill light; 3a, infrared fill light; 31, luminous surface; 3b, visible light fill light; 4, recharge signal transmitter; 5, bracket; 5a, upper part; 5b, lower part; 51, connecting part; 511, positioning hole; 512, fixing hole; 52, hole position; 53, through hole; 6, pressing piece; 7, dustproof sheet; 7a, first dustproof sheet; 7b, second dustproof sheet; recharge signal receiver 8; circuit board 9; 200, device body; 200a, first position; 200b, limit step; 300, drive assembly; 310, transmission member; 311, front shell; 312, rear shell; 3121, first shell; 3122, second shell; 310a, mounting portion; 310b, transmission portion; 310c, limiting protrusion; 310d, mounting cavity; 320, drive assembly; 321, cam; 322, drive member; 330, elastic return member; 400, front collision plate; 410, perspective window; 500, buffer pad. DETAILED DESCRIPTION

[0119] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0120] The disclosure below provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the applicability of other processes and / or the use of other materials.

[0121] The following describes an identification device 100 according to an embodiment of the first aspect of the present application with reference to the accompanying drawings.

[0122] As shown in Figures 1 to 4, the recognition device according to the embodiment of the first aspect of the present application includes: a laser emitter 1, a fill light 3, and an image acquisition module 2. The image acquisition module 2 is suitable for acquiring color images and receiving infrared light reflected from the external environment. In other words, the image acquisition module 2 can acquire visible light images and infrared images, so that obstacles can be identified through visible light images and infrared images. In addition, the image acquisition module 2 cooperates with the laser emitter 1 and the fill light 3 to meet the image acquisition needs of the recognition device 100. For example, the laser emitter 1 can emit a line laser, and the image acquisition module 2 can use the line laser to measure distance. The fill light 3 can improve the clarity of the image acquired by the image acquisition module 2. As a result, the accuracy of the recognition device 100's distance measurement and obstacle identification can be improved, thereby improving the obstacle avoidance and cleaning performance of the cleaning equipment.

[0123] According to the recognition device of the first aspect of the present application, the image acquisition module 2 cooperates with the laser emitter 1 and the fill light 3 to improve the accuracy of the distance measurement and obstacle recognition of the recognition device 100, thereby improving the obstacle avoidance and cleaning performance of the cleaning equipment.

[0124] In some embodiments, within the field of view angle range of the laser emitter 1, the intensity of the laser light emitted by the laser emitter 1 increases in the direction from the field of view centerline 21 of the laser emitter 1 toward the field of view edge 22. As shown in Figures 5 and 6, the field of view edge 22 here refers to the two edges that constitute the field of view angle of the laser emitter 1. In the figures, θ refers to the deflection angle of the object relative to the field of view centerline 21. Figure 6 shows a schematic diagram of the relationship between θ and the light intensity emitted by the laser emitter 1. In other words, within the field of view angle range of the laser emitter 1, the closer to the field of view edge 22, the greater the intensity of the laser light emitted by the laser emitter 1. It can be understood that when the laser light intensity is fixed, the closer the object is to the center line 21 of the field of view, and the closer the distance between the object in front of the recognition device 100 and the image acquisition module 2 is, the shorter the optical path of the light emitted by the laser emitter 1 to the object and reflected by the object to the image acquisition module 2 is, and the larger the reflection angle, which is usually diffuse reflection, is, the stronger the light intensity of the light captured by the image acquisition module 2 is. Conversely, the closer the object is to the edge 22 of the field of view, and the farther the object is from the front of the recognition device 100 and the image acquisition module 2 is, the longer the optical path of the light emitted by the laser emitter 1 to the object and reflected by the object to the image acquisition module 2 is, and the smaller the reflection angle, which is usually diffuse reflection, is, the weaker the light intensity of the light captured by the image acquisition module 2 is. In this way, uneven light captured by the image acquisition module 2 due to different deflection angles of the object relative to the center line 21 of the field of view can be effectively avoided, that is, the uniformity of the light captured by the image acquisition module 2 can be effectively guaranteed, thereby effectively improving the accuracy of the image captured by the image acquisition module 2. In a specific example, as shown in FIG6 , the laser intensity distribution characteristic of the laser emitter 1 is “M” shaped. Within the field of view angle range of the laser emitter 1 , the laser intensity emitted by the laser emitter 1 gradually increases in the direction from the field of view center line 21 of the laser emitter 1 toward the field of view edge 22 .

[0125] In some embodiments, the angle between the field of view edge 22 on one side of the field of view of the laser emitter 1 and the field of view centerline 21 is a1, and the angle between the field of view edge 22 on the other side of the field of view of the laser emitter 1 and the field of view centerline is a2, satisfying the following: |a1-a2|≤5°. That is, the angular difference between the field of view edges 22 on both sides of the field of view of the laser emitter 1 and the field of view centerline 21 is controlled within 5° (inclusive). For example, the angular difference between the field of view edges 22 on both sides of the field of view of the laser emitter 1 and the field of view centerline 21 can be 1°, 1.5°, 2°, 2.5°, 3°, 4°, 5°, etc., without specific limitation. In this way, the symmetrical distribution of light intensity on both sides of the field of view centerline 21 can be better ensured, thereby better ensuring the uniformity of light used by the image acquisition module 2 to acquire images, thereby improving the accuracy of image acquisition by the image acquisition module 2.

[0126] In some embodiments, within the field of view angle range of the laser emitter 1, the minimum laser intensity i1 of the laser emitter 1 and the maximum laser intensity i2 of the laser emitter 1 satisfy the following relationship: 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 angle range 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 angle range can be 1.5, 1.8, 2.1, 2.5, 2.8, 3.4, 3.9, 4, 4.5, 5, etc., without specific limitation herein. Among them, on the basis that the minimum laser intensity of the laser emitter 1 remains unchanged, the greater the ratio of the maximum laser intensity to the minimum laser intensity, the stronger the laser length near the edge 22 of the field of view, and the more light is returned to the image acquisition module 2 from the object near the time length edge 22, but the power and other requirements of the laser emitter 1 also increase accordingly; conversely, the greater the ratio of the maximum laser intensity to the minimum laser intensity, the weaker the laser length near the edge 22 of the field of view, and the less light is returned to the image acquisition module 2 from the object near the time length edge 22.

[0127] Therefore, by controlling the ratio of maximum laser intensity to minimum laser intensity within a range of 1.5 to 5, the maximum and minimum laser intensities of laser emitter 1 can be effectively controlled within a reasonable range, thereby ensuring the uniformity of the light used by image acquisition module 2 to acquire images while reducing the cost of using laser emitter 1. In a specific example, within the field of view angle range of laser emitter 1, the laser intensity at the center line 21 of the field of view is the lowest, and the laser intensity at the edge 22 of the field of view is the highest. The ratio of the laser intensity at the edge 22 of the field of view to the laser intensity at the center line 21 of the field of view is controlled within a range of 1.5 to 5.

[0128] In some embodiments, the fill light 3 is positioned above the image acquisition module 2. That is, the fill light 3 and image acquisition module 2 are arranged vertically, allowing them to fully utilize the vertical installation space, thereby reducing the left-right dimensions of the recognition device 100. Furthermore, the fill light 3 and image acquisition module 2 can be relatively centrally positioned in the left-right direction. Therefore, the beam emitted by the fill light 3 and the field of view of the image acquisition module 2 can effectively cover the left and right areas, thereby reducing the number of components while ensuring the recognition area of ​​the recognition device 100. Furthermore, the fill light 3 is positioned higher relative to the image acquisition module 2. The higher the fill light 3 is positioned, the greater the radiation range of the fill light beam emitted by the fill light 3, i.e., the larger the area that the fill light 3 can illuminate. This increases the spatial range within which the fill light 3 can adjust its brightness. This effectively increases the radiation range of the fill light 3, thereby improving the accuracy of the image acquisition module 2 in capturing an object image. In addition, by arranging the image acquisition module 2 at a relatively low position, the blind spot of the field of view of the image acquisition module 2 below the front end of the recognition device 100 can be effectively reduced, thereby improving the reliability of the recognition device 100.

[0129] In some embodiments, there are two fill lights 3, located on opposite sides of the image acquisition module 2. That is, two fill lights 3 are provided, with the image acquisition module 2 located between the two fill lights 3. The two fill lights 3 can respectively adjust the brightness of the areas on opposite sides of the image acquisition module 2. Thus, by increasing the number of fill lights 3, the range of brightness adjustment of the recognition device 100 can be significantly increased. At the same time, the brightness adjustment effect of the fill lights 3 on the areas on opposite sides of the image acquisition module 2 can be ensured, thereby improving the clarity of the image captured by the image acquisition module 2. In a specific example, one of the two fill lights 3 is located on the left side of the image acquisition module 2, and the other is located on the right side of the image acquisition module 2. Thus, the two fill lights 3 can respectively adjust the left and right areas in front of the image acquisition module 2, thereby improving the clarity of the image captured by the image acquisition module 2.

[0130] In some embodiments, the distance L1 between the two fill lights 3 satisfies the following: 40 ≤ L1 ≤ 60 mm. That is, the distance between the two fill lights 3 is controlled within the range of 40 mm to 60 mm (inclusive). For example, the distance between the two fill lights 3 can be 40 mm, 42 mm, 45 mm, 47 mm, 50 mm, 52 mm, 54 mm, 57 mm, 60 mm, and so on, without specific limitation. This effectively prevents the two fill lights 3 from being too close together, which could lead to excessive overlap in the illumination areas of the two fill lights 3. This also prevents overexposure of the image captured by the image acquisition module 2 due to excessive overlap in the illumination areas of the two fill lights 3 and excessive brightness in the overlapping area, thereby improving the clarity of the image captured by the image acquisition module 2. Furthermore, this effectively prevents the two fill lights 3 from occupying too much installation space due to being too far apart. Specifically, the installation space occupied by the two fill lights 3 in the arrangement direction can be effectively controlled, making the structure of the recognition device 100 compact.

[0131] In some embodiments, the two fill lights 3 are symmetrically arranged relative to the center line of the image acquisition module 2. This ensures that the illuminated areas of the two fill lights 3 are symmetrically distributed relative to the center line of the image acquisition module 2, thereby ensuring that the two fill lights 3 can symmetrically adjust the areas on opposite sides of the image acquisition module 2 to improve the clarity of the image captured by the image acquisition module 2.

[0132] In some embodiments, 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 device may be a cleaning robot that automatically cleans the floor by moving. The identification device 100 is mounted on the cleaning robot, and a base station associated with the cleaning robot is provided with a recharge signal receiver corresponding to the recharge signal transmitter 4. The recharge signal receiver is configured to receive the recharge signal transmitted by the corresponding recharge signal transmitter 4 and provide feedback indicating that the cleaning robot is aligned with the base station. The recharge signal transmitter 4 and the recharge signal receiver cooperate to guide the cleaning robot back to the base station. The recharge signal transmitter 4 is provided on two opposite sides of the image acquisition module 2. The base station is provided 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 recognition errors. When the two recharge signal receivers receive the recharge signals transmitted by the two recharge signal transmitters 4, the cleaning robot is now aligned with the base station. The recharge signal receivers and the recharge signal transmitter 4 cooperate to guide the cleaning robot back to the base station. Thus, the positioning accuracy of the identification device 100 can be improved. In a specific example, the recharging signal transmitter 4 is a recharging signal light.

[0133] In some embodiments, the spacing L2 between the two recharge signal transmitters 4 satisfies: 10≤L2≤15mm. That is, the distance between the two recharge signal transmitters 4 is controlled within the range of 10mm to 15mm (including 10mm and 15mm). For example, the distance between the two recharge signal transmitters 4 can be 10mm, 11mm, 12mm, 13mm, 14mm, 15mm, etc., and no specific restrictions are made here. In this way, it is possible to better avoid the distance between the two recharge signal transmitters 4 being too close, which increases the difficulty of installation. At the same time, it is possible to avoid the distance between the two recharge signal transmitters 4 being too large, which causes the two recharge signal transmitters 4 to occupy too much installation space in the arrangement direction, thereby making the structure of the identification device 100 compact.

[0134] In some embodiments, the two recharging signal transmitters 4 are symmetrically arranged relative to the center line of the image acquisition module 2. In other words, the center of the line connecting the centers of the two recharging signal transmitters 4 is located on the center line of the image acquisition module 2, that is, the image acquisition module 2 is located at the center between the two recharging signal transmitters 4. Therefore, after the two recharging signal receivers respectively receive the signals transmitted by the corresponding recharging signal transmitters 4, since the image acquisition module 2 is located at the center between the two recharging 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 recognition device 100 and thereby improve the alignment accuracy between the cleaning robot and the base station.

[0135] In some embodiments, the distance L3 between the two recharging signal transmitters 4 satisfies the following condition: 10 ≤ L3 ≤ 15 mm, and the two recharging signal transmitters 4 are symmetrically arranged with respect to the centerline of the image acquisition module 2. This effectively avoids the increased installation difficulty caused by the close distance between the two recharging signal transmitters 4, while also making the structure of the recognition device 100 compact and improving the alignment accuracy of the recognition device 100, thereby improving the alignment accuracy between the cleaning robot and the base station.

[0136] In some embodiments, the horizontal field of view of the image acquisition module 2 is greater than the vertical field of view of the image acquisition module 2. That is, the field of view of the image acquisition module 2 in the horizontal direction is greater than the field of view in the vertical direction. For example, if the image acquisition module 2 is set at the front end of the cleaning robot, the field of view of the image acquisition module 2 in the left and right directions is greater than the field of view in the up and down directions, so that the image acquisition module 2 can acquire images in a larger area in the horizontal direction. It can be understood that the cleaning robot usually has a relatively small thickness, so the recognition range in the vertical direction only needs to ensure that the cleaning robot can pass smoothly. Thus, while ensuring the field of view of the image acquisition module 2 in the vertical direction, the range in which the image acquisition module 2 can acquire images in the horizontal direction can be increased by increasing the horizontal field of view, thereby improving the recognition range of the recognition device 100 in the horizontal direction, which is beneficial to improving the obstacle avoidance ability of the cleaning robot.

[0137] In some embodiments, the laser emitter 1 is used to emit a linear laser, and the center line of the image acquisition module 2 intersects with the plane in which the linear laser emitted by the laser emitter 1 is located. In other words, the laser emitter 1 is a linear laser emitter 1, and the laser is inclined in the emission direction toward the direction close to the center line of the image acquisition module 2. As a result, the blind spot between the field of view of the laser emitter 1 and the field of view of the image acquisition module 2 can be effectively reduced to improve the reliability of the recognition device 100. In a specific example, the image acquisition module 2 is arranged to face straight ahead, that is, the center line of the field of view of the image acquisition module 2 is perpendicular to the up and down direction, and in the direction from back to front, the laser emitter 1 emits a linear laser in the direction close to the image acquisition module 2.

[0138] In some embodiments, as shown in FIG7 and FIG8 , there is only one laser emitter 1, and the distance H0 between the laser emitter 1 and the image acquisition module 2 satisfies the following: 12 ≤ H0 ≤ 18 mm. That is, the distance between the laser emitter 1 and the image acquisition module 2 is controlled within the range of 12 mm to 18 mm (inclusive). For example, the distance between the laser emitter 1 and the image acquisition module 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 limitation herein. In this way, it is possible to avoid the laser emitter 1 being too close to the image acquisition module 2, which would affect the accuracy of the infrared image captured by the image acquisition module 2. At the same time, it is possible to better avoid the laser emitter 1 being too far from the image acquisition module 2, which would cause the blind spot between the field of view of the laser emitter 1 and the field of view of the image acquisition module 2 to be too large, and the laser emitter 1 and the image acquisition module 2 to occupy too much installation space in the arrangement direction. This can ensure the accuracy of the recognition device 100 while making the structure of the recognition device 100 compact.

[0139] In some embodiments, as shown in FIG9 and FIG11 , there are two laser emitters 1 distributed on opposite sides of the image acquisition module 2, and the spacing L3 between each laser emitter 1 and the image acquisition module 2 satisfies the following conditions: 30 ≤ L3 ≤ 60 mm. That is, the distance between each laser emitter 1 and the image acquisition module 2 is controlled within the range of 30 mm to 60 mm (inclusive). For example, the distance between the laser emitter 1 and the image acquisition module 2 can be 30 mm, 32 mm, 35 mm, 39 mm, 45 mm, 49 mm, 52 mm, 55 mm, 60 mm, etc., without specific limitation herein. In this way, it is possible to avoid the laser emitter 1 being too close to the image acquisition module 2, which would affect the accuracy of the infrared image captured by the image acquisition module 2. At the same time, it is possible to avoid the laser emitter 1 being too far from the image acquisition module 2, which would cause the blind spot between the field of view of the laser emitter 1 and the field of view of the image acquisition module 2 to be too large, and the laser emitter 1 and the image acquisition module 2 to occupy too much installation space in the arrangement direction. This can ensure the accuracy of the recognition device 100 while making the structure of the recognition device 100 compact.

[0140] In some embodiments, the image acquisition module 2 has a first operating state and a second operating state. In the first operating state, the image acquisition module 2 is used to capture visible light images, and in the second operating state, the image acquisition module 2 captures infrared light images. The exposure level of the image acquisition module 2 in the first operating state is greater than the exposure level of the image acquisition module 2 in the second operating state. In other words, the amount of light entering the image acquisition module 2 when capturing visible light images is greater than the amount of light entering when capturing infrared light images. This effectively ensures that the image acquisition module 2 has sufficient brightness when capturing visible light images, thereby obtaining clearer visible light images. At the same time, it prevents excessive light from affecting the image acquisition module 2's capture of infrared light images, thereby improving the clarity of both visible and infrared images captured by the image acquisition module 2.

[0141] In a specific example, the image acquisition module 2 and the laser emitter 1 work in a time-sharing manner. When the laser emitter 1 emits laser, the image acquisition module 2 measures the distance based on the laser image and triangulation. When the laser emitter 1 is turned off, the image acquisition module 2 acquires the visible light image of the object and performs AI recognition of the object.

[0142] In some embodiments, the laser emitter 1 and the image acquisition module 2 are arranged in a vertical direction. This allows the laser emitter 1 and the image acquisition module 2 to fully utilize the vertical installation space, thereby reducing the installation space occupied by the laser emitter 1 and the image acquisition module 2 in the horizontal direction and reducing the size of the recognition device 100 in the horizontal direction. Furthermore, the laser emitter 1 and the image acquisition module 2 can be relatively centered in the horizontal direction. Therefore, the field of view of the laser emitter 1 and the image acquisition module 2 can effectively cover the left and right areas, thereby reducing the number of parts while ensuring the recognition area of ​​the recognition device 100. The laser emitter 1 is suitable for emitting a linear laser extending in the horizontal direction. That is, the laser emitter 1 is a line laser emitter 1, and the laser light emitted by the laser emitter 1 forms a horizontally extending line segment on the surface of an object. This effectively increases the horizontal coverage area of ​​the laser light emitted by the laser emitter 1, thereby increasing the horizontal recognition area of ​​the recognition device 100.

[0143] In some embodiments, the laser emitter 1 is located above the image acquisition module 2. Therefore, by placing the laser emitter 1 at a relatively high position, it is possible to better avoid obstruction of the laser emitter 1, thereby ensuring that the laser emitted by the laser emitter 1 can illuminate the object in front of the recognition device 100. In addition, by placing the image acquisition module 2 at a relatively low position, it is possible to better reduce the blind spot of the field of view of the image acquisition module 2 below the front end of the recognition device 100, thereby improving the reliability of the recognition device 100.

[0144] In some embodiments, the fill light 3 is located between the laser emitter 1 and the image acquisition module 2 in the vertical direction. That is, the laser emitter 1, fill light 3, and image acquisition module 2 are arranged sequentially from top to bottom, with the fill light 3 located in a relatively central position in the vertical direction. Thus, the laser emitter 1, fill light 3, and image acquisition module 2 can fully utilize the vertical installation space. The fill light 3 is located above the image acquisition module 2, which can effectively increase the radiation range of the fill light 3 and improve the accuracy of the image acquisition module 2 in capturing the image of the object. Furthermore, the distance between the fill light 3 and the image acquisition module 2 can be effectively shortened, allowing the fill light 3 to adjust the brightness of the area near the image acquisition module 2. This prevents the area near the image acquisition module 2 from being illuminated by the fill light 3, resulting in unclear images, thereby improving the reliability of the recognition device 100.

[0145] In some embodiments, the laser emitter 1 is located above the image acquisition module 2, and in the vertical direction, the fill light 3 is located between the laser emitter 1 and the image acquisition module 2. Therefore, the recognition device 100 has a compact structure and high reliability.

[0146] In some embodiments, there are two laser emitters 1 symmetrically distributed on the left and right sides of the image acquisition module 2, and the laser emitters 1 are used to emit linear lasers extending in the up and down directions. That is to say, the image acquisition module 2 is located between the two laser emitters 1, and the image acquisition module 2 can acquire the light formed on the surface of the object by the lasers emitted by the two laser emitters 1. Therefore, through the cooperation of the two laser emitters 1 and the image acquisition module 2, the recognition accuracy of the recognition device 100 can be greatly improved. In addition, the number of image acquisition modules 2 can be greatly saved, which is conducive to reducing the investment cost of the recognition device 100.

[0147] In some embodiments, the fill light 3 is located between the two laser emitters 1 in the left-right direction. Thus, the fill light 3 and the image acquisition module 2 are relatively centered in the left-right direction. Therefore, the light beam emitted by the fill light 3 and the field of view of the image acquisition module 2 can better cover the left and right areas, thereby reducing the number of parts while ensuring the recognition area of ​​the recognition device 100.

[0148] In some embodiments, the laser emitter 1 is an infrared laser emitter 1b, and the image acquisition module 2 is a dual-channel camera 2a. The dual-channel camera 2a is used to detect ambient brightness and acquire visible light images and infrared light images. In other words, the laser emitter 1 can emit a laser toward an object, and the image acquisition module 2 can acquire the infrared light emitted by the laser emitter 1 onto the object. This allows the distance between the recognition device 100 and the object to be determined through methods such as triangulation. In other words, the laser emitter 1 and the image acquisition module 2 can cooperate to achieve object ranging. Furthermore, the image acquisition module 2 can also acquire a visible light image of the object and determine the type and shape of the object by analyzing the visible light image of the object, thereby enabling intelligent recognition of the object by the recognition device 100.

[0149] Therefore, the recognition device 100 can have the ranging and object recognition functions at the same time, and the image acquisition module 2 has the functions of detecting the ambient brightness, acquiring visible light images, and acquiring infrared light images. The integration of the image acquisition module 2 can be greatly improved, thereby reducing the number of parts of the recognition device 100 to reduce the installation space and cost occupied by the parts, which is beneficial to improving the structural compactness of the recognition device 100 and reducing investment costs.

[0150] In a specific example, the image acquisition module 2 is a monocular camera with a dual-bandpass filter lens that allows visible light and infrared narrowbands to pass through. The photosensitive chip of the image acquisition module 2 is an RGB photosensitive chip, so that the photosensitive chip can perceive color images and output color photos, which helps improve the recognition accuracy of the recognition device 100 for objects. The wavelength of the laser emitted by the laser emitter 1 can be selected in the range of 780nm to 1650nm, preferably 808nm, 850nm, or 940nm. In addition, during the cleaning process of the cleaning robot equipped with the recognition device 100, since the dual-bandpass filter lens can pass visible light, video or real-time video can be captured through the image acquisition module 2. Since the dual-bandpass filter lens can pass infrared light sources, the image acquisition module 2 can identify hidden camera devices in the environment or identify light sources such as infrared laser radar that may be harmful to the human eye, thereby improving the privacy and safety of the environment.

[0151] In some embodiments, the fill light 3 is a visible light fill light 3b used to adjust the ambient brightness. That is, after the image acquisition module 2 acquires the ambient brightness, the fill light 3 can be turned on or off based on the ambient brightness acquired by the image acquisition module 2 to adjust the ambient brightness, thereby ensuring that the ambient brightness meets the capture requirements of the image acquisition module 2 and, in turn, that the image acquisition module 2 can capture clear images. Specifically, when the image acquisition module 2 detects that the ambient brightness is greater than a preset brightness threshold, the ambient brightness meets the capture requirements of the image acquisition module 2, and the fill light 3 is turned off. When the image acquisition module 2 detects that the ambient brightness is less than the preset brightness threshold, the fill light 3 is turned on to increase the ambient brightness, ensuring that the image acquisition module 2 can capture a clear image of the object.

[0152] Among them, the fill light 3 can emit visible light so that the image acquisition module 2 can obtain a visible light image when identifying an object. Of course, in other embodiments, the fill light 3 can also emit infrared light so that the image acquisition module 2 can obtain an infrared image when identifying an object. There is no specific restriction on the type of light emitted by the fill light 3. In addition, the opening or closing of the image acquisition module 2 and the laser emitter 1 can be controlled by a control circuit board, and can also be achieved by providing a baffle that can be blocked or avoided on the front side of the image acquisition module 2 and the laser emitter 1. There is no specific restriction here. It should be noted that the fill light 3 can be provided on the identification device 100, and the fill light 3 can also be directly provided on a portion of the cleaning equipment other than the identification device 100, such as being provided on the cleaning equipment and separated from the identification device 100. There is no specific restriction on the specific installation position of the fill light 3.

[0153] The following describes an identification device 100 according to some embodiments of the present invention with reference to Figures 1 to 4. It is worth noting that the following description is merely exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0154] Example 1

[0155] As shown in Figure 1, the identification device 100 includes a laser emitter 1, an image acquisition module 2, two fill lights 3 and two recharge signal transmitters 4. The laser emitter 1 is located directly above the image acquisition module 2, the laser emitter 1 is set near the top, and the image acquisition module 2 is set near the bottom. The two recharge signal transmitters 4 are located below the laser emitter 1 and above the image acquisition module 2. The two recharge signal transmitters 4 are symmetrical and spaced apart in the left-right direction relative to the line connecting the center of the image acquisition module 2 and the center of the laser emitter 1. The two fill lights 3 are symmetrical and spaced apart in the left-right direction relative to the line connecting the center of the image acquisition module 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, and the recharge signal transmitter 4 and the fill light 3 are centered in the up and down direction.

[0156] Example 2

[0157] The structure of this embodiment is substantially the same as that of the first embodiment, wherein the same components are designated by the same reference numerals. Referring to FIG2 , the difference between the second embodiment and the first embodiment is that the recognition device 100 has only one fill light 3, and the laser emitter 1, the fill light 3 and the image acquisition module 2 are arranged in sequence and aligned in the vertical direction, and in the left-right direction, the fill light 3 is located between the recharging signal emitters 4 on both sides.

[0158] Example 3

[0159] Referring to Figure 3, the identification device 100 includes two laser emitters 1, an image acquisition module 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 image acquisition module 2, the image acquisition module 2 is arranged near the bottom, the two recharge signal transmitters 4 are located above the image acquisition module 2 and near the top, the two recharge signal transmitters 4 are symmetrical and spaced apart in the left-right direction relative to the center line of the image acquisition module 2, the two fill lights 3 are symmetrical and spaced apart in the left-right direction relative to the center line of the image acquisition module 2, the two fill lights 3 are located below the two recharge signal transmitters 4 and above the image acquisition module 2, and the laser emitter 1 and the fill light 3 are centered in the up and down direction.

[0160] Example 4

[0161] The structure of this embodiment is roughly the same as that of the third embodiment, wherein the same components are marked with the same reference numerals. Referring to FIG4 , the difference between the fourth embodiment and the third embodiment is that the recognition device 100 has only one fill light 3, and the fill light 3 is aligned with the image acquisition module 2 in the vertical direction. In the left and right directions, the two recharging signal transmitters 4 are respectively located on opposite sides of the fill light 3.

[0162] Please refer to Figures 12 to 19. In some embodiments, the recognition device 100 also includes a bracket 5, the image acquisition module 2 includes a visible light camera 2b and an infrared camera 2c, the fill light 3 includes an infrared fill light 3a, the visible light camera 2b, the infrared camera 2c and the infrared fill light 3a are arranged at intervals on the bracket 5, the infrared fill light 3a is used to emit infrared light to the external environment of the recognition device 100, and the infrared camera 2c is used to receive infrared light reflected by the external environment of the recognition device 100.

[0163] In the above-mentioned recognition device 100, the infrared fill light 3a can emit infrared light to the external environment of the recognition device 100, and the infrared camera 2c can receive infrared light from the external environment of the recognition device 100, so that the infrared light can be used to identify stains and obstacles, and to a certain extent avoid or reduce the interference of visible light in the ambient light and cause misidentification. Specifically, the recognition device 100 can be applied to cleaning equipment, and the cleaning equipment includes but is not limited to sweepers, scrubbers, vacuum cleaners and pressure washers. The cleaning equipment may include a shell and a recognition device 100, and the shell may include an upper shell and a base, and the recognition device 100 may be fixed to the base. In some embodiments, the circumferential side of the upper shell may be provided with an opening, and the recognition device 100 may be provided in the opening, so that the external environment where the cleaning equipment is located can be detected.

[0164] In some embodiments, the bracket 5 can be a plastic bracket manufactured by an integrated molding process. In the embodiments shown in Figures 15 and 18, a connecting portion 51 is provided on both sides of the bracket 5, and the connecting portion 51 is provided with a positioning hole 511 and a fixing hole 512, and a positioning column and a fixing portion are provided on the base. When installing the identification device 100, the bracket 5 can be positioned on the base by first penetrating the positioning hole 511 with a positioning column, and then the fixing hole 512 is penetrated by a fastener and connected to the fixing portion, so that the bracket 5 can be fixed to the base. Fasteners include but are not limited to screws, rivets, pins, etc. The fixing holes 512 include but are not limited to screw holes. In one embodiment, the bracket 5 can also be fixed to the base by snapping, welding, etc. The visible light camera 2b, the infrared camera 2c, and the infrared fill light 3a are arranged at intervals on the bracket 5, which can reduce the impact of each other's structures and functions to a certain extent.

[0165] The visible light camera 2b, also known as an RGB camera, can collect visible light from outside the recognition device 100, thereby forming a visible light environment image. In some embodiments, the visible light environment image can be recognized and processed by an AI (Artificial Intelligence) model to perceive the environmental state of the cleaning equipment, thereby enabling the cleaning equipment to perform corresponding operations. For example, the AI ​​model can detect obstacles in front of or to the side of the cleaning equipment based on the visible light environment image, so that the cleaning equipment can stop at the appropriate location to avoid collisions, or identify stains so that the cleaning equipment can focus on cleaning the stained areas.

[0166] The infrared camera 2c can collect infrared light from the environment outside the recognition device 100, perform infrared imaging, and obtain an infrared image of the environment. In some embodiments, the infrared camera 2c can collect infrared light with a wavelength between 790nm (nanometers) and 980nm. The infrared fill light 3a can emit infrared light toward the outside of the recognition device 100, and the infrared light can be incident on the environment outside the recognition device 100. The infrared camera 2c can receive the infrared light from the environment outside the recognition device 100, thereby enhancing the clarity of the infrared image and reducing the possibility of misidentification to a certain extent.

[0167] Compare Figures 25 and 26 for the same scene captured using visible light camera 2b (Figure 26) and infrared fill light 3a combined with infrared camera 2c (Figure 25). Clear water on off-white ceramic tiles is difficult to discern in the image captured by visible light camera 2b. However, under the illumination of infrared fill light 3a, the image captured by infrared camera 2c highlights the liquid edge and the back shadow, creating a distinct sense of depth. In some embodiments, the infrared light emitted by infrared fill light 3a has a wavelength of 850nm or 940nm to reduce interference from sunlight.

[0168] In some embodiments, the illumination angle of the infrared fill light 3a is greater than 90 degrees at a horizontal angle and 20 to 60 degrees at a vertical angle. Thus, infrared energy can be utilized more effectively. Specifically, the illumination angle of the infrared fill light 3a is similar to the FOV (Field of View). The illumination range emitted by the infrared fill light 3a is close to a rectangle. The horizontal angle is greater than 90 degrees and the vertical angle is 20 to 60 degrees. This can more effectively utilize infrared energy and is conducive to collecting the desired infrared image of the external environment of the recognition device 100.

[0169] The lateral angle of the infrared fill light 3a is T1, and the longitudinal angle is T2, that is, T1>90 degrees, 20 degrees ≤ T2 ≤ 60 degrees. In some examples, T1 = 91 degrees, 91.5 degrees, 92 degrees, 92.5 degrees, 93 degrees, 93.5 degrees, or other values ​​greater than 90 degrees. The upper limit of T1 can be determined based on factors such as the process of the infrared fill light 3a and the height of the recognition device 100. In some examples, T2 = 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, 60 degrees, or other values ​​between 20 degrees and 60 degrees.

[0170] In certain embodiments, referring to FIG19 , the light emission direction Q of the infrared fill light 3a is set diagonally downward along the height of the recognition device 100. This can give objects in the infrared image a more layered appearance and improve recognition accuracy to a certain extent. Specifically, in the embodiments shown in FIG13 to FIG19 , the infrared fill light 3a is a surface light source, including a light-emitting surface 31, and the light emission direction Q of the infrared fill light 3a is approximately perpendicular to the light-emitting surface 31. The light emission direction Q of the infrared fill light 3a is set diagonally downward along the height of the recognition device 100, so that the infrared light emitted by the infrared fill light 3a is emitted toward the ground, better illuminating obstacles, stains, and other objects on the ground, allowing the infrared camera 2c to capture a clearer infrared image of the ground. Furthermore, because the infrared light from the infrared fill light 3a is incident diagonally downward on the ground, obstacles, stains, and other objects on the ground are illuminated by the infrared light at different locations, resulting in different incident angles of the infrared light and, therefore, different reflection angles, thereby forming an infrared image with varying brightness. On the other hand, the parts of objects such as obstacles and stains on the ground that are away from the direction of the incident infrared light are not illuminated by the infrared light, resulting in a darker infrared image. It is understood that in other embodiments, the infrared fill light 3a can be a point light source, and the light emission direction Q of the infrared fill light 3a is along the central axis of the point light source.

[0171] In summary, the aforementioned infrared fill light 3a allows the image captured by infrared camera 2c to be brighter near the bottom of the recognition device 100. This provides a more layered infrared image of the environment outside the recognition device 100, facilitating the AI ​​model's ability to identify dirt. This improves recognition accuracy to a certain extent, compared to situations where visible light camera 2b fails to recognize or misidentifies objects. Referring to Figure 25 , under the illumination of infrared fill light 3a, the infrared image captured by infrared camera 2c shows a prominent highlight on the light-facing side of the liquid edge and a shadow on the back, creating a distinct layered image. This allows for more accurate identification of clear water pools on the ground.

[0172] In some embodiments, the angle A between the light emission direction Q of the infrared fill light 3a and the horizontal plane H of the ground is between 0 and 50 degrees. This allows for better utilization of infrared energy to illuminate objects on the ground. Specifically, in the embodiments shown in Figures 13 to 19, the infrared fill light 3a is a surface light source and includes a light-emitting surface 31. When the infrared fill light 3a is in operation, the light-emitting surface 31 emits infrared light, which is incident on the ground along the light emission direction Q. The angle A between the light emission direction Q of the infrared fill light 3a and the horizontal plane H of the ground is between 0 and 50 degrees. This allows the infrared light to be more concentrated on the ground, thereby better illuminating obstacles, stains, and other objects on the ground. This, to a certain extent, reduces or prevents infrared light from being incident on the ground at locations farther from the recognition device 100 or at higher altitudes, which would otherwise waste infrared energy. The angle A between the light emission direction Q of the infrared fill light 3a and the horizontal plane H of the ground is between 0 and 50 degrees, meaning that 0 ≤ A ≤ 50 degrees. In some examples, A=0 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, or other values ​​between 0 degrees and 50 degrees.

[0173] In some embodiments, the infrared fill light can be designed based on the image quality requirements for the infrared image output by the infrared camera. In one embodiment, the image quality requirements are: the entire infrared image, except for dirt, should be as dark as possible. The edges of liquid dirt should be bright and layered. Solid dirt should be bright and clearly distinguishable from the ground. There should be an overexposed area at the bottom of the infrared image, and the vertical overexposed area should not exceed 1 / 12 of the number of image lines.

[0174] In certain embodiments, referring to FIG13 , the infrared fill light 3a is closer to the bottom of the recognition device 100 than the infrared camera 2c. Thus, the infrared camera 2c can better capture infrared images of the external environment of the recognition device 100. Specifically, the infrared light emitted by the infrared fill light 3a can illuminate the ground, causing the ground and objects such as obstacles and stains on the ground to reflect the infrared light, and the infrared camera 2c can receive the reflected infrared light to form an infrared image. The infrared fill light 3a is closer to the bottom of the recognition device 100 than the infrared camera 2c, that is, the infrared camera 2c is located above the infrared fill light 3a. The infrared camera 2c is positioned higher, so that it can better receive infrared light reflected from the external environment of the recognition device 100, thereby forming a clearer infrared image.

[0175] In some embodiments, referring to Figures 13 and 14 , the distance between the center of the infrared fill light 3a and the center of the infrared camera 2c along the height direction of the recognition device 100 is 0 mm to 30 mm. This allows the recognition device 100 to have a compact structure.

[0176] Specifically, along the height direction of the identification device 100, the distance between the center of the infrared fill light 3a and the center of the infrared camera 2c is 0 mm to 30 mm, so that the distance between the infrared fill light 3a and the infrared camera 2c can be appropriate, and to a certain extent avoid the problem that the distance is too large and the height of the identification device 100 is too large, occupying too much space for the cleaning equipment, or in order to ensure the space for the cleaning equipment, the height of the cleaning equipment is increased, resulting in limited use scenarios of the cleaning equipment. For example, a cleaning equipment with a larger height cannot enter a shorter space for cleaning.

[0177] Referring to Figures 13 and 14 , the distance L between the center of the infrared fill light 3a and the center of the infrared camera 2c along the height direction of the recognition device 100 is 0 mm to 30 mm, that is, 0 mm ≤ L ≤ 30 mm. In some examples, L = 0 mm, 5 mm, 10 mm, 15 mm, 20 mm, 25 mm, 30 mm, or other values ​​between 0 mm and 30 mm.

[0178] In certain embodiments, referring to FIG13 , the laser emitter 1 includes an infrared laser emitter 1b, which is mounted on a bracket 5 and positioned above an infrared camera 2c. Thus, the infrared laser emitter 1b and the infrared camera 2c can be used to implement various functions of the recognition device 100.

[0179] Specifically, in one embodiment, the infrared laser emitter 1b and the infrared camera 2c can implement a distance measurement function. For example, when the cleaning device is operating, the cleaning device can emit an infrared laser beam to the surrounding environment through the infrared laser emitter 1b, and the infrared camera 2c receives the reflected light signal, thereby calculating the distance between the target object and the cleaning device, allowing the cleaning device to determine whether it can move forward, avoid obstacles, etc. In some embodiments, in one embodiment, the infrared laser emitter 1b can emit infrared laser light, and the infrared laser emitter 1b and the infrared camera 2c form a line laser ranging sensor. In some embodiments, the infrared laser emitter 1b and the infrared fill light 3a can work in a time-sharing manner. For example, within a time period T, the infrared laser emitter 1b emits laser light for 4*T / 5, and the infrared fill light 3a emits infrared light for T / 5.

[0180] In one embodiment, the infrared laser emitter 1b and infrared camera 2c can implement environmental awareness. For example, the infrared laser emitter 1b and infrared camera 2c enable the cleaning device to perceive real-time changes in its surroundings, including the location, shape, and size of obstacles. When the laser beam encounters an obstacle, it reflects. The cleaning device receives the reflected signal and determines the obstacle's location and distance, allowing it to adjust its route in a timely manner to avoid collisions.

[0181] In one embodiment, the infrared laser emitter 1b and the infrared camera 2c can realize a navigation function. For example, based on a known map, the cleaning equipment can use the infrared laser emitter 1b and the infrared camera 2c to navigate and clean along the planned path. In addition, the infrared laser emitter 1b can also work in conjunction with other sensors. The infrared laser emitter 1b usually works in conjunction with other sensors (such as a visible light camera 2b, etc.) to improve the obstacle avoidance and navigation accuracy of the sweeping robot. The infrared laser emitter 1b is located above the infrared camera 2c. In the height direction of the recognition device 100, the infrared laser emitter 1b is higher than the infrared camera 2c. The laser emitted by the infrared laser emitter 1b can be projected toward the ground, so that obstacles on the ground to the installation height of the infrared laser emitter 1b can be illuminated by the laser emitted by the infrared laser emitter 1b, so that the infrared laser reflected by the obstacle is collected by the infrared camera 2c and imaged, so that the recognition device 100 can detect obstacles in a wider range.

[0182] In some embodiments, as shown in Figure 24, the infrared laser emitter 1b, the infrared camera 2c and the visible light camera 2b can be fixed to the bracket 5 by gluing. Furthermore, at least one of the infrared laser emitter 1b, the infrared camera 2c and the visible light camera 2b is pre-fixed by pressing 6 and then glued, which is beneficial to improving the installation accuracy of the components.

[0183] In certain embodiments, referring to Figure 12 , the identification device 100 includes a dustproof sheet 7 , which is mounted on the bracket 5 . The dustproof sheet 7 covers the visible light camera 2b, the infrared camera 2c, the infrared fill light 3a, and the infrared laser emitter 1b on the light-emitting side of the infrared fill light 3a. The dustproof sheet 7 includes a visible light region and an infrared light region. The visible light camera 2b is configured to receive visible light through the visible light region, and the infrared camera 2c is configured to receive infrared light through the infrared light region. The infrared light emitted by the infrared fill light 3a and the infrared laser emitter 1b passes through the infrared light region. This prevents dust from accumulating on the dustproof sheet 7 and avoids accumulating on sensors, lighting components, and the like, thus facilitating cleaning. Specifically, the light-emitting side of the infrared fill light 3a can be the outside of the identification device 100, and the lighting components include the infrared fill light 3a. The sensor includes the visible light camera 2b, the infrared camera 2c, and the infrared laser emitter 1b.

[0184] The identification device 100 is used on cleaning equipment. There is dust in the working environment of the cleaning equipment. The dust will stick to the lighting components and sensors, resulting in poor lighting effects, abnormal data collection, etc. The dustproof sheet 7 covers the visible light camera 2b, infrared camera 2c, infrared fill light 3a and infrared laser emitter 1b on the light-emitting side of the infrared fill light 3a, so that dust accumulates on the dustproof sheet and does not accumulate on the visible light camera 2b, infrared camera 2c, infrared laser emitter 1b and infrared fill light 3a. When cleaning dust, the dustproof sheet 7 can be wiped with a paper towel or rag to remove the dust, which provides convenience for cleaning to a certain extent. After the dust is cleaned, the reliability of the identification device 100 can be guaranteed to a certain extent.

[0185] The visible light region can basically transmit most visible light and infrared light. The infrared light region can transmit most infrared light, but basically does not transmit visible light. The visible light camera 2b is used to receive visible light through the visible light region, and the infrared camera 2c is used to receive infrared light through the infrared light region. The infrared light emitted by the infrared fill light 3a and the infrared laser emitter 1b passes through the infrared light region, which can help reduce the impact of visible light on the infrared camera 2c, the infrared fill light 3a and the infrared laser emitter 1b, and can also ensure the normal operation of the visible light camera 2b. This application does not specifically limit the number of infrared light regions and visible light regions. The setting of the infrared light region shall be based on not interfering with the normal operation of the visible light camera 2b, other visible light sensors, and visible light lighting components.

[0186] In one embodiment, the dustproof sheet 7 can be made of a transparent plastic that transmits both visible and infrared light. A film can be applied to a certain area of ​​the dustproof sheet 7 to create an infrared light region, while other uncoated areas create a visible light region. In one embodiment, the dustproof sheet 7 can include two interconnected parts: one part is made of a transparent material to create a visible light region, and the other part is made of a mixture of toner and transparent material to create an infrared light region.

[0187] In some embodiments, the area of ​​a single infrared light region is greater than 25 square millimeters (mm2), and / or the infrared light transmittance of the infrared light region is greater than 80%. In this way, the size of the infrared light region can be moderate, and / or the imaging effect of the infrared camera 2c, as well as the light output efficiency of the infrared fill light 3a and the infrared laser emitter 1b can be guaranteed to a certain extent. Specifically, in one embodiment, the area of ​​a single infrared light region is greater than 25 mm2, and the infrared light transmittance of the infrared light region is greater than 80%. In one embodiment, the area of ​​a single infrared light region is greater than 25 mm2, and the infrared light transmittance of the infrared light region is greater than 80%.

[0188] In one embodiment, when the number of infrared light areas is multiple (two or more), the area of ​​each infrared light area is greater than 25 mm2. In one embodiment, when the number of infrared light areas is single, the area of ​​the single infrared light area is greater than 25 mm2. The area of ​​a single infrared light area is greater than 25 mm2. The area of ​​the infrared light area is relatively moderate and can meet the normal use requirements of the infrared laser emitter 1b, the infrared camera 2c, the infrared fill light 3a (and / or the recharge signal receiver 8 of the subsequent embodiment). The area of ​​a single infrared light area is S, and S is greater than 25 mm2. In some examples, S = 25.5 mm2, 26 mm2, 26.5 mm2, 27 mm2, 27.5 mm2, 28 mm2, 28.5 mm2, 29 mm2 or other values ​​greater than 25.5 mm2. The upper limit of S can be determined based on factors such as the number of components that receive and emit infrared light, the area of ​​the dustproof sheet 7, and the size of the identification device 100, and is not specifically limited in this application.

[0189] The infrared light transmittance in the infrared light region is greater than 80%, which allows the infrared light emitted by the infrared fill light 3a and the infrared laser emitter 1b to fully enter the external environment of the recognition device 100, and allows the infrared camera 2c (and the recharge signal receiver 8 of the subsequent embodiment) to fully receive the external infrared reflected by the external environment of the recognition device 100, thereby ensuring, to a certain extent, the imaging effect of the infrared camera 2c and the light output efficiency of the infrared fill light 3a and the infrared laser emitter 1b. The infrared light transmittance in the infrared light region is T, and T is greater than 80%. In some examples, T = 80.1%, 80.5%, 81%, 82%, 85%, 88%, 90%, 90.5%, 91%, 92%, 94%, 96%, 97%, 98%, 99%, 100%, or other values ​​greater than 80%.

[0190] In certain embodiments, the identification device 100 includes a single dustproof sheet 7. The distance between the center of the infrared laser emitter 1b and the center of the infrared camera 2c is greater than 10 mm, and the distance between the center of the infrared fill light 3a and the center of the infrared camera 2c is greater than 10 mm. This can reduce, to a certain extent, the crosstalk interference caused by the infrared light transmitted by the dustproof sheet 7 on the infrared camera 2c. Specifically, in one embodiment, the dustproof sheet 7 is integral, and the identification device 100 includes a single dustproof sheet 7. When the infrared laser emitter 1b and the infrared fill light 3a are in operation, they can emit infrared light in the direction of the dustproof sheet 7. The majority of the infrared light can penetrate the dustproof sheet 7 and enter the external environment of the identification device 100. A small portion of the infrared light (hereinafter referred to as the first small portion) is reflected from the surface of the dustproof sheet 7 toward the infrared laser emitter 1b and the infrared fill light 3a and enters the space between the dustproof sheet 7 and the bracket 5. A small portion of the infrared light that enters the dustproof sheet 7 (hereinafter referred to as the second small portion) is reflected within the dustproof sheet 7 and exits from the dustproof sheet 7, entering the space between the dustproof sheet 7 and the bracket 5. The first small portion and the second small portion may eventually enter the infrared camera 2c, causing cross-light interference to the infrared camera 2c, and the cross-light interference may lead to overexposure.

[0191] The distance between the center of the infrared laser emitter 1b and the center of the infrared camera 2c is greater than 10 mm, and the distance between the center of the infrared fill light 3a and the center of the infrared camera 2c is greater than 10 mm. The distance between the red laser and the infrared camera 2c, and the distance between the infrared fill light 3a and the infrared camera 2c can be made appropriate, so that the first small part and the second small part can be consumed as much as possible during the transmission process, thereby reducing or avoiding the crosstalk interference caused by the dustproof sheet 7 to the infrared camera 2c to a certain extent.

[0192] Referring to Figures 13 and 14 , the distance between the center of the infrared laser emitter 1b and the center of the infrared camera 2c is D1, which is greater than 10 mm. In some examples, D1 is 10.1 mm, 10.5 mm, 11 mm, 11.5 mm, 12 mm, 12.5 mm, 13 mm, or other values ​​greater than 10 mm. The upper limit of D1 can be determined based on factors such as the size of the recognition device 100 and the distances between other components, and is not specifically limited in this application. Referring to Figures 13 and 14 , the distance between the center of the infrared fill light 3a and the center of the infrared camera 2c is D2, which is greater than 10 mm. In some examples, D2 is 10.1 mm, 10.5 mm, 11 mm, 11.5 mm, 12 mm, 12.5 mm, 13 mm, or other values ​​greater than 10 mm. The upper limit of D2 can be determined based on factors such as the size of the recognition device 100 and the distances between other components, and is not specifically limited in this application. D1 can be equal to D2, D1 can be greater than D2, or D1 can be less than D2.

[0193] In certain embodiments, referring to Figures 12 and 13 , the bracket 5 includes an upper portion 52 and a lower portion 53. The infrared laser emitter 1b is located in the upper portion 52, and the visible light camera 2b, infrared camera 2c, and infrared fill light 3a are located in the lower portion 53. The dustproof sheet 7 includes a first dustproof sheet 7a and a second dustproof sheet 7b spaced apart. The first dustproof sheet 7a is located in the upper portion 52 and covers the infrared laser emitter 1b, while the second dustproof sheet 7b is located in the lower portion 53 and covers the visible light camera 2b, infrared camera 2c, and infrared fill light 3a. This can, to a certain extent, reduce crosstalk interference caused by infrared light transmitted by the dustproof sheet 7 on the infrared camera 2c.

[0194] Specifically, in the embodiment shown in FIG12 , the dustproof sheet 7 is a split dustproof sheet, comprising a first dustproof sheet 7a and a second dustproof sheet 7b, with the first dustproof sheet 7a and the second dustproof sheet 7b being spaced apart. In some embodiments, the entire first dustproof sheet 7a is an infrared dustproof sheet, covering the infrared laser emitter 1b, thereby reducing the adverse effects of external visible light on the infrared laser emitter 1b. Furthermore, from the outside of the identification device 100, the user cannot see the infrared laser emitter 1b and other components under the first dustproof sheet 7a, making the overall identification device 100 more aesthetically pleasing.

[0195] The separation between the first and second dustproof sheets 7a, 7b prevents crosstalk between them. When infrared laser emitter 1b emits infrared light, the first and second portions of the light are prevented from passing through first dustproof sheet 7a to second dustproof sheet 7b, potentially causing crosstalk interference to infrared camera 2c. This interference could lead to overexposure. Furthermore, the higher position of infrared laser emitter 1b facilitates recognition device 100's ability to measure obstacles within a wider range.

[0196] The second dustproof sheet 7b covers the visible light camera 2b, the infrared camera 2c, and the infrared fill light 3a, thereby reducing the adverse effects of external visible light on the infrared camera 2c and the infrared fill light 3a. In some embodiments, the second dustproof sheet 7b may include a visible light region and an infrared light region. From the outside of the recognition device 100, the user cannot see the infrared camera 2c, the infrared fill light 3a, and other components under the infrared light region of the second dustproof sheet 7b, thereby improving the overall aesthetics of the recognition device 100.

[0197] The infrared light emitted by the infrared fill light 3a can be emitted to the external environment of the recognition device 100 through the infrared light region, and the infrared light of the external environment of the recognition device 100 can be incident on the infrared camera 2c through the infrared light region. The visible light of the external environment of the recognition device 100 can be incident on the visible light camera 2b through the visible light region.

[0198] In certain embodiments, referring to FIG13 , the identification device 100 includes a recharge signal receiver 8 located in the upper portion 52 and covered by a first dustproof sheet 7a. The recharge signal receiver 8 is configured to receive infrared light emitted by the base station through the infrared light region, and / or the identification device 100 includes a visible light filler lamp 3b located in the lower portion 53 and covered by a second dustproof sheet 7b. The visible light emitted by the visible light filler lamp 3b passes through the visible light region. Thus, the cleaning device can locate the base station via the recharge signal receiver 8, thereby automatically returning to the base station, and / or the imaging quality of the visible light camera 2b can be improved.

[0199] Specifically, in one embodiment, the identification device 100 includes a recharging signal receiver 8, which is arranged in the upper part 52, and the first dustproof sheet 7a covers the recharging signal receiver 8, and the recharging signal receiver 8 is used to receive infrared light emitted by the base station through the infrared light area, and the identification device 100 includes a visible light fill light 3b, which is arranged in the lower part 53, and the second dustproof sheet 7b covers the visible light fill light 3b, and the visible light emitted by the visible light fill light 3b passes through the visible light area.

[0200] In one embodiment, the identification device 100 includes a recharging signal receiver 8, which is arranged in the upper part 52, and the first dustproof sheet 7a covers the recharging signal receiver 8, and the recharging signal receiver 8 is used to receive infrared light emitted by the base station through the infrared light area, or, the identification device 100 includes a visible light fill light 3b, which is arranged in the lower part 53, and the second dustproof sheet 7b covers the visible light fill light 3b, and the visible light emitted by the visible light fill light 3b passes through the visible light area.

[0201] In some embodiments, the recharge signal receiver 8 can serve as an infrared recharge lamp. The base station may include an infrared transmitter, and the recharge signal receiver 8 receives the infrared light emitted by the base station, so that the cleaning device can locate the relative position between the cleaning device and the base station. The cleaning device can adjust its posture according to the relative position and automatically return to the base station. After returning to the base station, the base station can charge the cleaning device, clean the rag plate, clean the side brush, empty sewage, and empty garbage. The first dustproof sheet 7a can be an infrared dustproof sheet that covers the recharge signal receiver 8, which can prevent the adverse effects of visible light on the recharge signal receiver 8 to a certain extent.

[0202] When the visible light fill light 3b is working, it can emit visible light to the external environment of the recognition device 100, thereby illuminating the external environment of the recognition device 100, improving the imaging quality of the visible light camera 2b, and facilitating operations such as obstacle avoidance. The second dustproof sheet 7b covers the visible light fill light 3b, and the visible light emitted by the visible light fill light 3b passes through the visible light area and is emitted to the external environment of the recognition device 100. In some embodiments, the light emitted by the visible light fill light 3b is white light. This application does not specifically limit the number of recharge signal receivers 8. In some embodiments, in the embodiment shown in Figure 13, the number of recharge signal receivers 8 is two, which are located on the left and right sides of the infrared laser emitter 1b. In some embodiments, each recharge signal receiver 8 is pre-positioned and glued to the bracket 5 through a pressing sheet 6.

[0203] In certain embodiments, referring to Figures 13 and 20 to 23 , the bracket 5 is provided with multiple holes 52. The recharge signal receiver 8 and / or the visible light fill light 3b, the visible light camera 2b, the infrared laser transmitter 1b, the infrared camera 2c, and the infrared fill light 3a are located in corresponding holes 52. The lower edge of the hole 52 where the visible light fill light 3b is located is horizontal. Thus, the holes 52 facilitate the installation and operation of various sensors and lighting components. The horizontal lower edge of the hole 52 where the visible light fill light 3b is located can reduce or avoid overlap between the illumination ranges of the visible light fill light 3b and the infrared fill light 3a, thereby reducing or avoiding overexposure of the infrared camera 2c.

[0204] Specifically, the infrared fill light 3a, the visible light fill light 3b and the infrared laser emitter 1b can be used as lighting components, and the visible light sensor, the infrared camera 2c and the recharge signal receiver 8 can be used as sensors. A hole 52 provided in the bracket 5 can correspond to a sensor or a lighting component. During installation, the sensor or lighting component can be positioned according to the position of the hole 52, thereby improving the installation efficiency of the sensor and lighting component. When the sensor is working, the infrared light and visible light of the external environment of the receiving identification device 100 can be received through the hole 52. When the lighting component is working, the infrared light and visible light emitted by the lighting component can be incident on the external environment of the identification device 100 through the hole 52.

[0205] The lower edge of the hole 52 where the visible light fill light 3b is located is horizontal. When the visible light fill light 3b is operating, a portion of the visible light it emits is blocked by the lower edge of the hole 52 and cannot reach the area on the ground near the recognition device 100. This area on the ground near the recognition device 100 is not illuminated by the visible light emitted by the visible light fill light 3b, thereby reducing or preventing the overlap between the illumination ranges of the visible light fill light 3b and the infrared light fill light 3a, thereby reducing or preventing overexposure of the infrared camera 2c.

[0206] In some embodiments, in the embodiment shown in Figure 13, the visible light fill light 3b is located directly above the infrared fill light 3a. The infrared fill light 3a and the visible light fill light 3b are located on the same side of the infrared camera 2c, and the visible light camera 2b is located on the other side of the infrared camera 2c.

[0207] In some embodiments, the bracket 5 is provided with a through-hole 53, which is suitable for removing the dustproof sheet 7 from the side of the bracket 5 facing away from the dustproof sheet 7. This facilitates removal of the dustproof sheet 7. Specifically, the bracket 5 may be provided with a mounting frame, and the dustproof sheet 7 can be positioned within the mounting frame to shield the sensor and lighting components. When removing components from the identification device 100, a tool can be inserted through the through-hole 53 from the side of the bracket 5 facing away from the dustproof sheet 7 to push the dustproof sheet 7 out from the rear, thereby facilitating removal.

[0208] In some embodiments, the identification device 100 also includes a circuit board 9 mounted on the bracket 5, and the circuit board 9 is electrically connected to the infrared camera 2c, the infrared fill light 3a, the infrared laser transmitter 1b, the recharge signal receiver 8, the visible light camera 2b and the visible light fill light 3b.

[0209] In summary, in the recognition device 100 of the present application, the combination of the infrared fill light 3a and the infrared camera 2c can solve the problem of misidentification of patterned tiles, or the problem of not being able to identify transparent or white liquids on white tiles, or black liquids on black tiles.

[0210] As shown in Figures 27 to 33, the laser emitter 1 includes a visible light laser 1a, which is suitable for emitting visible light. The image acquisition module 2 is suitable for acquiring color images, and the visible light laser 1a is suitable for cooperating with the image acquisition module 2 for ranging.

[0211] This embodiment is provided with a visible light laser 1a and an image acquisition module 2. The image acquisition module 2 can capture color images, thereby well meeting the image acquisition needs of the cleaning equipment. The visible light laser 1a cooperates with the image acquisition module 2 to perform distance measurement. Specifically, when the recognition device 100 performs the distance measurement operation, the visible light laser 1a emits a linear laser, and the image acquisition module 2 obtains a picture with a linear laser. The recognition device 100 can process the obtained image to obtain information about the linear laser. The recognition device 100 can use the triangulation principle to perform distance measurement based on the obtained line laser information. The triangulation principle uses the known baseline length and angle to calculate the distance of the position. Distance measurement using the triangulation principle is a common distance measurement method and is not described in detail in this embodiment.

[0212] This embodiment incorporates a visible light laser 1a and an image acquisition module 2 to meet the needs of laser ranging and image acquisition. Its simple structure and diverse functionality make it ideal for obstacle avoidance and video navigation applications in cleaning equipment. When the recognition device 100 is operating, the visible light laser 1a emits visible light, allowing the user to easily and intuitively observe the light emitted by the visible light laser 1a, thereby perceiving that the recognition device 100 is performing ranging operations, providing a better user experience.

[0213] In some embodiments of the present application, the recognition device 100 may further include a circuit board 9, which is electrically connected to the visible light laser 1a and the image acquisition module 2. The recognition device 100 can switch between a ranging mode and an image acquisition mode. In the ranging mode, the visible light laser 1a cooperates with the image acquisition module 2 to perform ranging. In the image acquisition mode, the visible light laser 1a stops operating and the image acquisition module 2 performs image acquisition operations.

[0214] In this embodiment, a circuit board 9 is provided, and the circuit board 9 is electrically connected to the visible light laser 1a and the image acquisition module 2. The circuit board 9 can control the coordinated operation of the visible light laser 1a and the image acquisition module 2 and play a role in data processing. The recognition device 100 switches between the ranging mode and the image acquisition mode. In the ranging mode, the circuit board 9 can control the visible light laser 1a to turn on, and the image acquisition module 2 cooperates with the visible light laser 1a to perform ranging operations. The circuit board 9 can process the image captured by the image acquisition module 2 to obtain distance information. In the image acquisition mode, the circuit board 9 can control the visible light laser 1a to stop running, and the image acquisition module 2 can perform image acquisition operations normally. It can be understood that the video is formed by a series of continuous static images played continuously at a certain speed. In this embodiment, the circuit board 9 is provided to process the images acquired for video cruising to form a video, thereby meeting the needs of video cruising of the cleaning equipment well.

[0215] It can be understood that the light intensity emitted by the visible light laser 1a is relatively large, so when the image acquisition module 2 acquires an image, the light emitted by the visible light laser 1a has a greater impact on the image acquisition of objects in the environment, resulting in poor video images obtained by the user, and greater interference when the cleaning equipment uses video images for artificial intelligence recognition. In this embodiment, the recognition device 100 is set to switch between ranging mode and image acquisition mode, so that the ranging operation and image acquisition operation of the recognition device 100 can be operated in time-sharing, thereby effectively avoiding the interference of the ranging operation on image acquisition. Moreover, since the visible light laser 1a used in this embodiment emits visible light, the problem of color cast and reddishness in the image during the image acquisition operation can be effectively avoided, so that the image quality obtained by the image acquisition operation is higher, and the use effect of the recognition device 100 is better, which can improve the user experience to a certain extent.

[0216] In some embodiments of the present application, the visible light laser 1a can be configured to emit a green laser, a blue laser, or a red laser. In this embodiment, the visible light laser 1a is configured to emit a green laser, a blue laser, or a red laser, which can well meet the use needs of ranging. It can be understood that the image acquisition module 2 is usually an RGB camera, that is, it uses R (red), G (green), and B (blue) color modes to capture images to simulate the human eye's perception of light and reproduce most of the colors people see. In this embodiment, the visible light laser 1a is configured to emit a green laser, a blue laser, or a red laser, which can make the information of the laser line emitted by the visible light laser 1a clearer and more accurate in the image, so that the image can be more conveniently and accurately obtained and separated from the laser information in the image during processing, thereby enabling the recognition device 100 to perform ranging operations more efficiently. For example, the visible light laser 1a can emit a green laser for ranging, and the visible light laser 1a can also emit a blue laser or a red laser for ranging. The color of the visible light emitted by the visible light laser 1a can be set as needed. Preferably, the visible light laser emits a green laser.

[0217] In some embodiments of the present application, the switching frequency of the visible light laser 1a can be greater than or equal to 30Hz and less than or equal to 90Hz. It is understandable that the cleaning equipment is in motion during operation, so the recognition device 100 needs to perform real-time ranging and image acquisition operations to meet the obstacle avoidance and video cruising needs of the cleaning equipment. As a result, the recognition device 100 needs to continuously switch between ranging mode and image acquisition mode during operation. In other words, the visible light laser 1a needs to be continuously turned on and off to meet the needs of use. Since the visible light laser 1a emits visible light, when the switching frequency of the visible light laser 1a is low, the user can easily perceive the flickering of the laser line, thereby greatly reducing the user's experience. In this embodiment, the switching frequency of the visible light laser 1a is set to be greater than or equal to 30Hz and less than or equal to 90Hz, which can effectively avoid the situation where the switching frequency of the visible light laser 1a is too low and the laser line flickers, and keep the visible light laser 1a within a good switching frequency range, avoiding the increase in operating costs caused by excessive switching frequency, thereby providing a better user experience and making the recognition device 100 more economical when operating.

[0218] In some embodiments of the present application, as shown in Figures 27 and 28, the number of visible light lasers 1a can be greater than or equal to one and less than or equal to three. In this embodiment, the number of visible light lasers 1a is set to be greater than or equal to one and less than or equal to three, so that the number of visible light lasers 1a can meet the usage requirements of the identification device 100 and the number of visible light lasers 1a is small, thereby reducing the cost of the identification device 100. For example, the number of visible light lasers 1a can be one, two, or three, and the number of visible light lasers 1a can be set according to usage requirements and cost control needs.

[0219] In some embodiments of the present application, as shown in FIG27 , the number of visible light lasers 1a can be one, and the visible light laser 1a emits a horizontal laser light in a forward direction (as shown in the front-to-back direction in FIG27 ) or in a forward-to-back downward direction. The angle between the optical axis of the visible light laser 1a and the horizontal plane can be greater than or equal to 0 degrees and less than or equal to 45 degrees. It is understood that the cleaning equipment needs to move during operation, so it is usually necessary to detect the front of the cleaning equipment's moving direction to avoid the cleaning equipment from colliding with obstacles. In this embodiment, the visible light laser 1a is configured to emit a horizontal laser light in a forward direction or in a forward-to-back downward direction, which can facilitate the identification device 100 to perform distance measurement and image acquisition operations in front of the cleaning equipment. The structure is simple and can well meet the needs of use. It is understood that the cleaning equipment occupies a certain spatial volume. In this embodiment, the visible light laser 1a is configured to emit a horizontal laser light in a forward direction or in a forward-to-back downward direction, which can facilitate covering the horizontal movement range of the cleaning equipment, thereby enabling the distance measurement of obstacles within a sufficient horizontal range in front of the cleaning equipment, allowing the cleaning equipment to stably perform obstacle avoidance operations.

[0220] In this embodiment, the visible light laser 1a is configured to emit a horizontal laser line forward or downward, so that the horizontal laser line emitted by the visible light laser 1a is within the path and spatial range of the cleaning device's forward direction, thereby enabling the visible light laser 1a to cooperate with the image acquisition module 2 to perform stable, reliable, and effective distance measurement operations, allowing the cleaning device to more reliably perform obstacle avoidance operations. In this embodiment, the angle between the optical axis of the visible light laser 1a and the horizontal plane is set to be greater than or equal to 0 degrees and less than or equal to 45 degrees. When the angle is 0 degrees, the visible light laser 1a emits the horizontal laser line forward. When the angle is greater than 0 degrees and less than or equal to 45 degrees, the visible light laser 1a emits the horizontal laser line forward and downward. In this embodiment, the angle is set to be less than or equal to 45 degrees, which allows the recognition device 100 to measure the distance to obstacles at a more appropriate distance, avoiding the situation where the ranging position is too close to the cleaning device and cannot effectively avoid obstacles, thereby allowing the cleaning device to perform obstacle avoidance operations more stably and reliably. For example, the angle between the optical axis of the visible light laser 1a and the horizontal plane can be 0 degrees, 10 degrees, 15 degrees, 20 degrees, 21 degrees, 26 degrees, 35 degrees, 40 degrees, 44 degrees, 45 degrees, etc.

[0221] In one embodiment of the present application, as shown in FIG27 , the visible light laser 1a can be disposed above the image acquisition module 2. In this embodiment, disposing the visible light laser 1a above the image acquisition module 2 allows the visible light laser 1a to be at a higher position, so that when the visible light laser 1a is performing ranging operations, the visible light laser 1a can better measure the distance to higher obstacles in front of the cleaning equipment, thereby improving the obstacle avoidance operation of the cleaning equipment and avoiding structural interference between the visible light laser 1a and the image acquisition module 2, thereby enabling the visible light laser 1a and the image acquisition module 2 to work better together.

[0222] In one embodiment of the present application, the field of view angle of the visible light laser 1a can be greater than or equal to 90 degrees and less than or equal to 140 degrees. In this embodiment, the field of view angle of the visible light laser 1a can refer to the angle formed by the two ends of the linear laser formed by the emission and the line connecting the emission end of the visible light laser 1a. In this embodiment, the field of view angle of the visible light laser 1a is set to be greater than or equal to 90 degrees, so that the horizontal line laser emitted by the visible light laser 1a can have a sufficient range, thereby stably covering the equipment body 200 in the path of the cleaning equipment, avoiding the visible light laser 1a from missing certain obstacles during ranging operation, resulting in the failure of the obstacle avoidance of the cleaning equipment, and allowing the cleaning equipment to perform obstacle avoidance operations stably and reliably. In this embodiment, the field of view angle of the visible light laser 1a is set to be less than or equal to 140 degrees, which can avoid the serious divergence of laser energy caused by excessive field of view, thereby allowing the visible light laser 1a to perform ranging operations stably and reliably. For example, the field of view angle of the visible light laser 1a can be 90 degrees, 100 degrees, 105 degrees, 106 degrees, 110 degrees, 130 degrees, 140 degrees, etc. The visible light laser 1a can be set with a reasonable field of view angle as needed.

[0223] In some embodiments of the present application, as shown in FIG28 , the number of visible light lasers 1a can be two, and the two visible light lasers 1a are respectively arranged on both sides of the image acquisition module 2 in the horizontal direction. In this embodiment, two visible light lasers 1a are arranged for ranging operations, which has a simple structure and can make the visible light laser 1a more reliable when performing ranging operations. The two visible light lasers 1a cooperate in ranging, which can improve the measurement accuracy to a certain extent, thereby making the ranging effect of the identification device 100 better. The two visible light lasers 1a are respectively arranged on both sides of the image acquisition module 2 in the horizontal direction, which has a simple structure and a convenient and reasonable layout. The two visible light lasers 1a can cooperate to more conveniently and stably cover the horizontal travel range of the cleaning equipment, so that the cleaning equipment can perform obstacle avoidance operations more stably and reliably.

[0224] In one embodiment of the present application, as shown in FIG28 , both visible light lasers 1a emit vertical laser light, and the angle between the optical axis of the visible light laser 1a and the optical axis of the image acquisition module 2 is greater than or equal to 30 degrees and less than or equal to 60 degrees. In this embodiment, both visible light lasers 1a emit vertical laser light, which allows the recognition device 100 to more easily measure and detect higher obstacles, such as obstacles under beds and sofas that can easily get the cleaning equipment stuck, allowing the cleaning equipment to better avoid obstacles through the recognition device 100, achieving better obstacle avoidance results.

[0225] In this embodiment, the angle between the optical axis of the visible light laser 1a and the optical axis of the image acquisition module 2 is set to be greater than or equal to 30 degrees and less than or equal to 60 degrees. The optical axes of the two visible light lasers 1a are both offset toward the image acquisition module 2. The angle of greater than or equal to 30 degrees allows the visible light laser 1a to be directed toward the image acquisition module 2, allowing the image acquisition module 2 to stably and reliably acquire the linear laser light emitted by the visible light laser 1a. The angle of less than or equal to 60 degrees prevents the linear laser light emitted by the visible light laser 1a from being too close to the image acquisition module 2, thereby preventing inaccurate ranging or the cleaning equipment from being unable to make timely route adjustments based on the ranging results, thereby enabling the recognition device 100 to perform stable ranging. For example, the angle between the optical axis of the visible light laser 1a and the optical axis of the image acquisition module 2 can be 30 degrees, 31 degrees, 33 degrees, 37 degrees, 40 degrees, 45 degrees, 55 degrees, 60 degrees, etc.

[0226] In some examples of the present application, as shown in FIG28 , the field of view angle of the visible light laser 1a can be greater than or equal to 50 degrees and less than or equal to 90 degrees. It is understandable that the field of view angle of the image acquisition module 2 is generally larger in the horizontal direction and smaller in the vertical direction (the up and down direction as shown in FIG28 ). In this embodiment, the field of view angle of the visible light laser 1a is set to be greater than or equal to 50 degrees, so that the vertical coverage range of the visible light laser 1a can meet the obstacle avoidance needs of the cleaning equipment, so that the cleaning equipment can obtain a stable and reliable obstacle avoidance effect. The field of view angle of the visible light laser 1a is set to be less than or equal to 90 degrees, so that the image acquisition module 2 can capture the complete vertical line laser emitted by the visible light laser 1a, thereby making the visible light laser 1a and the image acquisition module 2 cooperate better. For example, the field of view angle of the visible light laser 1a can be 50 degrees, 55 degrees, 60 degrees, 70 degrees, 74 degrees, 85 degrees, 90 degrees, and so on.

[0227] In some embodiments of the present application, the transmittance of the image acquisition module 2 to visible light can be greater than 90%, and the wavelength range of visible light is greater than or equal to 380nm and less than or equal to 760nm. In this embodiment, the transmittance of the image acquisition module 2 to visible light is set to be greater than or equal to 90%, which can make the image acquisition module 2 have very good transmittance performance for visible light, thereby improving the image quality captured by the image acquisition module 2 and improving the accuracy of the image acquisition module 2 when used in conjunction with the visible light laser 1a for distance measurement. Specifically, the high transmittance allows the image acquisition module 2 to more accurately and effectively capture the linear laser light emitted by the visible light laser 1a, making the linear laser in the image clearer and more accurate, thereby making the recognition device 100 more accurate in distance measurement.

[0228] In this embodiment, the visible light transmittance of the image acquisition module 2 is greater than 90%, which effectively reduces the capture of invisible light, thereby effectively reducing the impact of invisible light on the image and improving image quality. In this embodiment, the visible light wavelength range is set to be greater than or equal to 380nm and less than or equal to 760nm, allowing the image acquisition module 2 to capture all light within the visible light band, thereby enabling the image acquisition module 2 to perform stable and reliable image acquisition operations. It is understood that the wavelength range of green laser light is approximately between 532nm and 556nm, the wavelength range of blue laser light is approximately between 440nm and 495nm, and the wavelength range of red laser light is approximately between 625nm and 780nm. In this embodiment, setting the visible light wavelength range to be greater than or equal to 380nm-760nm allows the image acquisition module 2 to stably and reliably capture the laser light emitted by the visible light laser 1a, thereby enabling the recognition device 100 to perform stable and reliable distance measurement operations. For example, the visible light transmittance of the image acquisition module 2 can be 91%, 92%, 93%, 95%, 98%, etc.

[0229] In some embodiments of the present application, as shown in Figures 27 and 28, the recognition device 100 may further include a bracket 5, to which the visible light laser 1a and the image acquisition module 2 are both fixed. In this embodiment, the bracket 5 is provided, to which the visible light laser 1a and the image acquisition module 2 are both fixed, resulting in a simple structure and convenient fixation.

[0230] The control method according to the second embodiment of the present application is described below with reference to Figures 27 to 33.

[0231] According to the control method of the embodiment of the present application, applied to the recognition device 100 according to the embodiment of the first aspect of the present application, the control method includes: controlling the recognition device 100 to alternately operate between a distance measurement mode and an image acquisition mode, wherein in the distance measurement mode, the visible light laser 1a cooperates with the image acquisition module 2 to perform distance measurement, and in the image acquisition mode, the visible light laser 1a stops operating and the image acquisition module 2 performs image acquisition. When the recognition device 100 is operating, the circuit board 9 can control the visible light laser 1a in the recognition device 100 to cooperate with the image acquisition module to operate. Specifically, in the distance measurement mode, the circuit board 9 can control the visible light laser 1a to turn on and cooperate with the image acquisition module 2 to perform distance measurement. When the recognition device 100 switches from the distance measurement mode to the image acquisition mode, the circuit board 9 can control the visible light laser 1a to turn off, allowing the image acquisition module 2 to perform image acquisition. This allows the recognition device 100 to alternately perform distance measurement and image acquisition, avoiding mutual interference, so that the recognition device 100 can obtain better image quality and imaging effects during image acquisition, and provide a better user experience.

[0232] According to the control method of the second embodiment of the present application, by being applied to the recognition device 100 of the above-mentioned first embodiment, the obstacle avoidance operation and video cruising needs of the cleaning equipment can be well met. The visible light laser 1a emits visible light, so that the user can well perceive the ranging operation of the recognition device 100, so that the user has a better experience. The recognition device 100 performs ranging and image acquisition in a time-sharing manner, which can well avoid the color deviation problem of the image, so that the recognition device 100 can obtain good ranging effect and image acquisition effect, thereby making the cleaning equipment run more stably and providing the user with a better experience.

[0233] In some embodiments of the present application, as shown in FIG29 , the image acquisition module 2 is a camera with three RGB channels. The channel used to acquire laser light emitted by the visible light laser 1a is a preset channel, and the remaining channels are judgment channels. The image acquisition module 2, in conjunction with the visible light laser 1a, performs distance measurement, which may include: acquiring an image; confirming that the signal in the preset channel of the three RGB channels of the image acquisition module 2 is a valid laser signal; and processing the valid laser signal to obtain distance information. In this embodiment, the image acquisition module 2 has three RGB channels. When the image acquisition module 2 acquires an image, the chip of the image acquisition module 2 generally uses a Bayer array to convert light information into three RGB monochrome information and stores them in the three corresponding RGB channels. The RGB information is then fused to form a color image. Common Bayer arrays include BGGR, GRBG, RGGB, and GBRG arrays. Referring to FIG32 and FIG33 , FIG32 shows a BGGR array, and FIG33 shows the Bayer array's perception when a visible light laser emits green laser light. As can be seen from the figure, only the G channel in the Bayer array senses laser information. Specifically, the three RGB channels store light intensity.

[0234] The channel used to acquire the laser light emitted by the visible light laser 1a is a preset channel. For example, when the visible light laser 1a emits a green line laser, the light of the line laser will be converted and stored in the G channel when the image acquisition module 2 acquires the image. At this time, the G channel is the preset channel, and the RB channels are the determination channels. When the visible light laser 1a emits a blue line laser, the B channel is the preset channel, and the RG channels are the determination channels. When the visible light laser 1a emits a red line laser, the R channel is the preset channel, and the GB channels are the determination channels. It can be understood that since the visible light emitted by the visible light laser 1a is monochromatic light, in the image captured by the image acquisition module 2, under ideal conditions, the image information of the line laser has a light intensity value only in the preset channel among the three RGB channels and has no light intensity value in the judgment channel, while natural light has a light intensity value in each channel. Therefore, the circuit board 9 can judge whether there is a valid laser signal in the preset channel based on the light intensity in the judgment channel in the image, thereby distinguishing the pixel part of the linear laser used for ranging in the image, and then the circuit board 9 can process the data based on the valid laser signal to obtain distance information, thereby realizing visible light ranging.

[0235] In this embodiment, the signal in the preset channel of the RGB three channels of the image acquisition module 2 is confirmed to be a valid laser signal. The signal here refers to the light intensity information of a single pixel located in the preset channel. It can be understood that the image is composed of a large number of pixels. When the recognition device 100 determines the valid laser information, it is necessary to identify and determine each pixel in the image, thereby obtaining the information of the entire image and the image portion of the line laser therein. In this embodiment, by confirming the valid laser signal in the image, the interference of ambient light can be eliminated using a single image, and the information of the line laser in the image can be easily obtained and the distance can be obtained. Therefore, when the recognition device 100 is in operation, the recognition device 100 can meet the distance measurement requirements when acquiring an image. When the image acquisition module 2 acquires the next image, the recognition device 100 can switch to the image acquisition mode, so that the frame rate of the recognition device 100 during the image acquisition operation is higher, making the video image acquired by the cleaning equipment smoother, thereby providing the user with a better experience when watching the video. The frame rate refers to the number of images displayed per second. In this embodiment, image acquisition and ranging are performed alternately. The fewer the number of images required for ranging, the faster the image acquisition can acquire images, thereby increasing the number of images captured in the image acquisition mode of the image acquisition module 2, and thus increasing the frame rate of the formed video.

[0236] In one embodiment of the present application, as shown in FIG30 , confirming that the signal in a preset channel of the RGB three channels of the image acquisition module 2 is a valid laser signal can include: obtaining the light intensity values ​​of the image in the three RGB channels; confirming that the light intensity values ​​in each determination channel are less than a first calibration value; and determining that the signal in the preset channel is a valid laser signal. In this embodiment, when confirming the valid laser signal in the image, the light intensity values ​​of the image in the RGB channels are first obtained. Specifically, the light intensity signals in the RGB channels corresponding to each pixel are obtained, and the light intensity values ​​in the determination channel are compared with the first calibration value. When the light intensity values ​​in the determination channel are all less than the first calibration value, it indicates that the pixel in the image corresponding to the signal belongs to a pixel in a line laser image. When the light intensity values ​​in the determination channel are greater than or equal to the first calibration value, it indicates that the signal is collected from an environmental image. In this way, the line laser image in the image is distinguished from the entire image, which can effectively avoid the use of erroneous information and make the subsequent calculation and processing based on the line laser image to obtain the distance more accurate and reliable. The first calibration value can be set according to the perception range of the chip of the image acquisition module 2. The first calibration value can be set to 5% to 50% of the maximum value of the chip perception range as needed. For example, when the chip perception range is 0 light intensity value to 255 light intensity values, the first calibration value can be 13 light intensity values ​​to 127 light intensity values. When the chip perception range is 0 light intensity value to 1023 light intensity values, the first calibration value can be 51 light intensity value to 511 light intensity values.

[0237] In one embodiment of the present application, as shown in FIG31 , confirming that the signal of the image in the preset channel of the RGB three channels of the image acquisition module 2 is a valid laser signal can include: obtaining the light intensity value of the image in the three RGB channels; confirming that the ratio of the light intensity value in each determination channel to the light intensity value in the preset channel is less than a second calibration value; and determining that the signal in the preset channel is a valid laser signal. In this embodiment, when determining that the signal in the preset channel is a valid laser signal, the channel confirms whether the ratio of the light intensity value in each determination channel to the light intensity value in the preset channel is less than the second calibration value. When the ratio of the light intensity value in each determination channel to the light intensity value in the preset channel is less than the second calibration value, the signal at this time is a valid laser signal, and the signal collected is a line laser image. Otherwise, the signal collected at this time is an environmental image, thereby distinguishing the line laser image in the image from the entire image. The value range of the second calibration value can be set according to actual calibration needs. For example, the value range of the second calibration value can be 0.05 to 0.5.

[0238] In one embodiment of the present application, referring to Figures 30 and 31 , confirming that the signal in a preset channel of the RGB three channels of the image acquisition module 2 is a valid laser signal can include: obtaining the light intensity values ​​of the image in the three RGB channels; confirming that the light intensity values ​​in each determination channel are less than a first calibration value, confirming that the ratio of the light intensity value in each determination channel to the light intensity value in the preset channel is less than a second calibration value; and determining that the signal in the preset channel is a valid laser signal. In this embodiment, two methods are used to determine and distinguish the valid laser signal in the image, which can make the obtained valid laser signal more accurate, thereby making the recognition device 100 more accurate when performing distance measurement, and thus enabling the cleaning equipment to better perform obstacle avoidance operations.

[0239] The following describes a control method according to a specific embodiment of the present application with reference to FIG29-FIG31. In this embodiment, a visible light laser 1a and an image acquisition module 2 are arranged in a structure, and the visible light laser 1a emits green laser.

[0240] When the cleaning equipment is running, the recognition device 100 performs distance measurement and image acquisition operations. Specifically, the image acquisition module 2 always performs image acquisition. The images obtained by image acquisition can be used for functions such as video cruising and artificial intelligence recognition. The image acquisition module 2 of this embodiment can be connected to the user's mobile terminal for communication. For example, the image acquisition module 2 can be connected to the user's mobile phone, so that the user can view the operation video of the cleaning equipment at any time. Since the image acquired by the image acquisition module 2 is a color image, the user can view the color picture, which provides a better user experience.

[0241] Distance measurement is performed when visible light laser 1a is on, and image capture is performed when visible light laser 1a is off. For example, in the first frame, visible light laser 1a is off, and image acquisition module 2 captures an image for image capture. In the second frame, visible light laser 1a is on, and image acquisition module 2 captures an image for distance measurement. This time-sharing operation effectively avoids color cast during image capture, making the captured image more realistic and providing a better user experience. In this embodiment, the ratio of the image output by image acquisition module 2 for video cruising to the image output for distance measurement is one to one.

[0242] In this embodiment, the exposure rate of the image acquisition module 2 when the visible light laser 1a is turned on and off can be adjusted as needed. For example, when the visible light laser 1a is turned on, the exposure rate of the image acquisition module 2 can be lower to avoid the problem of overexposure and unusable images. When the visible light laser 1a is turned off, the exposure rate of the image acquisition module 2 can be higher, thereby making the captured image clearer. This allows the collected images to be well utilized, and makes the ranging and imaging effects of the recognition device 100 more stable. In actual applications, the average exposure value difference of the image acquisition module 2 when the visible light laser 1a is turned on and off is 4 to 32 times.

[0243] When the recognition device 100 performs a distance measurement operation, the visible light laser 1a is turned on and emits a horizontal line laser. The image acquisition module 2 acquires an image with the line laser. Specifically, when the image acquisition module 2 acquires the image, the distortion of the image acquired by the image acquisition module 2 can be ignored or the acquired image data can be dedistorted using a conventional Zhang calibration method. The controller can process the acquired image information. Specifically, the controller can process each pixel in the image and distinguish the line laser image portion in the image by confirming whether the signal corresponding to the pixel is a valid laser signal.

[0244] In this embodiment, the G channel is the preset channel and the RB channel is the judgment channel. When the light intensity value in the RB channel corresponding to the signal is less than the first calibration value, or the ratio of the light intensity value in the R channel to the light intensity value in the G channel is less than the second calibration value, and the ratio of the light intensity value in the B channel to the light intensity value in the G channel is less than the second calibration value, or when both of the above two judgment methods are met, it can be confirmed that the signal corresponds to a pixel of a line laser, so that the line laser image in the image is accurately and reliably distinguished, and then the controller can perform data processing based on the acquired image data and the line laser image data to obtain distance information. The controller can calculate and process the distance information based on the triangulation principle, thereby realizing the distance measurement operation of the identification device 100 on the cleaning equipment.

[0245] In some embodiments, the cleaning device includes a device body 200 and an identification device 100, and the identification device 100 is arranged on the front side of the device body 200. The identification device 100 includes a bracket 5, a circuit board 9, an image acquisition module 2 and a visible light laser 1a. The circuit board 9 is electrically connected to the image acquisition module 2 and the visible light laser 1a. The circuit board 9 can be a separate circuit board 9, and the circuit board 9 can be integrated into the main board of the cleaning device. The image acquisition module 2 can be a color camera, as shown in Figure 27. The visible light laser 1a includes one, and the image acquisition module 2 includes one. The number is small and the cost is low. The visible light laser 1a is arranged above the image acquisition module 2. The visible light laser 1a emits a horizontal line laser toward the front or toward the front and downward. In another embodiment of the present application, as shown in Figure 28, there are two visible light lasers 1a. The two visible light lasers 1a are arranged on both sides of the image acquisition module 2 in the horizontal direction. The laser beam emitted by the visible light laser 1a is biased toward the front in the direction of the image acquisition module 2 and emits a vertical line laser.

[0246] The cleaning device according to the third embodiment of the present application is described below with reference to Figures 34 to 41.

[0247] The cleaning equipment according to the third aspect embodiment of the present application includes: an equipment main body 200 and an identification device 100 according to the first aspect embodiment of the present application, the identification device 100 is arranged on the equipment main body 200, and the identification device 100 is used for the ranging operation and image acquisition operation of the cleaning equipment to realize the obstacle avoidance and video cruising functions during the operation of the cleaning equipment.

[0248] Specifically, cleaning equipment includes, but is not limited to, sweepers, floor scrubbers, vacuum cleaners, and pressure washers. The cleaning equipment may include a housing and an identification device 100. The housing may include an upper shell and a base, and the identification device 100 may be fixed to the base. Optionally, the upper shell may have an opening on its circumferential side, and the identification device 100 may be positioned in the opening, thereby enabling detection of the external environment of the cleaning equipment.

[0249] In this embodiment, by providing a visible light laser 1a and an image acquisition module 2, the needs of obstacle avoidance and video cruising of the cleaning equipment can be well met. The visible light laser 1a emits visible light, so that the user can well perceive the ranging operation of the identification device 100, giving the user a better experience.

[0250] In some embodiments, referring to Figures 34 to 37, the cleaning device further includes a drive assembly 300, which is mounted on the device body 200, and the image acquisition module 2 is connected to the drive assembly 300, and the drive assembly 300 is used to drive the image acquisition module 2 to move relative to the device body 200. In the embodiment of the present application, the drive assembly 300 drives the image acquisition module 2 to move relative to the device body 200, thereby expanding the shooting range of the image acquisition module 2 to improve the adaptability of the cleaning device in different application scenarios. It is understandable that the form in which the drive assembly 300 drives the image acquisition module 2 to move is not limited, and can be either translational or rotational. Exemplarily, the drive assembly 300 drives the image acquisition module 2 to move translationally relative to the device body 200.

[0251] In one embodiment, referring to Figures 34 to 37 , the drive assembly 300 includes a transmission member 310 and a drive assembly 320. The transmission member 310 is rotatably connected to the device body 200, and the image acquisition module 2 is mounted on the transmission member 310. The drive assembly 320 is disposed on the device body 200 and is used to drive the transmission member 310 to rotate, thereby driving the image acquisition module 2 to rotate. In this embodiment of the present application, the drive assembly 320 drives the transmission member 310 to rotate, thereby driving the image acquisition module 2 to rotate. This allows the image acquisition module 2 to move a smaller distance to obtain a larger shooting range, which helps save internal space in the cleaning device. The drive assembly 320 drives the image acquisition module 2 to rotate by driving the transmission plate, making the arrangement of the drive assembly 320 within the device body 200 more flexible. It is understood that the drive assembly 320 can drive the image acquisition module 2 to rotate in any manner, and can be driven by the transmission member 310 or directly drive the transmission member 310 to rotate. Exemplarily, the driving assembly 300 includes a driving component 320 . The driving assembly 300 may not be provided with the transmission member 310 , and the driving component 320 directly drives the image acquisition module 2 to rotate.

[0252] In one embodiment, referring to Figures 34 to 39, the central axis of rotation of the transmission member 310 relative to the device body 200 is the target central axis, and the target central axis is arranged to intersect with the up-down direction and the front-back direction of the device body 200. For example, the target central axis is perpendicular to the plane formed by the up-down direction and the front-back direction of the device body 200, so that the image acquisition module 2 rotates within the plane formed by the up-down direction and the front-back direction of the device body 200. In the embodiment of the present application, the target central axis is arranged to intersect with the up-down direction and the front-back direction of the device body 200, respectively, and the rotation direction of the image acquisition module 2 is roughly limited to the plane formed by the up-down direction and the front-back direction of the device body 200, so that the image acquisition module 2 rotates roughly along the up-down direction, which is conducive to the image acquisition module 2 obtaining a larger shooting range in the up-down direction.

[0253] Exemplarily, the target center axis is perpendicular to the plane formed by the up and down directions and the front and back directions of the device body 200. Driven by the driving assembly 320, the transmission part 310b rotates in the up and down directions, and the mounting part 310a also rotates in the up and down directions, so that the image acquisition module 2 can rotate in the up and down directions, and then the image acquisition module 2 obtains a larger shooting range in the up and down directions.

[0254] Exemplarily, the image acquisition module 2 has a first shooting position and a second shooting position for shooting, the second shooting position is located above the first shooting position, the first shooting position is the starting position for shooting of the image acquisition module 2, and the second shooting position is the extreme shooting position when the image acquisition module 2 is lifted upward, and the driving component 320 drives the transmission part 310b to rotate to drive the image acquisition module 2 to switch between the first shooting position and the second shooting position.

[0255] For example, please refer to Figures 34 and 35. When the image acquisition module 2 is located at the first shooting position, the image acquisition module 2 has a horizontal line of sight, and can better view the garbage and obstacles on the ground, and the cleaning equipment is in a cleaning working state.

[0256] For example, please refer to Figures 36 and 37. When the image acquisition module 2 is in the second shooting position, the image acquisition module 2 is tilted upward, which can be used to monitor the status in the room or shoot people for user communication. The cleaning equipment is in a human-computer interaction working state.

[0257] It is understood that the direction of the target center axis is not limited and can be horizontal or vertical. For example, the target center axis is parallel to a plane defined by the up-down direction and the front-back direction of the device body 200. Driven by the drive assembly 320, the transmission portion 310b rotates horizontally, and the mounting portion 310a also rotates horizontally, allowing the image acquisition module 2 to rotate horizontally, thereby enabling the image acquisition module 2 to capture a larger horizontal range.

[0258] In one embodiment, referring to Figures 34 to 37 , the position at which the transmission member 310 is rotatably connected to the device body 200 is a first position 200a. The transmission member 310 includes a mounting portion 310a and a transmission portion 310b. The first position 200a is located between the mounting portion 310a and the transmission portion 310b along their arrangement direction. The image acquisition module 2 is mounted on the mounting portion 310a. The drive assembly 320 is in transmission connection with the transmission portion 310b to drive the transmission portion 310b to rotate. For example, the device body 200 includes a rotating shaft located at the first position 200a. The mounting portion 310a and the transmission portion 310b are both rotatable along the circumference of the rotating shaft. The rotating shaft is mounted on the device body 200, and the transmission member 310 is sleeved on the rotating shaft. In the embodiment of the present application, the driving component 320 drives the transmission part 310b to rotate around the first position 200a, thereby driving the installation part 310a to rotate around the first position 200a, and then causing the image acquisition module 2 installed on the installation part 310a to also rotate around the first position 200a in a certain direction within a certain plane, which is beneficial to reducing the manufacturing cost and difficulty of the cleaning equipment.

[0259] It is understood that the manner in which the transmission member 310 drives the image acquisition module 2 to rotate is not limited. The transmission member 310 can drive the image acquisition module 2 to rotate in any direction in space, or in a direction within a plane. For example, the transmission member 310 drives the image acquisition module 2 to rotate along a spherical surface.

[0260] In one embodiment, referring to Figures 34 to 37, 40, and 41, the drive assembly 320 includes a drive member 322 and a cam 321. The drive member 322 is mounted on the device body 200. The drive member 322 can drive the cam 321 to rotate, thereby driving the transmission portion 310b to rotate about the first position 200a. For example, the drive member 322 can be a motor.

[0261] For example, the driver 322 drives the cam 321 to rotate, thereby switching the image acquisition module 2 between the first shooting position and the second shooting position. During the rotation of the image acquisition module 2 from the first shooting position to the second shooting position, the image acquisition module 2 can capture images in either shooting position, allowing the user to adjust the shooting angle according to actual needs.

[0262] In the embodiment of the present application, the cam 321 is connected to the transmission part 310b in a transmission manner, and the cam 321 rotates under the drive of the driver 322. During the rotation process, the cam 321 can compress the transmission part 310b to rotate, thereby driving the image acquisition module 2 to rotate. The cam 321 rotates unidirectionally under the drive of the driver 322, so that the transmission part 310b can reciprocate around the first position 200a, thereby making the drive assembly 320 structure simpler, which is conducive to reducing the processing difficulty and cost of the cleaning equipment. It is understandable that the drive assembly 320 can also adopt other transmission forms to drive the transmission part 310b to rotate around the first position 200a. Exemplarily, the drive assembly 320 includes a driver 322 and a connecting rod, and the connecting rod is connected to the driver 322 so that the driver 322 drives the connecting rod to rotate to drive the transmission part 310b to rotate around the first position 200a.

[0263] In one embodiment, referring to Figures 34 to 37 , the cleaning device includes an elastic return member 330. One end of the elastic return member 330 is connected to the device body 200, and the other end of the elastic return member 330 abuts against a side of the transmission portion 310b away from the cam 321. For example, when the image acquisition module 2 is in the first shooting position, the elastic return member 330 is in a balanced state. The cam 321 rotates under the drive member 322. During this rotation, the cam 321 can force the transmission portion 310b to rotate downward, compressing the elastic return member 330 and causing the image acquisition module 2 to rotate toward the second shooting position. When the image acquisition module 2 rotates to the second shooting position, the cam 321 presses the transmission portion 310b to its lowest point. The cam 321 continues to rotate, and the transmission portion 310b can rotate upward under the restoring force of the elastic return member 330, causing the image acquisition module 2 to rotate toward the first shooting position.

[0264] For example, when the image acquisition module 2 is in the first shooting position, the elastic return member 330 is in a compressed state. The cam 321 and the elastic return member 330 jointly restrain the image acquisition module 2 in the first shooting position. The cam 321 rotates under the drive member 322. During rotation, the cam 321 can compress the transmission portion 310b to rotate downward. The elastic return member 330 continues to be compressed, and the image acquisition module 2 rotates toward the second shooting position. When the image acquisition module 2 rotates to the second shooting position, the cam 321 compresses the transmission portion 310b to its lowest point. The cam 321 continues to rotate, and the transmission portion 310b can rotate upward under the restoring force of the elastic return member 330, rotating the image acquisition module 2 toward the first shooting position. It can be understood that the image acquisition module 2 in the first shooting position, i.e., the image acquisition module 2 is at eye level to detect garbage and obstacles ahead, is a highly likely use scenario. The elastic return member 330 is provided between the device body 200 and the transmission portion 310b to ensure that the image acquisition module 2 tends to be in the first shooting position, facilitating user use.

[0265] In the embodiment of the present application, an elastic reset member 330 is provided between the device body 200 and the transmission part 310b, so that the image acquisition module 2 has a tendency to be in or return to a certain position for shooting. The cam 321 is driven by the driving member 322 to rotate. During the rotation process, the cam 321 can press the transmission part 310b to rotate downward, the elastic reset member 330 is compressed, and the image acquisition module 2 rotates upward. When the cam 321 presses the transmission part 310b to the lowest point, the cam 321 continues to rotate, and the transmission part 310b can rotate upward under the restoring force of the elastic reset member 330, so that the image acquisition module 2 automatically returns to the initial position for shooting, which is conducive to improving the user experience of the cleaning device of the embodiment of the present application.

[0266] In one embodiment, referring to Figures 34 to 39 , the device body 200 has a limiting step 200b, and the transmission member 310 has a limiting protrusion 310c. The limiting step 200b is located below the limiting protrusion 310c, and the elastic return member 330 causes the limiting protrusion 310c to tend to abut the limiting step 200b. For example, when the limiting protrusion 310c abuts the limiting step 200b, the image acquisition module 2 is in the first shooting position, the image acquisition module 2 is at eye level, and the elastic return member 330 is in a balanced or compressed state. In this embodiment of the present application, the limiting protrusion 310c abuts the limiting step 200b, limiting the downward rotation range of the image acquisition module 2, avoiding the risk of the image acquisition module 2 not being able to capture the image required by the user due to excessive downward rotation, thereby improving the user experience.

[0267] It is understandable that there is no need to set an elastic return member 330 between the device body 200 and the transmission part 310b. For example, the center of gravity of the transmission part 310 is located on the side of the first position 200a away from the drive assembly 320. When the limiting protrusion 310c abuts the limiting step 200b, the cam 321 rotates under the drive of the driving member 322. During the rotation, the zone wheel can press the transmission part 310b to rotate downward, the limiting protrusion 310c separates from the limiting step 200b, and the image acquisition module 2 rotates upward. When the cam 321 presses the transmission part 310b to the lowest point, the cam 321 continues to rotate, and the transmission part 310 can rotate back under the action of gravity, causing the image acquisition module 2 to rotate downward until the limiting protrusion 310c abuts the limiting step 200b again.

[0268] In one embodiment, referring to Figures 34 to 39 , the transmission member 310 includes a front shell 311 and a rear shell 312. A mounting portion 310a is formed on the front shell 311. The front shell 311 and the rear shell 312 define a mounting cavity 310d, within which the image acquisition module 2 is disposed. In this embodiment, the image acquisition module 2 is disposed within the mounting cavity 310d formed by the front shell 311 and the rear shell 312, thereby enhancing protection for the image acquisition module 2 and, in turn, extending the lifespan of the cleaning device.

[0269] In one embodiment, referring to Figures 34 to 39, the rear shell 312 includes a first shell 3121 and a second shell 3122, which are arranged crosswise. The front shell 311 and the first shell 3121 are arranged to form the installation cavity 310d. For example, the first shell 3121 and the second shell 3122 are arranged perpendicular to each other, so that the cross-section of the transmission member 310 along its own extension direction is L-shaped. In this embodiment of the present application, the first shell 3121 and the second shell 3122 are arranged crosswise, so that the transmission member 310 is more evenly distributed in space, shortening the length of the transmission member 310, which is conducive to saving internal space of the cleaning device. It is understandable that the relative position relationship between the first shell 3121 and the second shell 3122 is not limited. The first shell 3121 and the second shell 3122 can be arranged crosswise, or the first shell 3121 and the second shell 3122 can be arranged in parallel. Exemplarily, the first shell 3121 and the second shell 3122 are arranged parallel to each other, so that the transmission member 310 is an elongated plate.

[0270] In one embodiment, referring to FIG. 41 , the cleaning device includes a front collision plate 400, which is disposed on a side of the device body 200 near the image acquisition module 2. At least a portion of the front collision plate 400 is transparent, allowing the image acquisition module 2 to capture images through the front collision plate 400. For example, the front collision plate 400 has a perspective window 410, through which the image acquisition module 2 can capture images. In this embodiment of the present application, the front collision plate 400 is disposed in front of the image acquisition module 2, so that during operation of the cleaning device, the front collision plate 400 can protect the image acquisition module 2 and the drive assembly 300. The image acquisition module 2 can also capture images through the front collision plate 400, which helps to increase the service life of the cleaning device.

[0271] In one embodiment, referring to FIG41 , the cleaning device includes a cushioning pad 500 disposed on a side of the front collision plate 400 away from the image acquisition module 2. In this embodiment, the cushioning pad 500 is disposed in front of the front collision plate 400 so that when the cleaning device encounters an obstacle, the cushioning pad 500 can mitigate the impact on the front collision plate 400, thereby effectively extending the service life of the cleaning device.

[0272] In one embodiment, referring to Figures 34 to 37 , the drive assembly 300 is configured to drive the image acquisition module 2 to move vertically relative to the device body 200. It is understood that the drive assembly 300 can drive the image acquisition module 2 to move in any manner, including translational or rotational motion. For example, the drive assembly 300 drives the image acquisition module 2 to rotate vertically relative to the device body 200.

[0273] For example, when the image acquisition module 2 is located in the first shooting position, the image acquisition module 2 is in the default cleaning working state, and the line of sight of the image acquisition module 2 is level, which can better view the garbage and obstacles on the ground. When the user needs human-machine dialogue or monitors the situation around the cleaning equipment, the drive assembly 300 can drive the image acquisition module 2 to rotate to the second shooting position in the up and down direction, and the line of sight of the image acquisition module 2 is tilted upward, so that the image acquisition module 2 can monitor the situation around the cleaning equipment or take pictures of people for user communication. In the embodiment of the present application, the drive assembly 300 can drive the image acquisition module 2 to move in the up and down direction relative to the device body 200, so that the image acquisition module 2 can obtain a larger shooting range in the up and down direction, so as to enrich the use functions of the cleaning equipment in different application scenarios, which is conducive to improving the adaptability of the cleaning equipment to work in different application scenarios.

[0274] The cleaning system according to the fourth embodiment of the present application is described below with reference to the accompanying drawings.

[0275] According to the fourth embodiment of the present application, the cleaning system includes: a cleaning device and a base station, the cleaning device is a cleaning robot, and the base station has a accommodating cavity for accommodating the cleaning device.

[0276] According to the cleaning system of the fourth embodiment of the present application,

[0277] For example, the cleaning device is a cleaning robot, and the base station includes a charging terminal disposed in the receiving cavity. The cleaning device can automatically park in the receiving cavity of the base station, and the charging terminal can charge the cleaning device.

[0278] In the embodiment of the present application, after the cleaning equipment completes the relevant tasks, it can enter the accommodating cavity of the base station to prepare for the next relevant tasks, which is convenient for the storage of the cleaning equipment and is also beneficial to improving the continuity of the cleaning system in performing relevant tasks.

[0279] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0280] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0281] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. An identification device, wherein: include: Laser transmitter; Fill light; An image acquisition module is adapted to acquire color images and receive infrared light reflected from an external environment.

2. The identification device according to claim 1, wherein Within the field of view angle range of the laser emitter, the intensity of the laser emitted by the laser emitter increases in the direction from the center line of the field of view of the laser emitter toward the edge of the field of view.

3. The identification device according to claim 2, wherein: The angle between the edge of the field of view on one side 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 edge of the field of view on the other side of the field of view of the laser emitter and the center line of the field of view is a2, satisfying: |a1-a2|≤5°.

4. The identification device according to claim 2, wherein: Within the field of view angle range of the laser emitter, the minimum laser intensity i1 of the laser emitter and the maximum laser intensity i2 of the laser emitter satisfy: 1.5≤i2 / i1≤5.

5. The identification device according to any one of claims 1 to 4, wherein: The fill light is located above the image acquisition module.

6. The identification device according to any one of claims 1 to 5, wherein: The fill lights are two distributed on opposite sides of the image acquisition module.

7. The identification device according to claim 6, wherein: The distance L1 between the two fill lights satisfies: 40≤L1≤60mm.

8. The identification device according to claim 6 or 7, wherein: The two fill lights are symmetrically arranged relative to the center line of the image acquisition module.

9. The identification device according to any one of claims 1 to 8, wherein: Also includes: A recharging signal transmitter, the recharging signal transmitter is suitable for transmitting a recharging signal, and the recharging signal transmitter is two distributed on opposite sides of the image acquisition module.

10. The identification device according to claim 9, wherein: The distance L2 between the two recharging signal transmitters satisfies: 10≤L2≤15mm.

11. The identification device according to claim 9 or 10, wherein: The two recharging signal transmitters are symmetrically arranged relative to the center line of the image acquisition module.

12. The identification device according to any one of claims 1 to 11, wherein: The horizontal field of view angle of the image acquisition module is greater than the vertical field of view angle of the image acquisition module.

13. The identification device according to any one of claims 1 to 12, wherein: The laser emitter is used to emit linear laser light, and the center line of the image acquisition module intersects with the plane where the linear laser light emitted by the laser emitter is located.

14. The identification device according to any one of claims 1 to 13, wherein: There is one laser emitter, and a distance H0 between the laser emitter and the image acquisition module satisfies: 12≤H0≤18mm.

15. The identification device according to any one of claims 1 to 13, wherein: The number of the laser emitters is two and they are located on opposite sides of the image acquisition module. The distance L3 between each of the laser emitters and the image acquisition module satisfies the following: 30≤L3≤60mm.

16. The identification device according to any one of claims 1 to 15, wherein: The image acquisition module has a first working state and a second working state. In the first working state, the image acquisition module is used to capture visible light images. In the second working state, the image acquisition module captures infrared light images. The exposure amount of the image acquisition module in the first working state is greater than the exposure amount of the image acquisition module in the second working state.

17. The identification device according to any one of claims 1 to 16, wherein: The laser emitter and the image acquisition module are arranged in the vertical direction, and the laser emitter is suitable for emitting linear laser extending in the horizontal direction.

18. The identification device according to claim 17, wherein: The laser emitter is located above the image acquisition module.

19. The identification device according to claim 17 or 18, wherein: In the up and down directions, the fill light is located between the laser emitter and the image acquisition module.

20. The identification device according to any one of claims 1 to 19, wherein: The laser emitters are two symmetrically distributed on the left and right sides of the image acquisition module, and the laser emitters are used to emit linear lasers extending in the up and down directions.

21. The identification device according to claim 20, wherein: The fill light is located between the two laser emitters in the left and right directions.

22. The identification device according to any one of claims 1 to 21, wherein: The laser emitter is an infrared laser emitter, and the image acquisition module is a dual-channel camera. The dual-channel camera is used to detect ambient brightness and acquire visible light images and infrared light images.

23. The identification device according to any one of claims 1 to 21, wherein: The fill light is a visible light fill light for adjusting the brightness of the environment.

24. The identification device according to claim 1, wherein Also includes: The bracket comprises an image acquisition module including a visible light camera and an infrared camera, the fill light includes an infrared fill light, the visible light camera, the infrared camera and the infrared fill light are arranged on the bracket at intervals, the infrared fill light is used to emit infrared light to the external environment of the recognition device, and the infrared camera is used to receive infrared light reflected by the external environment of the recognition device.

25. The identification device according to claim 24, wherein The light emitting direction of the infrared fill light is set obliquely downward along the height direction of the recognition device.

26. The identification device according to claim 24, wherein The angle between the light emitting direction of the infrared fill light and the horizontal plane of the ground is 0 degrees to 50 degrees.

27. The identification device according to claim 24, wherein: The infrared fill light is closer to the bottom of the recognition device than the infrared camera.

28. The identification device according to claim 24, wherein Along the height direction of the recognition device, the distance between the center of the infrared fill light and the center of the infrared camera is 0 mm to 30 mm.

29. The identification device according to claim 24, wherein The laser emitter includes an infrared laser emitter, which is arranged on the bracket and located above the infrared camera.

30. The identification device according to claim 29, wherein The identification device includes a dustproof sheet, which is provided on the bracket. The dustproof sheet covers the visible light camera, the infrared camera, the infrared fill light and the infrared laser emitter on the light-emitting side of the infrared fill light. The dustproof sheet includes a visible light area and an infrared light area. The visible light camera is used to receive visible light through the visible light area, and the infrared camera is used to receive infrared light through the infrared light area. The infrared light emitted by the infrared fill light and the infrared laser emitter passes through the infrared light area.

31. The identification device according to claim 30, wherein: The area of ​​a single infrared light region is greater than 25 square millimeters, and / or the infrared light transmittance of the infrared light region is greater than 80%.

32. The identification device according to claim 30 or 31, wherein: The identification device includes a single dustproof sheet, the distance between the center of the infrared laser emitter and the center of the infrared camera is greater than 10 mm, and the distance between the center of the infrared fill light and the center of the infrared camera is greater than 10 mm.

33. The identification device according to claim 30 or 31, wherein: The bracket includes an upper part and a lower part, the infrared laser emitter is arranged in the upper part, the visible light camera, the infrared camera and the infrared fill light are arranged in the lower part, and the dustproof sheet includes a first dustproof sheet and a second dustproof sheet arranged at intervals, the first dustproof sheet is arranged in the upper part and covers the infrared laser emitter, and the second dustproof sheet is arranged in the lower part and covers the visible light camera, the infrared camera and the infrared fill light.

34. The identification device according to claim 33, wherein The identification device includes a recharging signal receiver, the recharging signal receiver is provided on the upper portion, the first dustproof sheet covers the recharging signal receiver, the recharging signal receiver is used to receive infrared light emitted by the base station through the infrared light area, and / or; The identification device includes a visible light fill light, which is arranged at the lower part. The second dustproof sheet covers the visible light fill light, and the visible light emitted by the visible light fill light passes through the visible light area.

35. The identification device according to claim 34, wherein The bracket is provided with a plurality of holes, and the recharging signal receiver and / or the visible light fill light, the visible light camera, the infrared laser transmitter, the infrared camera, and the infrared fill light are arranged in a corresponding hole, and the lower edge of the hole where the visible light fill light is located is horizontal.

36. The identification device according to claim 30, wherein The bracket is provided with a through hole, and the through hole is suitable for removing the dustproof sheet from a side of the bracket away from the dustproof sheet.

37. The identification device according to claim 24, wherein The infrared fill light has a lighting angle of greater than 90 degrees in the horizontal direction and a lighting angle of 20 to 60 degrees in the vertical direction.

38. The identification device according to claim 1, wherein The laser emitter includes a visible light laser, which is suitable for emitting visible light. The image acquisition module is suitable for acquiring color images, and the visible light laser is suitable for cooperating with the image acquisition module to perform distance measurement.

39. The identification device according to claim 38, wherein It also includes a circuit board, which is electrically connected to the visible light laser and the image acquisition module. The recognition device can switch between a distance measurement mode and an image acquisition mode. In the distance measurement mode, the visible light laser cooperates with the image acquisition module to perform distance measurement. In the image acquisition mode, the visible light laser stops operating and the image acquisition module performs image acquisition operations.

40. The identification device according to claim 38, wherein The visible ray laser is configured to emit green laser light, blue laser light, or red laser light.

41. The identification device according to claim 38, wherein The switching frequency of the visible light laser is greater than or equal to 30 Hz and less than or equal to 90 Hz.

42. The identification device according to claim 38, wherein The number of the visible light lasers is greater than or equal to 1 and less than or equal to 3.

43. The identification device according to claim 38, wherein The number of the visible light laser is one, and the visible light laser emits a horizontal line laser forward or downward. The angle between the optical axis of the visible light laser and the horizontal plane can be greater than or equal to 0 degrees and less than or equal to 45 degrees.

44. The identification device according to claim 43, wherein The visible light laser is arranged above the image acquisition module.

45. The identification device according to claim 43, wherein The field of view angle of the visible light laser is greater than or equal to 90 degrees and less than or equal to 140 degrees.

46. ​​The identification device according to claim 38, wherein The number of the visible light lasers is two, and the two visible light lasers are respectively arranged on both sides of the image acquisition module in the horizontal direction.

47. The identification device according to claim 46, wherein The two visible light lasers both emit vertical linear lasers, and an angle between the optical axis of the visible light laser and the optical axis of the image acquisition module is greater than or equal to 30 degrees and less than or equal to 60 degrees.

48. The identification device according to claim 47, wherein The field of view angle of the visible light laser is greater than or equal to 50 degrees and less than or equal to 90 degrees.

49. The identification device according to claim 38, wherein The transmittance of the image acquisition module to visible light is greater than 90%, and the wavelength range of the visible light is greater than or equal to 380 nm and less than or equal to 760 nm.

50. The identification device according to claim 38, wherein It also includes a bracket, and the visible light laser and the image acquisition module are both fixed on the bracket.

51. A control method, wherein: Applicable to the identification device according to any one of claims 38 to 50, the control method comprising: The recognition device is controlled to operate alternately between a distance measurement mode and an image acquisition mode. In the distance measurement mode, the visible light laser cooperates with the image acquisition module to perform distance measurement. In the image acquisition mode, the visible light laser stops operating and the image acquisition module performs image acquisition operations.

52. The control method according to claim 51, wherein: The image acquisition module is a camera with three RGB channels, wherein the channel for acquiring the laser light emitted by the visible light laser is a preset channel, and the remaining channels are determination channels. The image acquisition module cooperates with the visible light laser to perform distance measurement, including: Acquire images; Confirm that the signal of the image in the preset channel among the RGB three channels of the image acquisition module is a valid laser signal; Process the effective laser signal to obtain distance information.

53. The control method according to claim 52, wherein: The confirming image signal in a preset channel among the RGB three channels of the image acquisition module is a valid laser signal, comprising: Get the light intensity value of the image in the three RGB channels; Confirming that the light intensity value in each of the determination channels is less than a first calibration value, and / or confirming that the ratio of the light intensity value in each of the determination channels to the light intensity value in the preset channel is less than a second calibration value; The signal in the preset channel is determined to be a valid laser signal.

54. A cleaning device, wherein: include: A device body and an identification device according to any one of claims 1 to 50, wherein the identification device is arranged on the device body.

55. The cleaning apparatus of claim 54, wherein Also includes: A drive assembly is installed on the device body, the image acquisition module is drivingly connected to the drive assembly, and the drive assembly is used to drive the image acquisition module to move relative to the device body.

56. The cleaning apparatus of claim 55, wherein The drive assembly comprises: a transmission member, rotatably connected to the device body, and the image acquisition module is mounted on the transmission member; A driving component is provided on the device body, and is used for driving the transmission member to rotate so as to drive the image acquisition module to rotate.

57. The cleaning apparatus of claim 56, wherein The position where the transmission member is rotationally connected to the device body is a first position, the transmission member has a mounting portion and a transmission portion, the first position is located between the mounting portion and the transmission portion along the arrangement direction of the mounting portion and the transmission portion, the image acquisition module is installed on the mounting portion, and the driving assembly is transmission-connected to the transmission portion to drive the transmission portion to rotate.

58. The cleaning apparatus of claim 57, wherein The transmission member includes a front shell and a rear shell, the mounting portion is formed on the front shell, the front shell and the rear shell are surrounded to form a mounting cavity, and the image acquisition module is arranged in the mounting cavity.

59. The cleaning apparatus of claim 58, wherein The rear shell includes a first shell and a second shell, the first shell and the second shell are arranged crosswise, and the front shell and the first shell are arranged to form the installation cavity.

60. The cleaning apparatus of claim 57, wherein The driving assembly includes a driving member and a cam. The driving member is installed on the device body. The driving member can drive the cam to rotate, so as to drive the transmission part to rotate around the first position.

61. The cleaning apparatus of claim 60, wherein: The cleaning device comprises an elastic reset member, one end of which is connected to the device body, and the other end of which is in contact with a side of the transmission part away from the cam.

62. The cleaning apparatus of claim 61, wherein The device body has a limiting step, the transmission member has a limiting protrusion, the limiting step is located below the limiting protrusion, and the elastic reset member makes the limiting protrusion tend to abut against the limiting step.

63. The cleaning apparatus of claim 56, wherein: The central axis of the transmission member rotating relative to the device body is the target central axis, and the target central axis is arranged to intersect with the up-down direction and the front-back direction of the device body respectively.

64. The cleaning apparatus of claim 55, wherein: The driving assembly is used to drive the image acquisition module to move in an up and down direction relative to the device body.

65. A cleaning system, wherein: include: The cleaning device according to any one of claims 54 to 64, wherein the cleaning device is a cleaning robot; The base station has a receiving cavity for receiving the cleaning device.

Images