Autonomous mobile device

Abstract

An autonomous mobile device, which is capable of moving autonomously on a traveling surface (S), and comprises a main body (1), an emitter (2) and an image collection unit (3) which are assembled together. The emitter (2) is provided at the bottom (11) of the main body (1) and is configured to emit ultraviolet light to the traveling surface (S), so as to form an irradiation region (2a) on the traveling surface (S). The image collection unit (3) is also provided on the main body (1) and is configured to be capable of collecting an image of the traveling surface (S), wherein the collected image comprises at least a portion of the irradiation region (2a). Thus, the autonomous mobile device can effectively detect liquids, such as liquid excreta, on the traveling surface (S) thereof.

Description

Autonomous mobile device

[0001] Reference of Related Applications

[0002] The present disclosure claims priority to Chinese Patent Application No. 202411095767.7, filed on August 9, 2024, entitled “Autonomous Mobile Device,” and Chinese Patent Application No. 202421934415.1, filed on August 9, 2024, entitled “Autonomous Mobile Device,” both of which are incorporated by reference herein in their entirety. TECHNICAL FIELD

[0003] The present disclosure relates to a configuration of a detection component of an autonomous mobile device. BACKGROUND

[0004] An autonomous mobile device refers to an intelligent mobile device that autonomously performs a preset task, and is capable of autonomous movement on a travel surface according to a result of sensing by a sensing component thereof. Currently, autonomous mobile devices generally include, but are not limited to, cleaning robots (e.g., intelligent floor sweeping machines, intelligent floor wiping machines, window cleaning robots), companion mobile robots (e.g., intelligent electronic pets, nanny robots), service mobile robots (e.g., reception robots for hotels, inns, meeting places), industrial inspection intelligent devices (e.g., power inspection robots, intelligent forklifts, etc.), and security robots (e.g., intelligent security robots for home or business use).

[0005] In an environment in which the above-described autonomous mobile device is applied, there can be animals such as pets, and liquid excrement such as urine of these animals will remain on the travel surface until it is cleaned. When the autonomous mobile device performs work, it is sometimes necessary to bypass the liquid excrement, and sometimes necessary to clean the liquid excrement. Regardless of what kind of post-processing the autonomous mobile device needs to perform after detecting the presence of the above-described liquid excrement on the travel surface, it is necessary for the autonomous mobile device to be capable of effectively detecting the excrement on the travel surface. Therefore, there is an urgent need in the field of autonomous mobile devices for a detection means that is capable of effectively detecting liquid excrement on the travel surface. SUMMARY

[0006] Based on the problems of the above-described prior art, the purpose of the present disclosure is to provide an autonomous mobile device that is capable of effectively detecting liquid such as liquid excrement on a travel surface thereof.

[0007] To achieve the above-mentioned purpose, the present disclosure adopts the following technical solution.

[0008] The present disclosure provides an autonomous mobile device that is capable of autonomous movement on a travel surface, the autonomous mobile device comprising:

[0009] a host;

[0010] a transmitter disposed at the bottom of the main body, the transmitter being configured to emit ultraviolet light toward the travel surface to form an irradiation area on the travel surface; and

[0011] an image acquisition unit disposed at the main body, the image acquisition unit being configured to acquire an image, the image including at least a portion of the irradiation area.

[0012] In an alternative, the image acquisition unit is fixedly connected to the main body, and the image acquisition unit is configured such that the acquired image can include the entire irradiation area.

[0013] In another alternative, the image acquisition unit is disposed at the bottom of the main body; or the image acquisition unit is disposed at the front side of the main body.

[0014] In another alternative, the image acquisition unit is rotatably connected to the front side of the main body, and the image acquisition unit can acquire the image in a state of being rotated to a predetermined posture.

[0015] In another alternative, the image acquisition unit includes a unit body and a rotation shaft assembled together, the unit body is rotatably connected to the main body via the rotation shaft, and the rotation shaft enables the unit body to rotate in a plane perpendicular to the travel surface.

[0016] In another alternative, at the front side of the main body, the main body is formed with a relief structure, and the relief structure enables the image acquisition unit to acquire the image.

[0017] In another alternative, the transmitter is configured such that at least a portion of the irradiation area is always located at the front side of the main body; or the transmitter is configured such that the entire irradiation area is always located directly below the main body.

[0018] In another alternative, the autonomous mobile device has a center line extending along the front-rear direction thereof, and the structure of the autonomous mobile device is left-right symmetrical with respect to the center line,

[0019] including only one of the transmitters, the transmitter being located on the center line; or

[0020] including a plurality of the transmitters, the plurality of the transmitters being configured to be symmetrically arranged with respect to the center line.

[0021] In another alternative, the transmitter is rotatably connected to the main body.

[0022] In another alternative, the autonomous mobile device includes a wet cleaning assembly including a cloth capable of cleaning liquid.

[0023] By employing the above technical solution, the present disclosure provides an autonomous mobile device capable of autonomous movement on a travel surface. The autonomous mobile device includes a main body, a transmitter and an image acquisition unit assembled together. The transmitter is disposed at the bottom of the main body, and the transmitter is configured to emit ultraviolet light to the travel surface to form an irradiation area on the travel surface. The image acquisition unit is also disposed at the main body, and the image acquisition unit is configured to be capable of acquiring an image of the travel surface, the image including at least a portion of the irradiation area.

[0024] By employing the above solution, the ultraviolet light emitted by the transmitter irradiates to the travel surface, and once there is liquid such as animal excrement in the irradiation area on the travel surface, the liquid will produce fluorescence. An image including the fluorescence is acquired by the image acquisition unit, and the control unit of the autonomous mobile device is capable of detecting data such as the position and area of the liquid on the travel surface based on the acquired image, so that the control unit is capable of controlling the autonomous mobile device to perform post-processing such as detouring or cleaning based on the data. Thus, the autonomous mobile device according to the present disclosure is capable of effectively detecting liquid such as liquid excrement on the travel surface. In addition, the transmitter emitting ultraviolet light is disposed at the bottom of the main body, which can minimize or even eliminate the harm of ultraviolet light to the human body. BRIEF DESCRIPTION OF DRAWINGS

[0025] FIG. 1 is a side view schematic diagram of an autonomous mobile device according to a first embodiment of the present disclosure, wherein part of the structure of the autonomous mobile device is shown in a perspective manner.

[0026] FIG. 2 is a bottom view schematic diagram of the autonomous mobile device in FIG. 1.

[0027] FIG. 3 is a bottom view schematic diagram of an autonomous mobile device according to a second embodiment of the present disclosure.

[0028] FIG. 4 is a side view schematic diagram of an autonomous mobile device according to a third embodiment of the present disclosure, wherein part of the structure of the autonomous mobile device is shown in a perspective manner.

[0029] FIG. 5 is a side view schematic diagram of an autonomous mobile device according to a fourth embodiment of the present disclosure, wherein part of the structure of the autonomous mobile device is shown in a perspective manner, and the image acquisition unit is in a first posture.

[0030] FIG. 6 is a side view schematic diagram of the autonomous mobile device in FIG. 5, wherein part of the structure of the autonomous mobile device is shown in a perspective manner, and the image acquisition unit is in a second posture.

[0031] Explanation of Reference Signs 1 - host; 11 - bottom; 12 - front side; 1c - avoidance structure; 2 - emitter; 2a - irradiation area; 3 - image acquisition unit; 3a - field of view range; 31 - unit body; 32 - rotation shaft; 4 - control unit; 5 - drive wheel; S - travel surface; L - center line; D1 - front-rear direction; D2 - up-down direction; D3 - left-right direction. DETAILED DESCRIPTION

[0032] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. In order to facilitate understanding, there can be elements shown in each of the accompanying drawings that represent elements of different sizes and scales, etc. from actual sizes and scales, etc.

[0033] In the present disclosure, unless otherwise specified, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", and "lower (lower side)" are relative to the normal operating state of the autonomous mobile device according to the present disclosure. Specifically, the autonomous mobile device has a forward motion direction (i.e. forward direction) when it is in the normal operating state on the travel surface, and the so-called "normal operating state" refers to the moving state of the autonomous mobile device when it is performing a task, which is distinguished from the non-normal operating state such as the backward movement and swinging of the autonomous mobile device in the escape mode. "Front (front side)", "rear (rear side)" refer to the front side and the rear side in the forward direction of the autonomous mobile device according to the present disclosure when the autonomous mobile device is in the normal operating state. "Left (left side)", "right (right side)" refer to the left side and the right side when the autonomous mobile device according to the present disclosure is in the normal operating state, as viewed from the front side in the forward direction. "Upper (upper side)", "lower (lower side)" refer to the upper side and the lower side in the height direction perpendicular to the travel surface when the autonomous mobile device according to the present disclosure is in the normal operating state. Accordingly, "front-rear direction", "up-down direction", and "left-right direction" refer to the front-rear direction, the up-down direction, and the left-right direction of the autonomous mobile device, respectively.

[0034] In the present disclosure, unless otherwise specified, the "top" and "bottom" of the host refer to the top and bottom, respectively, when the autonomous mobile device according to the present disclosure is in the normal operating state. That is, the top refers to the part that is away from the travel surface and is on the upper side in the up-down direction when the autonomous mobile device is in the normal operating state, and accordingly the top surface refers to the uppermost surface of the top. The bottom refers to the part that is close to the travel surface and is on the lower side in the up-down direction when the autonomous mobile device is in the normal operating state, and accordingly the bottom surface refers to the lowermost surface of the bottom.

[0035] In the present disclosure, the autonomous mobile device according to the present disclosure is capable of autonomous movement according to a control scheme preset in its control unit, and the travel surface on which the autonomous mobile device moves autonomously can be a plane or a curved surface with a large radius of curvature, typically for example a floor surface in each room of a building.

[0036] The autonomous mobile device according to the first embodiment of the present disclosure is described below in conjunction with the accompanying drawings of the specification.

[0037] In the present embodiment, as shown in FIG. 1 and FIG. 2, the autonomous mobile device according to the first embodiment of the present disclosure includes a main body 1, a transmitter 2, an image acquisition unit 3, a control unit 4 and a driving wheel 5 assembled together.

[0038] In the present embodiment, as shown in FIG. 2, the main body 1 as a whole has a circular shape in a top view. In other variants, the main body 1 as a whole can have various shapes such as a D-shaped, an elliptical, a square, etc. In a normal operating state of the autonomous mobile device, the bottom surface of the main body 1 is opposite to the travel surface S, and the bottom surface of the main body 1 is generally parallel to the travel surface S. Here, “parallel” includes not only the case that the bottom surface of the main body 1 and the travel surface S have a geometric parallel relationship, but also the case that the two are approximately parallel. The above-mentioned “approximately” means that within a reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be established, for example, the acute angle between the bottom surface of the main body 1 and the travel surface S is not greater than 5 degrees, and the two can be considered to be parallel to each other. In addition, in order to support and protect other components, other components of the autonomous mobile device are usually installed inside the main body 1 or have a connection relationship with the main body 1. Further, the main body 1 can include a face cover and a base capable of being detachably assembled together, the face cover and the base are arranged in a stacking manner in the up-down direction D2 and an installation space is enclosed between the face cover and the base. The face cover mainly constitutes the top of the main body 1, and the top surface of the face cover serves as the top surface of the main body 1. The base mainly constitutes the bottom 11 of the main body 1, and the bottom surface of the base serves as the bottom surface of the main body 1. In other optional solutions, the main body 1 can be constructed as needed.

[0039] In the present embodiment, as shown in FIGS. 1 and 2, only one emitter 2 is provided, which is arranged at the bottom 11 of the host 1 and fixedly connected with the host 1. The emitter 2 comprises a mechanism for emitting ultraviolet light, which can comprise a radiation source, an emission optical system, an ultraviolet light modulator, a trigger circuit, a photoelectric conversion circuit, and the like. As long as the emitter 2 can emit ultraviolet light and the ultraviolet light forms an irradiation area 2a after irradiating the travel surface S and the irradiation area 2a covers a large enough area, any of the above mechanisms available can be used as needed. In addition, the wavelength of the ultraviolet light emitted by the emitter 2 can be selected from the following wavelength bands as needed: A band (wavelength of 315.0 nm to 400.0 nm), B band (wavelength of 280.0 nm to 315.0 nm), and C band (wavelength of 100.0 nm to 280.0 nm). In the present embodiment, ultraviolet light with a wavelength greater than or equal to 360.0 nm can be selected.

[0040] As shown in FIG. 1, the emitter 2 is signal connected with the control unit 4, so that the emitter 2 is controlled by the control unit 4 to work. The emitter 2 can continuously emit ultraviolet light toward the travel surface S, intermittently emit ultraviolet light toward the travel surface S based on a predetermined frequency, or emit ultraviolet light toward the travel surface S based on a preset condition (for example, when other sensors detect that there is liquid on the travel surface S in front or there is a different reflection light ray than the ordinary ground, the emitter 2 is started). In the present embodiment, the irradiation area 2a formed after the ultraviolet light irradiates the travel surface S is typically a circular area, and the range of the irradiation area 2a in the front-rear direction D1 is shown in FIG. 1. As shown in FIG. 1, a part of the irradiation area 2a is always located on the front side of the host 1 relative to the host 1, and the remaining part of the irradiation area 2a is always located below the host 1 relative to the host 1. In this way, when a part of the irradiation area 2a is always located on the front side of the host 1 relative to the host 1, the control unit 4 can timely detect liquid such as animal urine using the image obtained by the image acquisition unit 3 including the irradiation area 2a, and reserve enough calculation and processing time for post-processing of the autonomous mobile device. In addition, as shown in FIG. 2, the autonomous mobile device has a center line L extending along the front-rear direction D1 thereof, and the structure of the autonomous mobile device is substantially left-right mirror symmetrical relative to the center line L, and the emitter 2 is located on the center line L. In the case of using only one emitter 2, the cost can be saved and the structure of the autonomous mobile device can be simplified in the case of detecting liquid such as animal urine.

[0041] In the present embodiment, as shown in FIG. 1 and FIG. 2, the image acquisition unit 3 is arranged at the bottom 11 of the host 1 and fixedly connected with the host 1. In the front-rear direction D1, the image acquisition unit 3 is located at the rear side of the emitter 2, and the image acquisition unit 3 is also arranged on the center line L. A typical example of the image acquisition unit 3 is a camera. In this way, the image acquisition unit 3 and the emitter 2 can be modularized advantageously, thereby simplifying the assembly of the autonomous mobile device.

[0042] As shown in FIG. 1, the image acquisition unit 3 is signal connected with the control unit 4, so that the image acquisition unit 3 is controlled to work by the control unit 4. The image acquisition frequency of the image acquisition unit 3 can be set as needed to ensure that enough images are acquired within a unit of time for the control unit 4 to process and analyze. In the present embodiment, the field of view range 3a of the image acquisition unit 3 is mainly determined by its field of view angle, and FIG. 1 shows the field of view range 3a of the image acquisition unit 3 in the front-rear direction D1. As shown in FIG. 1, the image acquisition unit 3 can acquire images including the entire irradiation area 2a (the entirety of the irradiation area 2a). Once there are liquids such as animal excrement in the irradiation area 2a on the travel surface S irradiated by the ultraviolet light of the emitter 2, the liquids will produce fluorescence, and images including the fluorescence are acquired by the image acquisition unit 3. In the present embodiment, each frame of image acquired by the image acquisition unit 3 can include the above-mentioned irradiation area 2a, so that it can detect whether there are liquids such as animal excrement in the irradiation area 2a in substantially real time, and it can more accurately detect whether there are the above-mentioned liquids on the travel surface S, avoiding the problem that the detection is not accurate enough due to the acquired images including only a part of the irradiation area 2a.

[0043] In the present embodiment, the control unit 4 can be installed inside the main body 1 as shown in FIG. 1. The control unit 4 is a general term, and the type, number and form of the control unit 4 are not limited. Specifically, the control unit 4 can be one or more of an MCU, a DSP, an FPGA, a GPU, and other hardware chips, processors or software algorithms with data processing and computing capabilities. Further, the control unit 4 can be a unified and unique processor of the autonomous mobile device, or a collection of multiple control units, and the connection mode and function and computing power distribution of the multiple control units can be adjusted as needed. For example, in an alternative scheme, a first control unit and a second control unit can be included, and in this case, the first control unit and the second control unit collectively implement various functions of the control unit described above. In addition, the control unit of the autonomous mobile device according to the present disclosure can receive data from sensing components including, for example, a laser radar or an infrared sensor, and can control the autonomous mobile device through a preset program stored in a storage unit. In the present disclosure, the data, information, programs required by the control unit 4 in the processing process can be stored in the storage unit and obtained from the storage unit as needed, and the control unit 4 can store the processed data, information, etc. in the storage unit again. The storage unit can be a RAM, a ROM, etc., or a cloud, a server, a mobile terminal, etc. having a storage function connected through a wired / wireless network and / or device. Therefore, the control unit 4 not only can obtain data of obstacles through the above-mentioned sensing components, but also can collect images including fluorescence by the image acquisition unit 3, and the control unit 4 can detect data such as the position and area of liquid such as animal excrement on the travel surface S.

[0044] In the present embodiment, as shown in FIGS. 1 and 2, two drive wheels 5 can be installed on the main body 1 and protrude relative to the bottom surface of the main body 1, for driving the entire autonomous mobile device to travel on the travel surface S under the control of the control unit 4. The two drive wheels 5 are located at the central portion of the main body 1 in the front-rear direction D1 and are spaced apart in the left-right direction D3, and the two drive wheels 5 are located at the rear side of the emitter 2 and the image acquisition unit 3 in the front-rear direction D1. Further, by rotating the two drive wheels 5 at the same speed in the same direction (for example, both clockwise or both counterclockwise), the autonomous mobile device can be driven to move linearly in a forward direction; by rotating the two drive wheels 5 at different speeds and / or in different directions (for example, one drive wheel 5 clockwise and the other drive wheel 5 counterclockwise), the autonomous mobile device can be driven to turn in a direction different from the forward direction. The autonomous mobile device can further include universal wheels arranged on the main body 1, so that the universal wheels can support the entire autonomous mobile device regardless of the manner in which the drive wheels 5 roll on the travel surface.

[0045] Thus, the ultraviolet light emitted by the one emitter 2 is irradiated to the traveling surface S, and once liquid such as animal excrement or the like exists in the irradiation area 2a of the ultraviolet light on the traveling surface S, the liquid will generate fluorescence. The image capturing unit 3 captures an image including the fluorescence, and the control unit 4 of the autonomous mobile device can detect data such as the position and area of the liquid on the traveling surface S, and thus the control unit 4 can control the autonomous mobile device to perform post-processing such as detouring or cleaning based on the data. That is, the autonomous mobile device according to the present disclosure can effectively detect liquid such as liquid excrement on the traveling surface S thereof.

[0046] The following describes an autonomous mobile device according to a second embodiment of the present disclosure.

[0047] As described in FIG. 3, the structure of the autonomous mobile device according to the second embodiment of the present disclosure is substantially the same as that of the autonomous mobile device according to the first embodiment of the present disclosure, and the following mainly describes the difference between the two.

[0048] In the present embodiment, as shown in FIG. 3, two emitters 2 are provided, and each of the emitters 2 can have the same structure as that of the emitter 2 described in the first embodiment. The two emitters 2 are spaced apart in the left-right direction D3 and symmetrically arranged with respect to the center line L. Accordingly, the image captured by one image capturing unit 3 can include all of the irradiation areas 2a of the two emitters 2.

[0049] Thus, in the present embodiment, in the case of using multiple emitters 2, not only the same effect as that of the first embodiment can be achieved, but also the situation of missed detection can be greatly avoided due to the large enough irradiation areas 2a of the multiple emitters 2.

[0050] It can be understood that in other optional solutions, more emitters 2 can be provided, and multiple image capturing units 3 can also be provided corresponding to the emitters 2.

[0051] The following describes an autonomous mobile device according to a third embodiment of the present disclosure.

[0052] As shown in FIG. 4, the structure of the autonomous mobile device according to the third embodiment of the present disclosure is substantially the same as that of the autonomous mobile device according to the first embodiment of the present disclosure, and the following mainly describes the difference between the two.

[0053] In the present embodiment, as shown in FIG. 4, all of the irradiation areas 2a of the emitters 2 are always located at the front side of the host 1 with respect to the host 1. The image capturing unit 3 is fixedly connected to the front side portion 12 of the host 1, and the image capturing unit 3 can capture an image including a part of the irradiation areas 2a (a front side portion of the irradiation areas 2a).

[0054] Thus, in the present embodiment, not only the same effects as the first embodiment can be achieved, but also the image acquisition unit 3 can be used for other functions such as detecting obstacles on the travel surface S in addition to acquiring the above-mentioned images in cooperation with the emitter 2, and thus the cost of the entire autonomous mobile device can be saved and the structure can be simplified.

[0055] The autonomous mobile device according to the fourth embodiment of the present disclosure will be described below.

[0056] As shown in FIGS. 5 and 6, the structure of the autonomous mobile device according to the fourth embodiment of the present disclosure is substantially the same as that of the autonomous mobile device according to the third embodiment of the present disclosure, and the differences between the two will be mainly described below.

[0057] In the present embodiment, as shown in FIGS. 5 and 6, the entire irradiation area 2a of the emitter 2 is always located directly below the host 1 with respect to the host 1. Further, the image acquisition unit 3 is pivotally connected to the front side portion 12 of the host 1. Specifically, the image acquisition unit 3 includes a unit body 31 and a pivot 32 assembled together. The unit body 31 includes all functional components capable of achieving the image acquisition function. The pivot 32 can extend linearly along the left-right direction D3, whereby the pivot 32 is parallel to the travel surface S when the autonomous mobile device is in a normal motion state. The unit body 31 is pivotally connected to the front side portion 12 of the host 1 via the pivot 32, and the pivot 32 enables the unit body 31 to pivot within a plane perpendicular to the travel surface S within a predetermined range, whereby the image acquisition unit 3 can be in, for example, the first attitude shown in FIG. 5 and the second attitude shown in FIG. 6. It can be understood that the pivot 32 of the present disclosure not only includes the above-described structure, but also can include any other structure capable of enabling the unit body 31 to pivot with respect to the host 1.

[0058] In order to enable the image acquisition unit 3 to smoothly acquire an image including at least a part of the irradiation region 2a, the host 1 is formed with an avoiding structure 1c on the front side 12 of the host 1, so that the image acquisition unit 3 can acquire an image including at least a part of the irradiation region 2a during rotation relative to the host 1. The avoiding structure 1c can be a notch constituted by forming a slope as shown in FIG. 5, or can be a notch constituted by forming other shapes such as an arc surface. In the present embodiment, as shown in FIG. 5, the image acquisition unit 3 is in a first attitude, and the irradiation region 2a is located outside the field of view range 3a, so that the image acquisition unit 3 cannot acquire an image including the irradiation region 2a. Further, as shown in FIG. 6, the image acquisition unit 3 is rotated to a second attitude, and further, the avoiding structure 1c is used so that the entire irradiation region 2a is located within the field of view range 3a, so that the image acquisition unit 3 can acquire an image including the entire irradiation region 2a. Based on the above description with reference to FIGS. 5 and 6, it can be understood that in the case where the image acquisition unit 3 is rotated to a predetermined attitude (including but not limited to the above-mentioned second attitude), the image acquisition unit 3 can acquire an image including at least a part of the irradiation region 2a. Since the front side 12 of the host 1 is formed with the avoiding structure 1c, even if the irradiation region 2a of the ultraviolet light is located directly below the host 1, it will not hinder the image acquisition unit 3 from acquiring an image including the irradiation region 2a.

[0059] Thus, in the present embodiment, not only the same effects as the first embodiment can be achieved, but also the image acquisition unit 3, in addition to cooperating with the emitter 2 to acquire the above-mentioned image, can be more advantageously used for other functions such as detecting obstacles and the like on the travel surface S due to the ability to rotate.

[0060] It should be understood that the above-mentioned embodiments are only exemplary and are not intended to limit the present disclosure. Those skilled in the art can make various modifications and changes to the above-mentioned embodiments under the teachings of the present disclosure without departing from the scope of the present disclosure. For the technical solutions of the present disclosure, the following supplementary description is made.

[0061] i.It can be understood that in the present disclosure, the emitter 2 can be configured so that a part of the irradiation region 2a is always located on the front side of the host 1, or the emitter 2 can be configured so that the entire irradiation region 2a is always located on the front side of the host 1, or the emitter 2 can be configured so that the entire irradiation region 2a is always located directly below the host 1. Based on the above relative positional relationship between the irradiation region 2a and the host 1, the position of the emitter 2 and the connection relationship between the emitter 2 and the host 1 can be set as needed.

[0062] For example, in an alternative, the transmitter 2 can be rotatably connected with the host 1, so that the irradiation area 2a of the transmitter 2 can be switched among the three relative position relationships described above, so as to not only make the irradiation area 2a cover a larger area, but also make the working mode of the transmitter 2 more flexible, thereby improving the detection effect. Specifically, the transmitter 2 can be rotatably connected with the host 1 by a rotation shaft, which can extend linearly along the left-right direction D3, so that the transmitter 2 can rotate in a plane perpendicular to the travel surface S. The rotation shaft not only includes the structure described above, but also can include any other structure that can make the transmitter 2 rotate relative to the host 1.

[0063] ii.It can be understood that, in the case where the autonomous mobile device according to the present disclosure is a self-moving cleaning device, the autonomous mobile device can further include a dry cleaning assembly and a wet cleaning assembly. The dry cleaning assembly is arranged on the host 1 and can include a main brush, a side brush (edge brush), a suction device, etc. The wet cleaning assembly is arranged on the host 1 and can include a mop and a water tank, etc. Thus, when the self-moving cleaning device travels on the travel surface S (the surface to be cleaned), the travel surface S can be cleaned by the dry cleaning assembly and / or the wet cleaning assembly. In different working modes, the cleaning work implemented by the self-moving cleaning device includes, but is not limited to, one or more of sweeping, mopping, and suctioning. Moreover, the self-moving cleaning device can clean a liquid such as animal excrement on the travel surface S by using the wet cleaning assembly in the post-processing process, and the work of further cleaning the liquid can be designed to have a higher priority and be executed preferentially.

Claims

1. An autonomous mobile device capable of autonomous motion on a travel surface (S), characterized in that, The autonomous mobile device comprises: a main body (1); a transmitter (2) arranged at the bottom (11) of the main body (1), the transmitter (2) being configured to emit ultraviolet light to the travel surface (S) to form an irradiation area (2a) on the travel surface (S); and an image acquisition unit (3) arranged at the main body (1), the image acquisition unit (3) being configured to acquire an image, the image comprising at least a portion of the irradiation area (2a).

2. The autonomous mobile device of claim 1, wherein, The image acquisition unit (3) is fixedly connected with the main body (1), and the image acquisition unit (3) is configured such that the acquired image can comprise the entire irradiation area (2a).

3. The autonomous mobile device according to claim 2, wherein the image acquisition unit (3) is located at the bottom (11) of the main body (1); or the image acquisition unit (3) is located at the front side (12) of the main body (1).

4. The autonomous mobile device of claim 1, wherein, The image acquisition unit (3) is rotatably connected with the front side (12) of the main body (1), and the image acquisition unit (3) can acquire the image in a state of being rotated to a predetermined posture.

5. The autonomous mobile device of claim 4, wherein, The image acquisition unit (3) comprises a unit body (31) and a rotation shaft (32) assembled together, the unit body (31) is rotatably connected with the main body (1) via the rotation shaft (32), and the rotation shaft (32) enables the unit body (31) to rotate in a plane perpendicular to the travel surface (S).

6. The autonomous mobile device of claim 5, wherein, At the front side (12) of the main body (1), the main body (1) is formed with a relief structure (1c) which enables the image acquisition unit (3) to acquire the image.

7. The autonomous mobile device according to any one of claims 1 to 6, wherein the transmitter (2) is configured such that at least a portion of the irradiation area (2a) is always located at the front side of the main body (1); or the transmitter (2) is configured such that the entire irradiation area (2a) is always located directly below the main body (1).

8. The autonomous mobile device of any one of claims 1 to 6, wherein, The autonomous mobile device has a center line (L) extending along the front-rear direction (D1) thereof, the structure of the autonomous mobile device is left-right symmetrical with respect to the center line (L), comprises only one transmitter (2) which is located on the center line (L); or comprises a plurality of transmitters (2) which are configured to be symmetrically arranged with respect to the center line (L).

9. The autonomous mobile device of any one of claims 1 to 6, wherein, The transmitter (2) is rotatably connected with the main body (1).

10. The autonomous mobile device of any one of claims 1 to 6, wherein, The autonomous mobile device comprises a wet cleaning assembly which comprises a cloth capable of cleaning liquid.

Images