Image capturing apparatus and mobile cleaning robot
An image capturing apparatus and a mobile cleaning robot are provided. The image capturing apparatus includes a light emitter, an image sensor, and a filter. The light emitter is configured to emit an invisible light to a target. The image sensor includes a field of view (FOV) covering an area of the target from near to far and is configured to sense the invisible light reflected from the area of the target and generate an image of the area of the target. The filter is configured to filter the invisible light to transform the invisible light into a non-uniform invisible light.
1 . An image capturing apparatus, comprising:
a light emitter emitting an invisible light to a target;
an image sensor having a field of view (FOV) covering an area of the target from near to far, sensing the invisible light reflected from the area of the target and generating an image of the area of the target; and
a filter filtering the invisible light to transform the invisible light into a non-uniform invisible light with intensity variation, wherein the filter adjusts a gradient transmission rate of the light emitter, so that the invisible light emitted by the light emitter is transformed into a non-uniform invisible light whose intensity changes in a gradient, and wherein a light transmittance of the filter used varies depending on a distance indicated by an included angle between a camera direction and a horizontal line.
2 . The image capturing apparatus according to claim 1 , wherein the filter filters the invisible light according to a change of a distance of an area of the image sensor and the target from near to far or according a change of a brightness of an area of an image from near to far, so that the brightness of the area of the image generated by the image sensor becomes uniform.
3 . The image capturing apparatus according to claim 1 , wherein the filter is a neutral density filter (ND filter) having a gradient transmission rate, which is configured on an optical path from the invisible light emitted by the light emitter to the target, so that the invisible light is transformed into a non-uniform invisible light whose intensity changes in a gradient.
4 . The image capturing apparatus according to claim 1 , wherein the filter is an ND filter having a gradient transmission rate, which is configured on an optical path from the invisible light reflected by the target to the image sensor, so that the invisible light is transformed into a non-uniform invisible light whose intensity changes in a gradient.
5 . The image capturing apparatus according to claim 1 , wherein the filter controls an exposure time of respective pixel rows of a plurality of pixel rows of the image sensor through timing control, so that the plurality of pixel rows have different sensitivities.
6 . The image capturing apparatus according to claim 1 , wherein the image sensor further comprises an analog-to-digital converter (ADC) configured to convert a light intensity sensed by a plurality of pixels in the plurality of pixel rows of the image sensor into pixel values, wherein
the filter comprises controlling the number of bits output by the ADC according to a reference voltage, so that the pixel values output by the ADC reflect the sensitivities of the respective pixel rows.
7 . The image capturing apparatus according to claim 1 , wherein the filter comprises adjusting analog gains or digital gains of the respective pixel rows of the plurality of pixel rows of the image sensor, so that the plurality of pixel rows have different sensitivities.
8 . The image capturing apparatus according to claim 1 , wherein the filter is an ND filter having a gradient transmission rate, which is configured in a lens in front of the image sensor, so that the invisible light sensed by the image sensor is transformed into a non-uniform invisible light whose intensity changes in a gradient.
9 . A mobile cleaning robot, comprising:
a body; and
an image capturing apparatus configured in the body, comprising:
a light emitter emitting an invisible light to a target;
an image sensor having an FOV covering an area of a target from near to far, sensing the invisible light reflected from the area of the target and generating an image of the area of the target; and
a filter filtering the invisible light to transform the invisible light into a non-uniform invisible light with intensity variation, wherein the filter adjusts a gradient transmission rate of the light emitter, so that the invisible light emitted by the light emitter is transformed into a non-uniform invisible light whose intensity changes in a gradient, and wherein a light transmittance of the filter used varies depending on a distance indicated by an included angle between a camera direction and a horizontal line.
10 . The mobile cleaning robot according to claim 9 , wherein the filter filters the invisible light according to a change of a distance of an area of the image sensor and the target from near to far or a change of a brightness of an area of an image from near to far, so that the brightness of the area of the image generated by the image sensor becomes uniform.
11 . The mobile cleaning robot according to claim 9 , wherein the filter is an ND filter having a gradient transmission rate, which is configured on an optical path from the invisible light emitted by the light emitter to the target, so that the invisible light is transformed into a non-uniform invisible light whose intensity changes in a gradient.
12 . The mobile cleaning robot according to claim 9 , wherein the filter is an ND filter having a gradient transmission rate, which is configured on an optical path from the invisible light reflected by the target to the image sensor, so that the invisible light is transformed into a non-uniform invisible light whose intensity changes in a gradient.
13 . The mobile cleaning robot according to claim 9 , wherein the filter adjusts the gradient transmission rate of the image sensor, so that the invisible light sensed by the image sensor is transformed into a non-uniform invisible light whose intensity changes in a gradient.
14 . The mobile cleaning robot according to claim 13 , wherein the filter controls an exposure time of respective pixel rows of a plurality of pixel rows of the image sensor through timing control, so that the plurality of pixel rows have different sensitivities.
15 . The mobile cleaning robot according to claim 13 , wherein the image sensor further comprises an ADC configured to convert a light intensity sensed by a plurality of pixels in the plurality of pixel rows of the image sensor into pixel values, wherein
the filter comprises controlling the number of bits output by the ADC according to a reference voltage, so that the pixel values output by the ADC reflect the sensitivities of the respective pixel rows.
16 . The mobile cleaning robot according to claim 13 , wherein the filter comprises adjusting analog gains or digital gains of the respective pixel rows of the plurality of pixel rows of the image sensor, so that the plurality of pixel rows have different sensitivities.
17 . The mobile cleaning robot according to claim 9 , wherein the filter is an ND filter having a gradient transmission rate, which is configured in a lens in front of the image sensor, so that the invisible light sensed by the image sensor is transformed into a non-uniform invisible light whose intensity changes in a gradient.