CN109938650A - A kind of panoramic shooting mould group and the sweeping robot based on the camera module - Google Patents
A kind of panoramic shooting mould group and the sweeping robot based on the camera module Download PDFInfo
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- CN109938650A CN109938650A CN201910034740.XA CN201910034740A CN109938650A CN 109938650 A CN109938650 A CN 109938650A CN 201910034740 A CN201910034740 A CN 201910034740A CN 109938650 A CN109938650 A CN 109938650A
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Abstract
This application discloses 360 ° of wide-angle cameras of sweeping robot, field range covers wall middle and upper part and part ceiling region, can solve the problem of that the smaller single image of existing camera view can not judge sweeping robot ambient conditions.Specifically, the camera module of the application is successively arranged light transmission casing, the first reflecting mirror, the second reflecting mirror and photosensitive element from object side to image side, first reflecting mirror is concave mirror, second reflecting mirror is convex mirror, first reflecting mirror bottom is equipped with through-hole, the reflecting surface of first reflecting mirror is towards the light transmission casing, the reflecting surface of second mirror surface is towards the through-hole, the photosensitive element is located at the downside of the through-hole, and lens/lens group is equipped between the through-hole and photosensitive element.
Description
Technical field
This application involves intelligent appliance fields, are related to a kind of sweeping robot, in particular to a kind of view-based access control model navigation
Sweeping robot.
Background technique
Sweeping robot is gradually popularized in recent years, but the generally existing intelligence degree of sweeping robot is not high at present, environment
The problems such as adaptability is weak, repeats cleaning and drain sweep simultaneously and deposits.
Early stage sweeping robot is mostly random collision formula, such sweeping robot is according to default cleaning logic in table to be cleaned
Face random walk cleans, and sweeper is not aware that self-position and local environment situation in the process, and it is main to clean effect
Depending on cleaning the time, although part company proposes the random cleaning logical algorithm (such as US6809490) of optimization successively, but still
It so can not fundamentally solve the problems, such as that sweeping robot positions；To improve sweeping efficiency, inertial navigation sweeping robot is met the tendency of
And give birth to, such sweeper realizes that sweeper positioning and environmental map construct by the way that inertial sensor is arranged in sweeper ontology, but
It is that there are cumulative errors for inertial sensor, it is low using rear positioning accuracy for a long time, it influences to clean effect.
Subsequent IROBOT company develops the sweeping robot based on beacon positioning, such sweeping robot is by indoors
Positioning of multiple beacons realizations to sweeping robot is set, its advantage is that cumulative errors are not present, but the high cost of beacon itself
Limit its popularization and use.Subsequent NEATO company is proposed the sweeping robot to navigate based on laser radar to market, such
Product set up in sweeping robot main body can 360 ° of rotations laser radars, realized by way of triangulation laser range to sweeping
The positioning of floor-washing robot and barrier map structuring, but such sweeping robot is positioned by laser ranging, positions quickly essence
The problems such as quasi- and without cumulative errors, but laser radar is there is also higher cost, and service life is limited.Compared with laser radar,
Visual sensor has the advantages that at low cost, the service life is long, and stability is high, and conventional two-dimensional can not directly acquire depth information, therefore
Need to carry out multiple image to handle or use direct binocular vision scheme；Binocular vision is high with precision, but calibration request
Height, computationally intensive, sweeping robot mostly uses monocular vision scheme at present.
Early stage monocular vision sweeping robot sensor field of view is mostly towards ceiling (as shown in CN1106913C), then
Part of the manufacturer proposes monocular Narrow Field Of Vision sweeping robot (as shown in CN106537186A) of the visual field towards wall, the different visuals field
Angle and the visual field are affected towards to positioning accuracy, location algorithm realization, and the scheme of CN1106913C is in ceiling feature rich
Environment there is preferable effect, but it is less in feature or the duplicate environmental effect of feature is poor, the scheme of CN106537186A
Although the resolution ratio of image can be improved to more accurate identification feature, single image can not judge around sweeping robot
Environmental aspect, global information can just be known by needing to splice multiple image, and image mosaic not only increases the complexity of algorithm, and
And it is excessive due to being easy to appear adjacent image parallax in sweeper motion process, characteristic matching, image can not effectively be carried out by existing
The case where splicing.
Summary of the invention
In view of this, the application provides a kind of sweeping robot camera module, to solve existing sweeping robot camera
Mould group field range is too small, the visual field is towards unreasonable problem.
In order to achieve the above object, the application provides panoramic shooting mould group, including is successively arranged light transmission from object side to image side
Housing, the first reflecting mirror, the second reflecting mirror and photosensitive element, first reflecting mirror are concave mirror, and second reflecting mirror is
Convex mirror, first reflecting mirror bottom are equipped with through-hole, and the reflecting surface of first reflecting mirror is described towards the light transmission casing
The reflecting surface of second mirror surface is located at the downside of the through-hole, wherein through-hole and sense towards the through-hole, the photosensitive element
Lens or lens group are equipped between optical element.
Further, light transmission casing partial region is opaque, and the area coverage of the light tight region is greater than the second reflecting mirror
Area.
Further, light tight region is the mask layer being attached on light transmission casing.
Further, the optical axis of the first reflecting mirror passes through the light tight region, and the light tight region is perpendicular to optical axis
Rounded and its area that projects of plane is greater than the first reflecting mirror in the projected area of the plane.
Further, light transmission casing is hemispherical, and the second reflecting mirror is fixed at the top of the light transmission casing inner wall.
Further, the first reflecting mirror focal length is less than the second reflecting mirror, the optical axis weight of the first mirror surface and the second reflecting mirror
It closes.
Further, the second reflecting mirror is greater than the face of through-hole in the projected area perpendicular to the first mirror surface optical axial plane
Product.
Panoramic shooting mould group provided by the present application has 360 ° of circular ring shape area of visual field on the section perpendicular to optical axis,
There are symmetrical fan-shaped area of visual field, 20 °≤θ≤75 ° of angle of the fan-shaped region on the section comprising optical axis.
The application also provides a kind of sweeping robot, including sweeper human body and panoramic shooting mould group above-mentioned.
Further, the panoramic shooting mould group is set at the top of the sweeping robot, light transmission casing at least partly from
It is prominent at the top of sweeping robot.
The first reflecting mirror and the second reflecting mirror is arranged in camera lens front end in the camera module of this programme, and ambient light is through first
It is directly entered photosensitive region after two secondary reflection of reflecting mirror and the second reflecting mirror, it, should compared with the poly-lens of traditional wide-angle lens
Scheme optical path is simple, and structure is more compact；The application concave mirror is opposite with the transmission region of transparent casing, concave mirror and convex mirror
Optical axis coincidence, reflecting surface are opposite, and mask layer is equipped at the top of light transmission casing, and thus the area of visual field of the camera module is limited
It is set to annular, 360 ° of global informations can be obtained in one frame of image.The application is further to mask layer, concave mirror and convex mirror
Structure and positional relationship be adjusted so that the area of visual field covering indoor wall and ceiling feature rich of the camera module
And stable region (middle part, top, the binding site that may also comprise ceiling and wall that these usual regions are located at wall),
It to reduce the difficulty of image procossing, avoids the problem that vision positioning misalignment or can not position, improve sweeping robot vision and lead
The reliability of boat process.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of sweeping robot provided by the embodiments of the present application；
Fig. 2 is the explosive view of sweeping robot provided by the embodiments of the present application；
Fig. 3 is sweeping robot panoramic shooting mould group sectional view provided by the embodiments of the present application；
Fig. 4 is sweeping robot panoramic shooting mould group explosive view provided by the embodiments of the present application；
Fig. 5 is the explosive view of the embodiment of the present application sweeping robot infrared sensing mould group；
Fig. 6 is the embodiment of the present application infrared sensing mould group mounting base structure chart；
Fig. 7 is another view that the embodiment of the present application infrared sensing mould group installs holder structure；
Fig. 8 is the schematic diagram of the embodiment of the present application infrared sensing mould group infrared receiving/transmission unit；
Fig. 9, Figure 10 are the embodiment of the present application visual sensing mould group area of visual field schematic diagram, and wherein Fig. 9 is perpendicular to optical axis
Section, Figure 10 are across the section of optical axis.
Description of symbols:
1- outer housing；2- dust and gas separator；3- panoramic shooting mould group；4- infrared sensing mould group；5- pedestal；6- driving
Wheel；7- brushroll chamber；31- pedestal；32- light transmission casing；The first reflecting mirror of 33-；The second reflecting mirror of 34-；35- lens group；36- is photosensitive
Element；37- mask layer；38- locks ring set；39- elastic piece；41- mounting base；42- light transmitting shell；43- infrared receiving/transmission unit；
44- installation cavity；The second abutting part of 321-；331- through-hole；314- annular stop protrusion；315- claw；313- optical channel；312-
The second end；311- first end；The first abutting part of 316-；The upper abutment ring of 381-；Abutment ring under 382-；411- clinching；412/
414- infrared emission window；Infrared receiving window；431- encapsulating shell；432- infrared transmitting tube；433- infrared receiving tube；
L- optical axis.
Specific embodiment
For the clearer general idea for illustrating the application, carry out in an illustrative manner with reference to the accompanying drawings of the specification detailed
It describes in detail bright.
The embodiment of the present application provides a kind of sweeping robot, which includes main body and taking the photograph in main body is arranged in
As head, which be can be set at the top of sweeping robot, and the camera can be 360 ° of full-view cameras.
Fig. 1 is the structural schematic diagram of sweeping robot provided by the embodiments of the present application, and Fig. 2 is provided by the embodiments of the present application
The explosive view of sweeping robot.As shown in Figure 1, 2, sweeping robot includes main body and camera 3, and wherein main body may include bottom
Seat 5, shell 1 and dust and gas separator 2, the bottom of the pedestal 5 are equipped with driving wheel 6 and brushroll chamber 7, and driving 6 is preferably inclined to the ground
It sets, brushroll chamber 7 is equipped with the opening towards ground；Shell 1, which is arranged, to be fixed on pedestal 5, and top is equipped with for installing camera
3 first chamber, front are equipped with the second chamber for placing dust and gas separator 2, and wherein dust and gas separator 2 is dismountable
Dust and gas separator 2 is fixed in second chamber in second chamber, such as in normal cleaning process for setting, and when dust and gas point
Dirt box from device 2 can remove dust and gas separator 2 from second chamber when need to empty.
Fig. 3 is sweeping robot panoramic shooting mould group sectional view provided by the embodiments of the present application, and Fig. 4 is the embodiment of the present application
The sweeping robot panoramic shooting mould group explosive view of offer, dotted line is optical axis in figure, and arrow line is signal light；Please refer to figure
3, Fig. 4, the panoramic shooting mould group of the present embodiment are disposed with light transmission casing 32, the first reflecting mirror 33, from the object side to image side
Two-mirror 34 and photosensitive element 36, wherein the first reflecting mirror 33 is concave mirror, the second reflecting mirror 34 is convex mirror, and first is anti-
33 bottom of mirror is penetrated equipped with through-hole 331, the reflecting surface of the first reflecting mirror 33 towards the light transmission casing 32, the second mirror surface 34
Reflecting surface is located at the downside of the through-hole 331 towards the through-hole 331, the photosensitive element 36；As shown in arrow line in Fig. 3,
Ambient light is incident on the first reflecting mirror 33 through light transmission casing 32 and is reflected onto the second reflecting mirror 34 immediately, then the second reflection
34 reflection light via through holes 331 of mirror enter the photosensitive region of photosensitive element 36, and photosensitive element obtains after light through photoelectric conversion, number
Environment digital picture is obtained after mould conversion, subsequent sweeping robot image processing unit carries out environment knowledge according to environment digital picture
Not, the subsequent operations such as mapping, path planning, object identification.
As the preferred embodiment of the present embodiment, lens or lens group are additionally provided between through-hole 331 and photosensitive element 36
5, photosensitive element 36 is being incident to after correcting to the light that via through holes 331 enter；Lens or the concrete form of lens group 5 can
It is set as needed；As the preferred of the present embodiment, the light of the optical axis of lens group 5 and the first reflecting mirror 33, the second reflecting mirror 34
Overlapping of axles, and the photosurface of photosensitive element 36 is preferably vertical with optical axis, it is possible thereby to reduce the distortion of image, reduces subsequent image
The difficulty of processing.
In the present embodiment, light transmission casing 32 is hemispherical and will not preferably change the side of emergent ray and incident ray
To particularly, light transmission casing 32 is symmetrical around aforementioned optical axis rotation；First reflecting mirror 33, the second reflecting mirror 34 can be spherical mirror
Or paraboloidal mirror is preferably fixed on optical axis wherein the second reflecting mirror 34 can be fixed at the top of the inner wall of light transmission casing 32
At inner wall roof intersection, certainly, the second reflecting mirror 33 may also be arranged on the outside of 32 roof of light transmission casing or be embedded in roof
It is interior；Through-hole 331 is that the round and center of circle is preferably placed on the optical axis, and particularly, the second reflecting mirror 34 is perpendicular to optical axial plane
Projection be overlapped or substantially overlap with through-hole 331.
As the preferred embodiment of the present embodiment, it is equipped with mask layer 37 at the top of the outer wall of light transmission casing 32, certainly, this is covered
Film layer 37 may also set up 32 top inner wall of light transmission casing or be embedded in 32 roof of light transmission casing, it is to be understood that, mask layer
37 should be arranged in 34 outside of the second reflecting mirror, i.e. distance of the mask layer 37 apart from photosensitive element 36 is greater than the second reflecting mirror 34
At a distance from photosensitive element 36；The shape of mask layer 37 preferably rounded rich optical axis rotation is symmetrical, and particularly, mask layer 37 is hanging down
The directly projection in the projection of optical axial plane not less than the first reflecting mirror 33 in the plane, preferred 37 projected area of mask layer summary
Greatly；In the present embodiment, mask layer 37 is made of light absorbing material, on the one hand light can be prevented to enter translucent cover by top in this way
On the other hand shell 32 can be absorbed since the first reflecting mirror 33 reflexes to the light of 37 overlay area of mask layer, avoid light transmission
The light portion is reflexed to the first reflecting mirror 33 again by 32 inner wall of housing；In the present embodiment, the focal length of the first reflecting mirror 33 is small
It is particularly preferred in the second reflecting mirror 34, the half of the focal length of the first reflecting mirror 33 less than 34 focal length of the second reflecting mirror.This reality
It applies in example, the transmission region of light transmission casing 32 is annular in shape in the projection of optical axis direction, and the internal diameter of the annulus is greater than the first reflection
The diameter that mirror 33 is projected in optical axis direction, 2 times of the outer diameter of the annulus substantially aforementioned projection diameter；Referring to Fig. 3, the second reflection
The distance (i.e. the distance of optical axis therebetween) of mirror 34 to through-hole 331 is about the 1/2-3/4 of foregoing outer diameter.It forms as a result,
The panoramic shooting mould group of the present embodiment, as shown in figure 9, on the horizontal cross-section perpendicular to optical axis L, the visual field 300 of the camera
For 360 ° of annular regions；As shown in Figure 10, on the vertical section comprising optical axis (optical axis L is located on the section at this time), depending on
Open country is symmetrical fan-shaped region, and the angle theta of the fan-shaped region is chosen as any angle of 0 ° of θ≤90 ° <, but considers angle mistake
It is small to obtain enough features, and the excessive image of angle includes excessive redundancy, increases the difficulty of image procossing, therefore
It can be preferably 20 ° -75 ° by the angle, P point is the intersection point of optical axis L and 33 lower through-hole 331 of the first reflecting mirror in figure；Another party
Face, the optical axis of camera is substantially vertical with ground (substantially parallel with wall) in actual work, it is contemplated that ceiling region feature
It is tight that very few and wall lower area feature (including organism and movable furniture etc.) is easy mobile and imaging pattern distortion
Weight, therefore 10 ° of the minimum angle α > of the area of visual field and optical axis, and 5 ° of the angle β > of the area of visual field and ground.
As another preferred embodiment of the present embodiment, as shown in Figure 3,4, the panoramic shooting mould group of the present embodiment is also
Including pedestal 31, which has first end 311, the second end 312 and runs through first end 311 and the second end
312 optical channel 313, the light transmission casing 32 are contacted with first end 311, and the first reflecting mirror 33 is located at light transmission casing 32
It is interior and fixed with first end 311；Preferably, lens or lens group 35 are located at 313 inside of optical channel and its optical axis L and light are logical
The extending direction in road 313 is identical, and photosensitive element 36 is arranged in the second end 312 and its photosurface face and optical channel at this time
313。
In another embodiment, a kind of sweeping robot full-view camera encapsulating structure is also provided, please refer to Fig. 3,
Fig. 4；The full-view camera encapsulating structure of the present embodiment has the pedestal 31 of first end 311 and the second end 312, at least partly
The light transmission casing 32 of region light transmission and the first reflecting mirror 33, the second reflecting mirror 34 and photosensitive element 36；The first of pedestal 31
End 311 be equipped with annular stop protrusion 314, the first abutting part 316 and positioned at 316 back side of the first abutting part it is multiple circumferentially
The second end 312 of the claw 315 of arrangement, pedestal 31 is equipped with photosensitive element installation cavity, first end 311 and the second end 312
Between be equipped with perforation pedestal 31 optical channel 313；First reflecting mirror 33 is concave mirror and is fixed on position in first end 311
It sets, central area is equipped with the through-hole 331 being connected to optical channel 313；Light transmission casing 32 includes hemispherical transmission region and is located at
Second abutting part 321 at hemispherical transmission region edge is equipped on the inside of second abutting part 321 and matches with annular stop protrusion 314
Limiting groove is closed, the second reflecting mirror 34 is fixed on 32 top inner wall of light transmission casing；When assembly, light transmission casing 32 be located in
One end 311, so that the first abutting part 316 is abutted with the second abutting part 321, annular stop protrusion 314 is limited with light transmission casing 32
Position groove cooperation, to realize that lens area seals.
As the preferred embodiment of the present embodiment, which further includes Fixing shrink ring 38, affiliated Fixing shrink ring
38 include side wall and upper abutment ring 381 and lower abutment ring 382, which is preferably that rigid material is made, side wall, on
The metalwork that abutment ring 381 and lower abutment ring 382 are optionally integrally formed；38 center of Fixing shrink ring is equipped with round through hole,
Diameter of the circle through hole at upper abutment ring 381 is greater than the diameter of 32 hemispherical transmission region of light transmission casing but less than second
The diameter of abutting part 321, on the other hand, diameter of the circle through hole at lower abutment ring 382 are greater than the second abutting part 321
Diameter but be less than claw 315 peripheral diameter.When assembly, the first end 311 of light transmission casing 32 and pedestal 31 is successively filled
Enter Fixing shrink ring 38 and exert a force and press the second end 312 of pedestal 31, promotes claw 315 by the second abutting part 321, thus complete
At assembly, the hemispherical transmission region of light transmission casing 32 stretches out outside Fixing shrink ring 38 through round through hole at this time, the second abutting part
321 abut with upper abutment ring 381, and claw 315 is abutted with lower abutment ring 382.
It further include being arranged between the second abutting part 321 and upper abutment ring 381 as the preferred embodiment of the present embodiment
Elastic piece 38, certain sky can be reserved between the second abutting part 321 and upper abutment ring 381 by the way that the elastic piece 38 is arranged
Between, not only contribute to the assembly of claw 315, and can reduce product collide formula damage a possibility that.
Mask layer 37 is further arranged in the present embodiment at the top of 32 outer wall of light transmission casing, and lens are arranged in optical channel 313
Or lens group 35, structure, positional relationship about mask layer 37, lens group 35 and the first reflecting mirror 33, the second reflecting mirror 34
And its each component and the relationship of optical axis and the description of previous embodiment it is identical, introduce the present embodiment comprehensively herein.
It should be noted that explanation (such as upper and lower relation) of the present embodiment about orientation and the position relation phase shown in Fig. 3
Together.
In another embodiment, sweeping robot ontology is equipped with multiple for perceiving sweeping robot local environment
The sensor of information, specifically, sensor can be used for perceiving it is hanging, fall, barrier, cradle, along information such as walls；It passes
With no restrictions, but preferably photoelectric sensor is optionally infrared sensor, the installation site of sensor can root to the type of sensor
According to being selected, it is preferably located on sweeping robot bottom or side wall.Fig. 1,2 show the present embodiment sweeping robot
Structural schematic diagram, as shown, the present embodiment sweeping robot includes main body and camera 3, wherein main body may include pedestal
5, shell 1 and dust and gas separator 2, the bottom of the pedestal 5 are equipped with driving wheel 6 and brushroll chamber 7, and driving 6 preferably biases to the ground,
Brushroll chamber 7 is equipped with the opening towards ground；Shell 1, which is arranged, to be fixed on pedestal 5, and top is equipped with for installing camera 3
First chamber, front are equipped with the second chamber for placing dust and gas separator 2, and wherein dust and gas separator 2 is removably set
It sets in second chamber, such as dust and gas separator 2 is fixed in second chamber in normal cleaning process, and when dust and gas separates
The dirt box of device 2 can remove dust and gas separator 2 from second chamber when need to empty；Particularly, the present embodiment is swept the floor machine
People front is equipped with multiple sensor modules 4, and as a kind of embodiment, the number of sensor module 4 is two, and is respectively set
In the two sides of dust and gas separator 2, as preferred embodiment, sensor module 4 whole in long strip, long side and ground
It is substantially vertical.
Fig. 5-8 shows each modular construction of the present embodiment sweeping robot sensor module 4.Referring to FIG. 5, the present embodiment
Sensor module 4 include sensor installation seat 41, light transmitting shell 42 and infrared receiving/transmission unit 43；Infrared receiving/transmission unit 43
Number be it is multiple, sensor installation seat 41 is equipped with installation cavity 44 corresponding with 43 number of infrared receiving/transmission unit, and each installation cavity is equal
Including the groove for accommodating infrared receiving/transmission unit 43, for fixing the clinching 411 of infrared receiving/transmission unit 43, and with infrared hair
Penetrate pipe 432 and the corresponding infrared emission window 412/414 of infrared receiving tube 433 and infrared receiving window 413/415, the infrared emission
Window and infrared receiving window run through mounting base 41.The structure of infrared receiving/transmission unit 43 is as described in Figure 8, including strip encapsulating shell 431,
The wiring board of infrared transmitting tube 432, infrared receiving tube 433 and integrated infrared emission device and infrared perception device；The encapsulation
The side installation infrared transmitting tube 432 and infrared receiving tube 433, infrared transmitting tube 432 and infrared receiving tube 433 of shell 431 are set
It is set to so that the two field range is at least partly overlapped, wiring board is installed in the other side, installs the infrared emission device of rear board
It is aligned with infrared transmitting tube 432, infrared perception device is aligned with infrared receiving tube 433；Preferably, infrared receiving tube 433 is outer
Side is equipped with one layer of filter coating to filter out the light inconsistent with infrared emission device wavelength, and ambient light is avoided to interfere.When installation,
Multiple infrared receiving/transmission units 43 are packed into first in the groove of installation cavity 44 and are fixed by clinching 411, at this time infrared transmitting tube
432 are aligned with infrared emission window 412/414, and infrared receiving tube 433 is aligned with infrared receiving window 413/415；It then will be outside light transmission
Shell 42 is located at the work for avoiding external dirt to influence infrared transmitting tube 432 and infrared receiving tube 433 on front side of sensor installation seat 41
Make.When work, the infrared light generated by the infrared emission device of wiring board is successively through infrared transmitting tube 432, infrared emission window
412/414, body surface is reached after light transmitting shell 42, then successively passes through light transmitting shell 42, infrared receiving window through object reflection
413/415, it is captured after infrared receiving tube 433 by infrared perception device.
As the preferred embodiment of the present embodiment, at least two infrared receiving/transmission units 43 are arranged to the view for having different
Wild direction.Please refer to Fig. 1 and Fig. 5, at least one infrared receiving/transmission unit 43 in multiple infrared receiving/transmission units 43 of the present embodiment
The visual field downward (under Y axis negative direction is in Fig. 5, positive direction be upper), specifically at least one infrared receiving/transmission unit is red
The optical axis of outer transmitting tube and ground (XOZ plane in Fig. 5) at an angle, and the infrared receiving tube energy of the infrared receiving/transmission unit
The enough light emitted by the infrared transmitting tube received by ground return, the optional angle are 0 ° -45 °, preferably 10-35 °；
As the preferred embodiment of the present embodiment, which is equipped with infrared receiving/transmission unit 43 of multiple visuals field towards ground, respectively
Infrared receiving/transmission unit 43 is mounted in mounting base 41 under, the optical axis of each 43 infrared transmitting tube of infrared receiving/transmission unit and ground
Angle gradually become smaller.
As the preferred embodiment of the present embodiment, at least there are two the optical axis of 43 infrared transmitting tube of infrared receiving/transmission unit
It is substantially parallel with ground, the optical axis and in a certain angle, the folder of special two 43 infrared transmitting tubes of infrared receiving/transmission unit
Angle is chosen as 20-60 °, preferably 30-50 °；In addition, at least one infrared receiving/transmission list in above-mentioned multiple infrared receiving/transmission units 43
The optical axis of first 43 infrared transmitting tubes is upward.
As the preferred embodiment of the present embodiment, the aforementioned visual field is upward, the visual field is horizontal and visual field infrared receiving/transmission directed downwardly
The mode of the peace of unit 43 from top to bottom is arranged in mounting base 41.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (10)
1. a kind of panoramic shooting mould group, it is characterised in that: the camera module is successively arranged light transmission casing from object side to image side
(32), the first reflecting mirror (33), the second reflecting mirror (34) and photosensitive element (36), first reflecting mirror (33) are concave mirror,
Second reflecting mirror (34) is convex mirror, and the first reflecting mirror (33) bottom is equipped with through-hole (331), first reflecting mirror
(33) reflecting surface towards the light transmission casing (32), the reflecting surface of second reflecting mirror (34) towards the through-hole (331),
The photosensitive element (36) is located at the downside of the through-hole (331), is equipped between the through-hole (331) and photosensitive element (36) saturating
Mirror/lens group (35).
2. panoramic shooting mould group according to claim 1, it is characterised in that: light transmission casing (32) partial region is impermeable
Light, the area coverage of the light tight region are greater than the area of the second reflecting mirror (34).
3. panoramic shooting mould group according to claim 2, it is characterised in that: the light tight region is to be attached to light transmission casing
(32) mask layer (37) on.
4. panoramic shooting mould group according to claim 2, it is characterised in that: the optical axis of first reflecting mirror (34) passes through institute
Light tight region is stated, the light tight region is rounded in the projection perpendicular to optical axial plane and its area is greater than the first reflecting mirror
(33) in the projected area of the plane.
5. panoramic shooting mould group according to claim 1, it is characterised in that: the light transmission casing (32) is hemispherical, described
Second reflecting mirror (34) is fixed at the top of the light transmission casing (32) inner wall.
6. panoramic shooting mould group according to claim 1, it is characterised in that: first mirror surface (33) and the second reflection
The optical axis coincidence of mirror (34), the first reflecting mirror (33) focal length is less than the second reflecting mirror (34).
7. panoramic shooting mould group according to claim 6, it is characterised in that: second reflecting mirror (34) is perpendicular to first
The projection of mirror surface (33) optical axial plane and the area of through-hole (331) are roughly equal.
8. panoramic shooting mould group according to claim 1, it is characterised in that: it further include main body (31), main body (31) tool
There are first end (311), the second end (312) and the optical channel for running through first end (311) and the second end (312)
(313), first reflecting mirror (33) is fixed at first end and its through-hole (331) is connected to optical channel (313), described
Light shield shell (32) is located at the first reflecting mirror (33) and abuts outside and with the first end, and the photosensitive element (36) setting is the
Two ends (312) and opposite with optical channel (313).
9. a kind of panoramic shooting mould group, it is characterised in that: the panoramic shooting mould group has on the section perpendicular to optical axis
360 ° of circular ring shape area of visual field have symmetrical fan-shaped area of visual field, the folder of the fan-shaped region on the section comprising optical axis
20 °≤θ≤75 ° in angle.
10. a kind of sweeping robot, it is characterised in that: including sweeping robot ontology and such as claim 1-9 any one institute
State panoramic shooting mould group.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910034740.XA CN109938650A (en) | 2019-05-20 | 2019-05-20 | A kind of panoramic shooting mould group and the sweeping robot based on the camera module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910034740.XA CN109938650A (en) | 2019-05-20 | 2019-05-20 | A kind of panoramic shooting mould group and the sweeping robot based on the camera module |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110825088A (en) * | 2019-11-29 | 2020-02-21 | 燕山大学 | Multi-view vision guiding ship body cleaning robot system and cleaning method |
| CN111753695A (en) * | 2020-06-17 | 2020-10-09 | 上海宜硕网络科技有限公司 | Method and device for simulating robot charging return route and electronic equipment |
| CN112137514A (en) * | 2020-10-22 | 2020-12-29 | 追创科技(苏州)有限公司 | Optical sensing device and self-moving robot with same |
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