CN210643922U - Panorama module of making a video recording and robot of sweeping floor based on this module of making a video recording - Google Patents

Abstract

The application discloses panorama camera module for robot sweeps floor, its field of vision scope covers upper portion and partial ceiling region in the wall, can solve current camera field of vision less, and the problem of the robot surrounding environment situation of sweeping floor can't be judged to single image. Particularly, the module of making a video recording of this application is equipped with printing opacity housing, first speculum, second mirror and photosensitive element in proper order from the thing side to image side, first speculum is the concave mirror, the second mirror is the convex mirror, first speculum bottom is equipped with the through-hole, the plane of reflection of first speculum orientation the printing opacity housing, the plane of reflection of second mirror face orientation the through-hole, photosensitive element is located the downside of through-hole, be equipped with lens/battery of lens between through-hole and the photosensitive element.

Description

Panorama module of making a video recording and robot of sweeping floor based on this module of making a video recording

Technical Field

The application relates to the field of intelligent household appliances, relates to a sweeping robot, and in particular relates to a sweeping robot based on visual navigation.

Background

The sweeping robot is gradually popularized in recent years, but the current sweeping robot generally has the problems of low intelligent degree, weak environment adaptability, coexistence of repeated sweeping and missing sweeping and the like.

The early sweeping robots are mostly of random collision type, the sweeping robots randomly walk and sweep on the surface to be swept according to preset sweeping logic, the sweeper does not know the position and the environment condition of the sweeper in the process, the sweeping effect mainly depends on sweeping time, and although some companies continuously provide an optimized random sweeping logic algorithm (such as US6809490), the problem of positioning of the sweeping robots cannot be fundamentally solved; for improving and cleaning efficiency, the inertial navigation robot of sweeping the floor comes to the end, this type of machine of sweeping the floor realizes machine of sweeping the floor location and environmental map through set up inertial sensor at the machine body of sweeping the floor and founds, but inertial sensor exists accumulative error, and positioning accuracy is low after long-time the use, influences and cleans the effect.

Subsequently, the IROBOT company develops a cleaning robot based on lighthouse positioning, and the cleaning robot realizes the positioning of the cleaning robot by arranging a plurality of lighthouses indoors, so that the cleaning robot has the advantages that accumulated errors do not exist, but the popularization and the use of the cleaning robot are limited by the high cost of the lighthouses. The NEATO company then provides the sweeping robot based on laser radar navigation to the market, the product attaches a laser radar capable of rotating by 360 degrees to the sweeping robot main body, and positioning of the sweeping robot and construction of a barrier map are achieved in a triangular laser ranging mode, but the sweeping robot is positioned through laser ranging, positioning is rapid and accurate, accumulated errors do not exist, and the problems that the laser radar is high in cost, limited in service life and the like exist. Compared with a laser radar, the visual sensor has the advantages of low cost, long service life, high stability and the like, and the depth information cannot be directly acquired in the traditional two-dimensional mode, so that a multi-frame image needs to be processed or a direct binocular vision scheme is adopted; the binocular vision is high along with the precision, but the calibration requirement is high, the calculated amount is large, and the existing sweeping robot mostly adopts a monocular vision scheme.

The visual field of the sensor of the early monocular vision sweeping robot is more towards the ceiling (as shown in CN 1106913C), then some manufacturers propose a monocular narrow-view sweeping robot (as shown in CN 106537186A) with the visual field towards the wall, the positioning accuracy and the positioning algorithm are greatly influenced by different visual field angles and visual field orientations, the scheme of CN1106913C has a good effect in the environment with rich ceiling characteristics, but the effect is poor in the environment with less or repeated features, the scheme of CN106537186A can improve the resolution of the image to identify the features more accurately, but a single image cannot judge the surrounding environment condition of the sweeping robot, and the global information can be obtained only by splicing a plurality of images, so that the complexity of the algorithm is increased by image splicing, and because the adjacent images are easy to have overlarge parallax in the movement process of the sweeper, the conditions of characteristic matching and image splicing cannot be effectively carried out.

Disclosure of Invention

In view of this, the present application provides a camera module of a robot for sweeping floor, so as to solve the problems of the existing camera module for sweeping floor that the visual field range is too small and the visual field orientation is unreasonable.

In order to reach above-mentioned purpose, the application provides panorama module of making a video recording, include from the object side to the image side and be equipped with printing opacity housing, first speculum, second mirror and photosensitive element in proper order, first speculum is the concave mirror, the second mirror is the convex mirror, first speculum bottom is equipped with the through-hole, the plane of reflection of first speculum orientation the printing opacity housing, the plane of reflection of second mirror orientation the through-hole, photosensitive element is located the downside of through-hole.

Further, the area of the light-transmissive housing part is light-tight, the light-tight area covering an area larger than the area of the second mirror.

Further, the opaque region is a mask layer attached to the light transmissive cover.

Furthermore, the optical axis of the first reflector passes through the opaque region, the projection of the opaque region on the plane perpendicular to the optical axis is circular, and the area of the opaque region is larger than the projection area of the first reflector on the plane.

Furthermore, the light-transmitting housing is hemispherical, and the second reflecting mirror is fixed on the top of the inner wall of the light-transmitting housing.

Further, the focal length of the first reflector is smaller than that of the second reflector, and the optical axes of the first reflector and the second reflector are overlapped.

Further, the projection area of the second reflector on the plane vertical to the optical axis of the first reflector is larger than the area of the through hole.

The application provides a panorama module of making a video recording has 360 ring shape field of vision regions on the cross-section of perpendicular to optical axis, has the fan-shaped field of vision region of symmetry on the cross-section that contains the optical axis, the contained angle 20 of fan-shaped field of vision region is less than or equal to theta and is less than or equal to 75 deg.

The application still provides a robot of sweeping floor, including the robot body of sweeping floor and aforementioned panorama module of making a video recording.

Further, the panorama module of making a video recording set up in the robot top of sweeping the floor, its printing opacity cover shell is at least partially outstanding from the robot top of sweeping the floor.

The camera module is provided with the first reflector and the second reflector at the front end of the lens, and ambient light rays are reflected twice by the first reflector and the second reflector and then directly enter a photosensitive area; the concave mirror is opposite to the light transmission area of the transparent cover shell, the optical axes of the concave mirror and the convex mirror are overlapped, the reflecting surface is opposite, and the top of the light transmission cover shell is provided with the mask layer, so that the visual field area of the camera module is limited to be annular, and 360-degree global information can be acquired in one frame of image. The structure and the position relation of mask layer, concave mirror and convex mirror are further adjusted to this application for the field of vision region of this module of making a video recording covers indoor wall and the abundant and stable region of ceiling characteristic (these regions are located the middle part of wall, upper portion usually, also can include the joint position of ceiling and wall), thereby reduces image processing's the degree of difficulty, avoids the problem that the vision location is out of alignment or can't fix a position, improves the reliability of robot vision navigation process of sweeping the floor.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic structural view of a sweeping robot provided in an embodiment of the present application;

fig. 2 is an exploded view of a sweeping robot provided in the embodiment of the present application;

fig. 3 is a sectional view of a panoramic camera module of the sweeping robot provided by the embodiment of the application;

fig. 4 is an exploded view of a panoramic camera module of the sweeping robot provided in the embodiment of the present application;

FIG. 5 is a block diagram of an infrared sensor module mounting base according to an embodiment of the present disclosure;

fig. 6 is another view of an infrared sensor module mounting base structure according to an embodiment of the present disclosure;

fig. 7 is another view of an infrared sensor module mounting base structure according to an embodiment of the present disclosure;

fig. 8 is a schematic view of an infrared transceiving unit of an infrared sensing module according to an embodiment of the present application.

Description of reference numerals:

1-an outer shell; 2-dust-gas separation means; 3-a panoramic camera module; 4-an infrared sensing module; 5-a base; 6-driving wheels; 7-brushing the roller cavity; 31-a base; 32-a light-transmissive envelope; 33-a first mirror; 34-a second mirror; 35-a lens group; 36-a photosensitive element; 37-mask layer; 38-locking ring sleeve; 39-an elastic sheet; 41-a mounting seat; 42-a light-transmissive envelope; 43-an infrared transceiver unit; 44-a mounting cavity; 321-a second abutment; 331-a through hole; 314-annular stop boss; 315-jaw; 313 — an optical channel; 312 — a second end; 311-a first end portion; 316-first abutment; 381-upper abutment ring; 382-a lower abutment ring; 411-pressing and buckling; 412/414-infrared emission window; 413/415-infrared receiving window; 431-an encapsulation shell; 432-an infrared emission tube; 433-infrared receiving tube; l-optical axis.

Detailed Description

In order to more clearly explain the overall concept of the present application, the following detailed description is given by way of example in conjunction with the accompanying drawings.

The embodiment of the application provides a robot of sweeping floor, should sweep floor the robot and include the main part and set up the camera in the main part, this camera can set up at the robot top of sweeping floor, and this camera can be 360 panorama cameras.

Fig. 1 is a schematic structural diagram of a sweeping robot provided in an embodiment of the present application, and fig. 2 is an exploded view of the sweeping robot provided in the embodiment of the present application. As shown in fig. 1 and 2, the sweeping robot comprises a main body and a camera 3, wherein the main body can comprise a base 5, a shell 1 and a dust-air separation device 2, the bottom of the base 5 is provided with a driving wheel 6 and a brush roll cavity 7, the driving wheel 6 is preferably biased towards the ground, and the brush roll cavity 7 is provided with an opening towards the ground; the housing 1 is fixed on the base 5 in a sleeved manner, the top of the housing is provided with a first cavity for mounting the camera 3, the front of the housing is provided with a second cavity for placing the dust-gas separating device 2, the dust-gas separating device 2 is detachably arranged in the second cavity, for example, the dust-gas separating device 2 is fixed in the second cavity during the normal cleaning process, and the dust-gas separating device 2 can be removed from the second cavity when the dust box of the dust-gas separating device 2 needs to be emptied.

Fig. 3 is a sectional view of a panoramic camera module of a sweeping robot provided in an embodiment of the present application, and fig. 4 is an exploded view of the panoramic camera module of the sweeping robot provided in the embodiment of the present application, where a dotted line is an optical axis and an arrow line is a schematic light; referring to fig. 3 and 4, the panoramic imaging module of the present embodiment is sequentially disposed from an object side to an image side with a transparent housing 32, a first reflecting mirror 33, a second reflecting mirror 34 and a photosensitive element 36, wherein the first reflecting mirror 33 is a concave mirror, the second reflecting mirror 34 is a convex mirror, a through hole 331 is disposed at a bottom of the first reflecting mirror 33, a reflecting surface of the first reflecting mirror 33 faces the transparent housing 32, a reflecting surface of the second reflecting mirror 34 faces the through hole 331, and the photosensitive element 36 is located below the through hole 331; as shown by the arrow lines in fig. 3, ambient light enters the first reflector 33 through the transparent housing 32 and is then reflected to the second reflector 34, the light reflected by the second reflector 34 enters the photosensitive area of the photosensitive element 36 through the through hole 331, the photosensitive element obtains the light and performs photoelectric conversion and digital-to-analog conversion to obtain an ambient digital image, and then the image processing unit of the sweeping robot performs subsequent operations such as ambient recognition, map drawing, path planning, object recognition and the like according to the ambient digital image.

As a preferred embodiment of this embodiment, a lens or a lens group 5 is further disposed between the through hole 331 and the photosensitive element 36, and the light entering through the through hole 331 is corrected and then enters the photosensitive element 36; the specific form of the lens or lens group 5 can be set as required; preferably, the optical axis of the lens group 5 coincides with the optical axes of the first reflector 33 and the second reflector 34, and the photosensitive surface of the photosensitive element 36 is preferably perpendicular to the optical axis, so that the distortion of the image can be reduced, and the difficulty of subsequent image processing can be reduced.

In the present embodiment, the light-transmitting casing 32 is hemispherical and preferably does not change the direction of the emergent ray and the incident ray, and particularly, the light-transmitting casing 32 is rotationally symmetric around the optical axis; the first reflector 33 and the second reflector 34 may be spherical mirrors or parabolic mirrors, wherein the second reflector 34 may be fixedly disposed on the top of the inner wall of the light-transmitting casing 32, preferably on the intersection of the optical axis and the top of the inner wall, and of course, the second reflector 33 may also be disposed on the outer side of the top wall of the light-transmitting casing 32 or embedded in the top wall; the through hole 331 is circular and preferably has a center on the optical axis, and in particular, the projection of the second reflector 34 on the plane perpendicular to the optical axis coincides or substantially coincides with the through hole 331.

As a preferred embodiment of the present embodiment, the top of the outer wall of the transparent housing 32 is provided with a mask layer 37, of course, the mask layer 37 may be disposed on the top inner wall of the transparent housing 32 or embedded in the top wall of the transparent housing 32, but it is understood that the mask layer 37 should be disposed outside the second reflector 34, i.e. the mask layer 37 is spaced from the photosensitive element 36 by a distance greater than the distance between the second reflector 34 and the photosensitive element 36, the shape of the mask layer 37 is preferably circular and rotationally symmetric about the optical axis, in particular, the projection of the mask layer 37 onto the plane perpendicular to the optical axis is not less than the projection of the first reflector 33 onto the plane, preferably, the projected area of the mask layer 37 is slightly larger, in this embodiment, the mask layer 37 is made of a light absorbing material, which on the one hand prevents light from entering the transparent housing 32 from the top, on the other hand absorbs light reflected by the first reflector 33 onto the mask layer 37, preventing the inner wall of the transparent housing 32 from partially reflecting the light onto the first reflector 33 again, in this case, the inner wall of the transparent housing 32 is not less than the light reflected by the light onto the optical axis, preferably, the optical axis is not less than the optical axis 34, in this case, the optical axis is not more than the optical axis, the optical axis of the optical lens 33, the optical lens, the.

As another preferred embodiment of the present embodiment, as shown in fig. 3 and 4, the panoramic camera module of the present embodiment further includes a base 31, the base 31 has a first end 311, a second end 312 and a light channel 313 passing through the first end 311 and the second end 312, the transparent casing 32 is in abutting fit with the first end 311, the first reflector 33 is located in the transparent casing 32 and fixed to the first end 311; preferably, the lens or lens group 35 is located inside the light channel 313 and the optical axis L thereof is the same as the extending direction of the light channel 313, and the light sensing element 36 is disposed at the second end 312 and the light sensing surface thereof faces the light channel 313.

In another embodiment, a panoramic camera package structure of a sweeping robot is further provided, please refer to fig. 3 and 4; the panoramic camera packaging structure of the present embodiment has a base 31 with a first end 311 and a second end 312, a transparent casing 32 which is transparent in at least a partial region, a first reflector 33, a second reflector 34 and a photosensitive element 36; the first end 311 of the base 31 is provided with an annular limiting protrusion 314, a first abutting part 316 and a plurality of circumferentially arranged claws 315 positioned on the back of the first abutting part 316, the second end 312 of the base 31 is provided with a photosensitive element mounting cavity, and a light channel 313 penetrating through the base 31 is arranged between the first end 311 and the second end 312; the first reflector 33 is a concave mirror and fixed in the middle of the first end 311, and a through hole 331 communicating with the light channel 313 is formed in the center area thereof; the light-transmitting casing 32 comprises a hemispherical light-transmitting area and a second abutting part 321 positioned at the edge of the hemispherical light-transmitting area, a limiting groove matched with the annular limiting bulge 314 is arranged on the inner side of the second abutting part 321, and the second reflector 34 is fixed on the inner wall of the top of the light-transmitting casing 32; during assembly, the light-transmitting housing 32 is buckled at the first end 311, so that the first abutting part 316 abuts against the second abutting part 321, and the annular limiting protrusion 314 is matched with the limiting groove of the light-transmitting housing 32, thereby sealing the lens area.

As a preferred embodiment of this embodiment, the panoramic camera further includes a fixing ring sleeve 38, the fixing ring sleeve 38 includes a side wall, an upper abutting ring 381 and a lower abutting ring 382, the fixing ring sleeve 38 is preferably made of a rigid material, and the side wall, the upper abutting ring 381 and the lower abutting ring 382 are optionally integrally formed metal pieces; the fixing collar 38 is centrally provided with a circular through hole having a diameter at the upper abutment ring 381 larger than that of the hemispherical light transmitting region of the light transmitting cover 32 but smaller than that of the second abutment portion 321, whereas a diameter at the lower abutment ring 382 is larger than that of the second abutment portion 321 but smaller than the outer peripheral diameter of the claw 315. During assembly, the light-transmitting cover 32 and the first end 311 of the base 31 are sequentially installed in the fixing ring 38 and force is applied to press the second end 312 of the base 31, so that the clamping jaws 315 pass through the second abutting portion 321, and thus the assembly is completed, at this time, the hemispherical light-transmitting area of the light-transmitting cover 32 extends out of the fixing ring 38 through the circular through hole, the second abutting portion 321 abuts against the upper abutting ring 381, and the clamping jaws 315 abut against the lower abutting ring 382.

As a preferred embodiment of the present embodiment, the present invention further includes an elastic piece 38 disposed between the second abutting portion 321 and the upper abutting ring 381, and a certain space can be reserved between the second abutting portion 321 and the upper abutting ring 381 by disposing the elastic piece 38, which is not only beneficial to the assembly of the latch 315, but also can reduce the possibility of collision damage of the product.

The present embodiment further includes a mask layer 37 disposed on the top of the outer wall of the transparent casing 32, and a lens or a lens assembly 35 disposed in the optical channel 313, and the structures and positional relationships of the mask layer 37, the lens assembly 35, the first reflector 33, and the second reflector 34, and the relationships between the components and the optical axis are the same as those described in the foregoing embodiments, and the present embodiment is fully introduced herein.

Note that the explanation (for example, the upper and lower relationships) regarding the orientation in the present embodiment is the same as the orientation relationship shown in fig. 3.

In another embodiment, the sweeping robot body is provided with a plurality of sensors for sensing environmental information of the sweeping robot, and particularly, the sensors can be used for sensing information such as suspension, falling, obstacles, charging seats, wall following and the like; the type of the sensor is not limited, but the sensor is preferably a photoelectric sensor, optionally an infrared sensor, and the installation position of the sensor can be selected according to the requirement, and the sensor is preferably arranged at the bottom or the side wall of the sweeping robot. Fig. 1 and 2 show a schematic structural diagram of the sweeping robot of the embodiment, and as shown in the figure, the sweeping robot of the embodiment comprises a main body and a camera 3, wherein the main body can comprise a base 5, a housing 1 and a dust-air separation device 2, the bottom of the base 5 is provided with a driving wheel 6 and a brush roll cavity 7, the driving wheel 6 is preferably biased towards the ground, and the brush roll cavity 7 is provided with an opening towards the ground; the shell 1 is sleeved and fixed on the base 5, the top of the shell is provided with a first cavity for installing the camera 3, the front part of the shell is provided with a second cavity for placing the dust-gas separating device 2, the dust-gas separating device 2 is detachably arranged in the second cavity, for example, the dust-gas separating device 2 is fixed in the second cavity in the normal cleaning process, and the dust-gas separating device 2 can be removed from the second cavity when a dust box of the dust-gas separating device 2 needs to be emptied; in particular, the front portion of the sweeping robot of this embodiment is provided with a plurality of sensor modules 4, as an embodiment, the number of the sensor modules 4 is two, and the sensor modules 4 are respectively arranged on two sides of the dust-air separation device 2, and as a preferred embodiment, the sensor modules 4 are integrally long-strip-shaped, and the long sides thereof are approximately perpendicular to the ground.

Fig. 5-8 show the structures of the components of the sensor module 4 of the sweeping robot of the present embodiment. Referring to fig. 5, the sensor module 4 of the present embodiment includes a sensor mounting base 41, a transparent casing 42 and an infrared transceiver unit 43; the number of the infrared transceiving units 43 is multiple, the sensor mounting base 41 is provided with mounting cavities 44 corresponding to the number of the infrared transceiving units 43, each mounting cavity comprises a groove for accommodating the infrared transceiving unit 43, a press buckle 411 for fixing the infrared transceiving unit 43, an infrared emission window 412/414 and an infrared receiving window 413/415 corresponding to the infrared emission tube 432 and the infrared receiving tube 433, and the infrared emission window and the infrared receiving window penetrate through the mounting base 41. The infrared transceiver unit 43 has a structure as shown in fig. 8, and includes an elongated package 431, an infrared transmitting tube 432, an infrared receiving tube 433, and a circuit board integrating an infrared transmitting device and an infrared sensing device; an infrared transmitting tube 432 and an infrared receiving tube 433 are arranged on one side of the packaging shell 431, the infrared transmitting tube 432 and the infrared receiving tube 433 are arranged so that the visual field ranges of the infrared transmitting tube 432 and the infrared receiving tube 433 are at least partially overlapped, a circuit board is arranged on the other side, an infrared transmitting device of the mounted circuit board is aligned with the infrared transmitting tube 432, and an infrared sensing device is aligned with the infrared receiving tube 433; preferably, a filter film is disposed outside the infrared receiving tube 433 to filter out light with wavelength different from that of the infrared emitting device, so as to avoid interference of ambient light. During installation, a plurality of infrared transceiving units 43 are firstly installed in the grooves of the installation cavity 44 and fixed through the pressing buckles 411, at the moment, the infrared transmitting tube 432 is aligned with the infrared transmitting window 412/414, and the infrared receiving tube 433 is aligned with the infrared receiving window 413/415; then, the light-transmitting case 42 is covered on the front side of the sensor mount 41 to prevent external contaminants from affecting the operation of the infrared transmitting tube 432 and the infrared receiving tube 433. When the infrared sensing device works, infrared light generated by the infrared emitting device of the circuit board sequentially passes through the infrared emitting tube 432, the infrared emitting window 412/414 and the light-transmitting shell 42 and then reaches the surface of an object, and then is reflected by the object and sequentially passes through the light-transmitting shell 42, the infrared receiving window 413/415 and the infrared receiving tube 433 and then is captured by the infrared sensing device.

As a preferred embodiment of the present embodiment, at least two infrared transceiving units 43 are arranged to have different viewing orientations. Referring to fig. 1 and 5, in the present embodiment, the field of view of at least one infrared transceiver unit 43 of the plurality of infrared transceiver units 43 is downward (the negative direction of the Y axis in fig. 5 is downward, and the positive direction is upward), specifically, the optical axis of the infrared transmitting tube of at least one infrared transceiver unit forms an angle with the ground (the XOZ plane in fig. 5), and the infrared receiving tube of the infrared transceiver unit can receive the light reflected by the ground and transmitted by the infrared transmitting tube, and the angle is optionally 0 ° to 45 °, and preferably 10 ° to 35 °; as a preferred embodiment of this embodiment, the mounting base 41 is provided with a plurality of infrared transceiver units 43 with their visual fields facing the ground, each infrared transceiver unit 43 is mounted on the mounting base 41 from top to bottom, and the angle between the optical axis of the infrared transmitting tube of each infrared transceiver unit 43 and the ground gradually decreases.

As a preferred embodiment of this embodiment, at least two infrared transmitting and receiving units 43 have optical axes of the infrared transmitting tubes substantially parallel to the ground, and particularly, the optical axes of the infrared transmitting tubes of the two infrared transmitting and receiving units 43 form an included angle with each other, and the included angle is optionally 20 to 60 degrees, and preferably 30 to 50 degrees; in addition, at least one infrared transmitting/receiving unit 43 of the plurality of infrared transmitting/receiving units 43 has its optical axis of the infrared transmitting tube directed upward.

As a preferred embodiment of this embodiment, the infrared transceiver unit 43 with upward view, horizontal view and downward view is installed on the mounting base 41 from top to bottom.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. The utility model provides a panorama module of making a video recording which characterized in that: the utility model discloses a camera module is characterized in that the module of making a video recording is equipped with printing opacity encloser (32), first speculum (33), second reflector (34) and photosensitive element (36) from the object side to image side in proper order, first speculum (33) are the concave mirror, second speculum (34) are the convex mirror, first speculum (33) bottom is equipped with through-hole (331), the plane of reflection of first speculum (33) orientation printing opacity encloser (32), the plane of reflection of second reflector (34) orientation through-hole (331), photosensitive element (36) are located the downside of through-hole (331).

2. The panoramic camera module of claim 1, wherein: the translucent housing (32) is partially opaque, the opaque region covering an area greater than the area of the second mirror (34).

3. The panoramic camera module of claim 2, wherein: the opaque region is a mask layer (37) attached to the light transmissive enclosure (32).

4. The panoramic camera module of claim 2, wherein: the optical axis of the first reflector (33) penetrates through the opaque area, the projection of the opaque area on the plane perpendicular to the optical axis is circular, and the area of the opaque area is larger than the projection area of the first reflector (33) on the plane.

5. The panoramic camera module of claim 1, wherein: the light-transmitting shell (32) is hemispherical, and the second reflector (34) is fixed on the top of the inner wall of the light-transmitting shell (32).

6. The panoramic camera module of claim 1, wherein: the optical axes of the first reflector (33) and the second reflector (34) are coincident, and the focal length of the first reflector (33) is smaller than that of the second reflector (34).

7. The panoramic camera module of claim 6, wherein: the projection of the second reflector (34) on the plane vertical to the optical axis of the first reflector (33) is approximately equal to the area of the through hole (331).

8. The panoramic camera module of claim 1, wherein: the LED lamp further comprises a main body (31), the main body (31) is provided with a first end portion (311), a second end portion (312) and a light channel (313) penetrating through the first end portion (311) and the second end portion (312), the first reflecting mirror (33) is fixed at the first end portion, a through hole (331) of the first reflecting mirror is communicated with the light channel (313), the light-transmitting encloser (32) covers the first reflecting mirror (33) and is abutted to the first end portion, and the photosensitive element (36) is arranged at the second end portion (312) and is opposite to the light channel (313).

9. The utility model provides a panorama module of making a video recording which characterized in that: the panoramic camera module has a 360-degree circular view field area on a cross section perpendicular to an optical axis, symmetrical fan-shaped view field areas are arranged on the cross section containing the optical axis, and the included angle theta of the fan-shaped view field areas is not less than 20 degrees and not more than 75 degrees.

10. The utility model provides a robot of sweeping floor which characterized in that: the panoramic camera module comprises a sweeping robot body and the panoramic camera module as claimed in any one of claims 1 to 9.

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