CN214259197U

CN214259197U - TOF module, camera subassembly and robot of sweeping floor

Info

Publication number: CN214259197U
Application number: CN202022772259.1U
Authority: CN
Inventors: 杨勇; 宫海涛; 李湘宜; 赖卓锋
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2020-11-25
Filing date: 2020-11-25
Publication date: 2021-09-24
Anticipated expiration: 2030-11-25
Also published as: WO2022111279A1

Abstract

The application provides a TOF module, a camera assembly and a sweeping robot; the sweeping robot comprises a camera assembly; the camera subassembly includes bracket component, camera module, infrared lamp and TOF module, and camera module, infrared lamp and TOF module are installed respectively on the bracket component. The TOF module includes: a transmitter for transmitting infrared light to an object; a receiver for receiving light reflected from the object; the TOF lens is arranged on the same side of the transmitter and the receiver; the blocking piece is arranged between the transmitter and the receiver and at least extends to the outer surface of the TOF lens. This application is through setting up between the transmitter at the TOF module and the receiver and blockked up, is infected with the dust on the TOF lens, and the light of dust reflection can be blockked up by blockking, and then the receiver can not produce the erroneous judgement, has improved the discernment ability of TOF module to all ring edge borders, has improved the efficiency of cleaning of robot of sweeping the floor.

Description

TOF module, camera subassembly and robot of sweeping floor

Technical Field

The application belongs to the technical field of the robot of sweeping the floor, and more specifically relates to a TOF module, camera subassembly and robot of sweeping the floor.

Background

The floor sweeping robot is an intelligent household appliance capable of automatically absorbing dust on the ground. In order to improve the recognition capability of the sweeping robot to the surrounding environment, a Time of flight (TOF) module is added in the sweeping robot, and the sweeping robot is a 3D imaging module adopting a Time of flight method. Therefore, the position and the approximate shape of the obstacle can be judged through the arrangement of the TOF module, so that the surrounding obstacles are effectively avoided, and the cleaning efficiency of the sweeping robot is improved. But be infected with the dust on the TOF lens of TOF module easily, the dust can lead to the TOF module to carry out the erroneous judgement to the position of barrier and the existence of barrier, leads to sweeping the floor the robot and can not in time dodge the barrier, has reduced the ability of sweeping the floor that the robot cleans.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of this application is to provide a TOF module, camera subassembly and robot of sweeping floor to the TOF module that solves existence among the prior art receives the dust easily to disturb and leads to keeping away the technical problem that the barrier ability reduces.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: providing a TOF module comprising:

a transmitter for transmitting infrared light to an object;

a receiver for receiving light reflected from the object;

the TOF lens is arranged on the same side of the transmitter and the receiver;

a blocking member, the blocking member being a non-light transmissive structure, the blocking member being disposed between the emitter and the receiver and extending at least to an outer surface of the TOF lens.

In a possible embodiment, the barrier extends to protrude beyond the outer surface of the TOF lens.

In a possible embodiment, a mounting groove is formed in the TOF lens, and one end of the blocking piece, which is away from the emitter, is inserted into the mounting groove.

In a possible embodiment, an end of the blocking element facing away from the emitter is provided with a guiding surface for guiding the blocking element into the mounting groove.

In a possible embodiment, the barrier comprises:

the sleeve body is at least respectively sleeved at one end of the transmitter facing the TOF lens and one end of the receiver facing the TOF lens;

and the baffle extends from the sleeve body to the direction of the TOF lens and at least extends to the outer surface of the TOF lens.

In a possible embodiment, the sleeve body is provided with a first sleeve cavity and a second sleeve cavity which extend along a first direction respectively, and the distribution directions of the emitter and the TOF lens are parallel to the first direction;

the first sleeve cavity is used for being sleeved on the emitter, and a first limiting plate used for limiting the emitter to face to one side edge of the TOF lens extends from the inner wall of the first sleeve cavity;

the second cover chamber is used for the cover to establish on the receiver, just second cover intracavity wall extends to have and is used for spacingly the receiver orientation the second limiting plate of TOF lens one side reason.

In a possible embodiment, the sleeve body and the baffle are in an integral connecting structure.

In a possible embodiment, the blocking piece is made of soft glue material.

The application still provides a camera subassembly, including bracket component, camera module, infrared lamp and above-mentioned TOF module, camera module, infrared lamp and TOF module install respectively in on the bracket component.

The application also provides a robot of sweeping floor, including above-mentioned camera subassembly.

The application provides a TOF module's beneficial effect lies in: the application embodiment provides a TOF module, through set up between transmitter and receiver and block the piece, it is non-light-transmitting to block the piece, and block the surface that extends to the TOF lens at least, like this, even be infected with the dust on the TOF lens, the light of transmitter transmission is by the dust transmission, but reflection light will be blocked by blocking the piece and block the light that the dust reflects, and the receiver can only receive the light from distant place barrier reflection, thereby make the receiver can not produce the possibility of erroneous judgement, and then improved the TOF module to the discernment ability of the robot all ring borders of sweeping the floor, the robot that sweeps the floor has been improved cleans ability and cleans efficiency. Simultaneously, the camera subassembly of this application is through the setting of above-mentioned TOF module for this camera subassembly's the ability of surveying the barrier is stronger. In addition, the robot of sweeping the floor of this application is through the setting of above-mentioned camera subassembly for should sweep the floor the robot keep away the barrier ability reinforcing, thereby improved and cleaned the ability and cleaned efficiency.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

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

FIG. 2 is a schematic perspective view of a camera assembly provided in an embodiment of the present application;

FIG. 3 is an exploded view of the camera head assembly of FIG. 2;

FIG. 4 is a schematic side view of a TOF module according to an embodiment of the present disclosure;

FIG. 5 is an exploded view of the TOF module of FIG. 4;

FIG. 6 is a schematic view of the assembly of the transmitter, receiver and blocking member of FIG. 4;

FIG. 7 is another angular assembly view of the transmitter, receiver and blocking member of FIG. 6;

FIG. 8 is a schematic perspective view of the blocking member of FIG. 6;

FIG. 9 is another perspective view of the blocking member of FIG. 6.

Wherein, in the figures, the respective reference numerals:

100. a camera assembly; 10. a TOF module; 11. a transmitter; 12. a receiver; 13. a TOF lens; 131. mounting grooves; 14. a blocking member; 141. a sleeve body; 1411. a first set of lumens; 1412. a first limit plate; 1413. a second set of lumens; 1414. a second limiting plate; 142. a baffle plate; 1421. a guide surface; x, a first direction; 20. a camera module; 30. an infrared lamp; 40. a bracket assembly; 41. a camera lens; 411. a first window; 412. a second window; 42. a lens holder; 43. a bracket rear cover; 50. an infrared lamp lens; 60. first foam; 70. second foam; 80. a first back glue; 90. and a second back glue.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 to 5, a TOF module 10 according to an embodiment of the present disclosure will now be described. The TOF module 10 is used in a camera assembly 100 of a sweeping robot to improve the obstacle avoidance capability of the sweeping robot in the recognition capability of the sweeping robot on the surrounding environment. It is understood that, in other embodiments of the present application, the TOF module 10 can also be applied to other electronic devices, such as a camera of a mobile phone, which is not limited herein.

Referring to fig. 3 to 5, the TOF module 10 includes a transmitter 11, a receiver 12, a TOF mirror 13 and a blocking member 14. The emitter 11 is used for emitting infrared light to the object, the receiver 12 is used for receiving the light reflected from the object, and the TOF mirror 13 is arranged on the same side of the emitter 11 and the receiver 12. The barrier 14 is a non-light-transmissive structure, and the barrier 14 is disposed between the emitter 11 and the receiver 12 and extends at least to the outer surface of the TOF lens 13.

Specifically, the emitter 11 and the receiver 12 are arranged in parallel at an interval, the TOF mirror 13 is planar, the TOF mirror 13 is arranged on the light emitting side of the emitter 11, and the TOF mirror 13 is located on the light emitting side of the receiver 12, that is, the TOF mirror 13 is located on the same side of the emitter 11 and the receiver 12.

Under the condition without the blocking piece 14, when the TOF mirror 13 is contaminated with dust, the infrared light emitted by the emitter 11 is reflected back to the receiver 12 through the dust on the TOF mirror 13, and when the receiver 12 receives the emitted light, an obstacle is erroneously determined, so that the TOF module 10 has poor recognition capability for the surrounding environment of the sweeping robot. In the case of the blocking member 14, since the blocking member 14 completely isolates the emitter 11 from the TOF mirror 13 from the light emitting point, the light emitted from the emitter 11 can only pass through a portion of the TOF mirror 13 corresponding to the area of the emitter 11, and the light reflected by the dust on the portion of the TOF mirror 13 can only be reflected back to the area corresponding to the emitter 11 due to the blocking of the blocking member 14, and cannot cross over the blocking member 14 and be received by the receiver 12.

In the TOF module 10 of this embodiment, through set up between transmitter 11 and receiver 12 and block piece 14, it is nontransparent piece to block piece 14, and block piece 14 extends to TOF lens 13's surface at least, like this, even be infected with the dust on TOF lens 13, the light of transmitter 11 transmission is by the dust transmission, but reflected light will be blocked by blocking piece 14, receiver 12 can not receive the light of dust reflection, and receiver 12 can only receive the light from distant place barrier reflection, thereby make receiver 12 can not produce the possibility of erroneous judgement, and then improved TOF module 10 to the discernment ability of sweeping robot all ring border, the ability and the efficiency of cleaning of sweeping robot have been improved.

In one embodiment, referring to fig. 4 and 5, the end of blocking member 14 facing away from emitter 11 extends beyond the outer surface of TOF lens 13, thereby providing more complete isolation between emitter 11 and receiver 12 and facilitating assembly between blocking member 14 and TOF lens 13. It is understood that in other embodiments of the present application, depending on the actual design, one end of the blocking member 14 may be designed to be just flush with the outer surface of the TOF lens 13 to improve the aesthetic appearance, which is not limited herein.

In a specific embodiment, referring to fig. 5, the TOF mirror 13 is provided with an installation slot 131, the installation slot 131 penetrates through the TOF mirror 13, the size of the installation slot 131 is matched with the size of the end of the blocking member 14 away from the emitter 11, and one end of the blocking member 14 is inserted into the installation slot 131. Through the setting of mounting groove 131, not only can dodge and stop piece 14 one end, and can carry on spacingly and fixed to stopping piece 14 one end, prevent to stop that piece 14 from producing in the course of the work and rocking.

In a specific embodiment, referring to fig. 4, a guide surface 1421 is disposed at an end of the blocking member 14 away from the emitter 11, and the guide surface 1421 is used to guide the blocking member 14 to be inserted into the installation slot 131, that is, the guide surface 1421 can facilitate the end of the blocking member 14 to be quickly and accurately inserted into the installation slot 131, so as to improve the assembly efficiency of the TOF module 10.

Referring to fig. 4 to 8, an end of the blocking member 14 facing away from the emitter 11 is elongated, a distribution direction of the emitter 11 and the receiver 12 is perpendicular to a length extending direction of the blocking member 14, one end of the blocking member 14 is provided with four guide surfaces 1421, the four guide surfaces 1421 are respectively located on four side surfaces of one end of the blocking member 14, and the guide surfaces 1421 respectively extend obliquely from the four side surfaces of the blocking member 14 like a top surface, so that the closer the blocking member 14 is to the end, the smaller the cross-sectional size is, and the insertion of one end of the blocking member 14 into the mounting groove 131 is facilitated.

In an embodiment, referring to fig. 4 to 7, the blocking member 14 includes a sheath 141 and a baffle 142, the sheath 141 is at least respectively sleeved on an end of the transmitter 11 facing the TOF lens 13 and an end of the receiver 12 facing the TOF lens 13, and the baffle 142 extends from the sheath 141 toward the TOF lens 13 and at least extends to an outer surface of the TOF lens 13. Specifically, in the present application, the sheath 141 is respectively sleeved on one end of the transmitter 11 facing the TOF lens 13 and one end of the receiver 12 facing the TOF lens 13, and exposes one side of the transmitter 11 emitting light so that the transmitter 11 emits infrared rays, and exposes one side of the receiver 12 receiving light so that the receiver 12 receives light. In other embodiments of the present application, the sheath 141 can be disposed over a portion or the whole of the transmitter 11, and likewise, the sheath 141 can be disposed over a portion or the whole of the receiver 12. For example, when the sheath 141 is disposed on the whole of the emitter 11 and the whole of the receiver 12, the sheath 141 may cover the emitter 11 and the receiver 12 as a whole and only expose a side of the emitter 11 for emitting light and a side of the receiver 12 for receiving light, which is not limited herein.

The blocking member 14 of the present application, through the arrangement of the sheath body 141, on one hand, the blocking member 14 is combined with the emitter 11 and the receiver 12, and the blocking member 14 is extended to the TOF lens 13 from between the emitter 11 and the receiver 12, so that the emitter 11 and the receiver 12 can be completely isolated within the TOF lens 13, and the receiver 12 is not affected by dust on the TOF lens 13. In addition, the installation and positioning of the blocking piece 14 are realized, one end of the blocking piece 14 is sleeved on the emitter 11 and the receiver 12, and the other end of the blocking piece 14 is inserted into the installation groove 131 of the TOF lens 13, so that the blocking piece 14 is convenient to assemble and firm to install, the shaking cannot be generated in the moving process of the sweeping robot, and the detection effect of the whole TOF module 10 cannot be influenced.

In an embodiment, referring to fig. 8 and 9, the sheath 141 is formed with a first sheath cavity 1411 and a second sheath cavity 1413, and the first sheath cavity 1411 and the second sheath cavity 1413 extend along the first direction X respectively. The distribution direction of the emitter 11 and the TOF mirror 13 is parallel to a first direction X, and the distribution direction of the emitter 11 and the receiver 12 is perpendicular to the first direction X, where the first direction X is specifically the X direction in fig. 4 and 9.

The inner wall of the first set of cavities 1411 is extended with a first stop plate 1412, the first stop plate 1412 being located on an end of the first set of cavities 1411 facing the TOF lens 13. The first set of cavities 1411 is configured to fit over the emitter 11 and the first limiting plate 1412 is configured to limit the emitter 11 from facing a side edge of the TOF lens 13. When installed, the first set of cavities 1411 are set over the emitter 11 in the first direction X until the first limiting plate 1412 abuts the emitter 11 towards an edge of one side of the TOF lens 13.

The inner walls of the second set of cavities 1413 are extended with second retainer plates 1414, the second retainer plates 1414 being located on an end of the second set of cavities 1413 facing the TOF lens 13. The second nest chamber 1413 is configured to nest on the receiver 12 and the second retainer plate 1414 is configured to retain the receiver 12 toward a side edge of the TOF lens 13. When installed, the second nest 1413 is placed over the receiver 12 in the first direction X until the second retainer plate 1414 abuts the receiver 12 towards one edge of the TOF lens 13.

In an embodiment, referring to fig. 8 and 9, the sheath 141 and the baffle 142 are integrally connected, that is, the entire blocking member 14 is integrally formed, and the entire blocking member 14 can be formed at one time by an integral injection molding method or an integral machining method, which has a simple structure and a simple forming process. It is understood that, in other embodiments of the present application, the sheath 141 and the baffle 142 may be formed separately according to the actual design, and then assembled into the blocking member 14 by injection molding, gluing, screwing, etc., which is not limited herein.

In a specific embodiment, the blocking member 14 is made of a soft plastic material, that is, the blocking member 14 is integrally injection-molded by the soft plastic material, so that the entire blocking member 14 has elasticity, which is not only convenient for assembly and firm in assembly, but also the arrangement of the blocking member 14 does not scratch the TOF lens 13, the emitter 11 and the receiver 12. Specifically, the blocking member 14 is made of silicone or rubber. It is understood that in other embodiments of the present application, barrier 14 may be made of other materials with weak scratching force, and is not limited herein.

Referring to fig. 2 and 3, the present application further provides a camera assembly 100, which includes a bracket assembly 40, a camera module 20, an infrared lamp 30, and the TOF module 10, wherein the camera module 20, the infrared lamp 30, and the TOF module 10 are respectively mounted on the bracket assembly 40. Wherein, camera module 20 is used for shooing the image of robot surrounding environment of sweeping the floor, and infrared lamp 30 is used for launching the infrared light in order to survey the barrier, and TOF module 10 is used for surveying the 3D object. The camera module 20 of the present application is through the setting of above-mentioned TOF module 10 for this camera module 20's the ability of surveying the barrier is stronger.

Specifically, referring to fig. 3, the bracket assembly 40 includes a camera lens 41, a lens bracket 42 and a bracket rear cover 43, a mounting cavity is disposed in the camera lens 41, a first window 411 and a second window 412 are disposed on the front side of the camera lens 41, a first foam 60 of the lens bracket 42 is hermetically mounted in the mounting cavity, and the bracket rear cover 43 is disposed on the rear side of the camera lens 41 through a second foam 70. The camera module 20, the infrared lamp 30, the transmitter 11, the receiver 12 and the blocking member 14 are respectively mounted on the lens support 42, the TOF mirror 13 is mounted outside the first window 411 through the first adhesive 80, and the infrared lamp mirror 50 is mounted outside the second window 412 through the second adhesive 90.

Referring to fig. 1, the present application further provides a sweeping robot including the camera assembly 100. The utility model provides a robot of sweeping floor is through the setting of above-mentioned camera subassembly 100 for should sweep floor the robot keep away the barrier ability reinforcing, and then make the robot of sweeping floor clean the ability reinforcing, clean the efficiency and improve.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A TOF module, comprising:

a transmitter for transmitting infrared light to an object;

a receiver for receiving light reflected from the object;

the TOF lens is arranged on the same side of the transmitter and the receiver;

2. The TOF module of claim 1, wherein said barrier extends to protrude beyond an outer surface of said TOF lens.

3. The TOF module of claim 1, wherein the TOF lens has a mounting slot, and wherein an end of the blocking member facing away from the emitter is inserted into the mounting slot.

4. A TOF module according to claim 3 wherein an end of the blocking member facing away from the emitter is provided with a guide surface for guiding the insertion of the blocking member into the mounting slot.

5. The TOF module of any of claims 1 to 4 wherein said barrier comprises:

6. The TOF module of claim 5, wherein the housing defines a first housing cavity and a second housing cavity extending along a first direction, respectively, the emitters and the TOF lens being distributed in a direction parallel to the first direction;

7. The TOF module of claim 5 wherein the sheath is integrally connected to the baffle.

8. The TOF module of claim 5 wherein said barrier is made of a soft gel material.

9. A camera assembly comprising a bracket assembly, a camera module, an infrared light and a TOF module according to any one of claims 1 to 8, the camera module, infrared light and TOF module being mounted on the bracket assembly respectively.

10. A sweeping robot comprising a camera assembly according to claim 9.