Image acquisition device of mowing robot and mowing robot

Abstract

The invention provides a mowing robot image acquisition device and a mowing robot, and relates to the technical field of mowing equipment, and the mowing robot image acquisition device comprises a housing and a camera module. The shell is provided with an accommodating cavity and an image acquisition hole communicated with the accommodating cavity. The camera module comprises a lens and a shell with a seam, the shell is installed in the containing cavity, the containing cavity is filled with sealant, and the sealant covers the seam. The lens is installed on the shell and exposed out of the image acquisition hole. The outer shell can be fixed on the main shell through structural members such as screws. Moreover, the image acquisition hole is correspondingly communicated with the mounting port, and the lens is exposed at the mounting port. According to the design of the image acquisition device, a common camera is combined on the mowing robot, so that the cost of integrating the camera on the mowing robot is reduced, and the condition that the operation of the camera is interfered by water vapor during outdoor operation can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lawn mowing equipment, and in particular to an image acquisition device of a lawn mowing robot and a lawn mowing robot. Background Art

[0002] With the development of science and technology, more and more lawn mower robots are introducing machine vision technology for object recognition and path planning. As a result, the requirements for the waterproof performance of lawn mower robots are getting higher and higher, especially when used outdoors. In particular, for high-precision devices with lenses such as cameras, protection against water vapor is particularly important. During use, condensed water vapor is easily generated on the lens due to temperature differences, resulting in poor camera effects or even camera failure. Ordinary cameras are poorly compatible with lawn mowers. In addition, in order to improve the adverse situation of cameras being affected by water vapor when used outdoors, cameras used outdoors are equipped with waterproof casings specially customized for the use environment, which increases the cost of use. Summary of the invention

[0003] The purpose of the present invention includes providing a lawn mowing robot image acquisition device and a lawn mowing robot, which can combine an ordinary camera with the lawn mowing robot, reduce the cost of integrating the camera into the lawn mowing robot, and can effectively improve the situation where water vapor interferes with the camera operation during outdoor operations.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, the present invention provides an image acquisition device for a lawn mowing robot, comprising:

[0006] A shell and a camera module, wherein the shell is provided with a receiving cavity and an image acquisition hole connected to the receiving cavity; the camera module comprises a lens and a shell with a seam, the shell is installed in the receiving cavity, the receiving cavity is filled with sealant, and the sealant covers the seam; the lens is installed on the shell, and the lens is exposed to the image acquisition hole.

[0007] In an optional embodiment, the outer shell is configured as a metal shell, and heat dissipation fins are provided on the outer shell.

[0008] Based on the above solution, the camera module is installed on the outer shell. Heat is generated during the operation of the camera module. The heat can be directly dissipated through the fins on the metal shell. The heat dissipation effect is good. The temperature of the camera module is not easy to rise when working. The camera module is not easy to be damaged by high temperature and has a long service life.

[0009] In an optional embodiment, the camera module also includes a control board and a wiring harness, the control board is electrically connected to the lens, and the wiring harness is electrically connected to the control board; the housing is provided with a wire outlet connected to the accommodating cavity, and the wiring harness is passed through the wire outlet; the sealant seals the space of the wire outlet not occupied by the wiring harness.

[0010] Based on the above scheme, the position of the wire outlet is sealed with sealant, the airtightness of the accommodating cavity is good, external water vapor is not easy to enter the shell through the wire outlet, and thus is not easy to enter the camera module. The lens is not easily damaged by water vapor, and the service life of the lens is long.

[0011] In an optional embodiment, the wire outlet is configured as a wire outlet slot, the wire outlet slot having a first side and a second side in its length direction, the first side being connected to the accommodating cavity, the wiring harness being located in the wire outlet slot and passing through the second side, a shielding layer in contact with the wiring harness being provided in the wire outlet slot, the shielding layer being located on a side of the slot of the wire harness close to the wire outlet slot.

[0012] Based on the above scheme, the first side and the second side of the outlet slot are both open sides, and the notch of the outlet slot is also an open side. In this way, when the camera module and the housing are assembled, the wire harness is easy to put into the outlet slot from the notch of the outlet slot, and the first side and the second side can avoid the wire harness. The wire harness has a good positioning effect in the outlet slot, the wire harness is not easy to bend and damaged, and the wire harness is not easy to interfere with the housing. The camera module is easy to install and has a long service life. At the same time, due to the design of the shielding layer, the high-frequency signal of the camera module can be effectively shielded to avoid interference with the antenna module used for positioning on the lawn mower robot, while improving EMC (Electromagnetic Compatibility).

[0013] In an optional embodiment, a metal pressing sheet is installed on the shell, the metal pressing sheet closes the notch of the outlet slot, and the metal pressing sheet is in contact with the shielding layer.

[0014] Based on the above scheme, through the cooperation of the metal pressing sheet and the shielding layer, the metal pressing sheet can press the shielding layer tightly against the outer layer of the wire harness, thereby reducing the gap between the shielding layer and the wire harness, and also reducing the gap between the wire harness and the bottom wall of the wire outlet groove. When the sealant is used to seal the wire outlet, the sealant is not easy to leak and the sealing effect is good.

[0015] In an optional embodiment, the metal pressing sheet includes a first plate body and a second plate body that are connected, and the first plate body and the second plate body have an angle; the first plate body or the second plate body is fixedly connected to the outer shell, and the first plate body closes the notch of the wire outlet groove; the second plate body is provided with an avoidance groove, and the second plate body is in contact with the side of the outer shell corresponding to the second side, and the wiring harness passes through the avoidance groove.

[0016] Based on the above scheme, the structural design of the metal pressing sheet closes the notch of the wire outlet slot through the first plate body, and closes part of the second side of the wire outlet slot through the second plate body. The metal pressing sheet not only plays a role in positioning the shielding layer, but also can better close the position of the wire outlet slot that is not occupied by the wire harness and the shielding layer. When the sealant is used to pour the wire outlet, the sealant can better fill the gap formed between the wire harness and the wire outlet, and the sealing effect is good.

[0017] In an optional embodiment, the shielding layer is configured as conductive foam.

[0018] Based on the above scheme, the structure of the shielding layer is simple and easy to process and manufacture, and the conductive foam has a certain elastic deformation ability. Under the pressing action of the metal pressing sheet, the conductive foam is compressed and deformed. The conductive foam is in close contact with the metal pressing sheet and the wiring harness, with a small gap. The position of the conductive foam is firm and reliable, and it is not easy to shift when pouring sealant, and the shielding effect is good.

[0019] In an optional embodiment, the accommodating cavity is configured as an accommodating groove, and the notch of the accommodating groove is configured as the image acquisition hole.

[0020] Based on the above solution, when installing the camera module, the camera module is placed into the accommodating groove from the notch of the accommodating groove, which is easy to operate.

[0021] In a second aspect, the present invention provides a lawn mowing robot, the lawn mowing robot comprising:

[0022] The vehicle shell and the lawn mowing robot image acquisition device according to any one of the aforementioned embodiments, wherein the outer shell is connected to the vehicle shell.

[0023] In an optional embodiment, the lawn mowing robot further includes an antenna module, and the antenna module is mounted on the housing.

[0024] Based on the above solution, the antenna module can provide a more accurate travel route for the lawn mower robot, which is beneficial to improving mowing efficiency, reducing the probability of the lawn mower robot colliding with the outside world, and providing stability in the operation of the lawn mower robot.

[0025] The beneficial effects of the lawn mowing robot image acquisition device and the lawn mowing robot provided by the embodiments of the present invention include:

[0026] In summary, the lawn mowing robot image acquisition device provided in this embodiment, by setting a receiving cavity and an acquisition hole on the shell, the camera module is installed in the receiving cavity, the lens of the camera module can be exposed at the image acquisition hole, the lens will not be blocked by the shell, and the lens can obtain a clear image of the external environment. In addition, after the camera module is installed and fixed, the camera module does not occupy the entire space of the receiving cavity, and the seam on the shell of the camera module is located in the receiving cavity, and the sealant is filled in the receiving cavity. The sealant covers the seam while filling the receiving cavity, so as to improve the sealing of the seam position, and the inside of the shell of the camera module becomes a relatively closed space, and it is not easy for water vapor to enter the shell from the seam. The high-precision components of the camera module are not easy to contact with water vapor and are not easy to be damaged, and the camera module has a long service life. At the same time, an ordinary camera module can be directly installed in the receiving cavity, and the seam is covered with sealant. There is no need to customize waterproof shells and other components for the camera module, which reduces the processing cost and assembly errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of a portion of the structure of the lawn mowing robot provided in this embodiment;

[0029] Figure 2 A schematic diagram of the structure of the lawn mowing robot image acquisition device provided in this embodiment;

[0030] Figure 3 This is a schematic diagram of the exploded structure of the lawn mowing robot image acquisition device provided in this embodiment.

[0031] Icons: 001-body; 002-antenna module; 011-main shell; 012-main cover; 013-front panel; 014-heat dissipation hole; 100-shell; 101-accommodation cavity; 102-image acquisition hole; 110-mounting bump; 120-wire outlet; 200-camera module; 210-lens; 220-shell; 221-seam; 230-wiring harness; 300-shielding layer; 400-metal pressing sheet; 410-first plate; 420-second plate; 421-wire outlet groove; 500-antenna cover. DETAILED DESCRIPTION

[0032] In the prior art, the lawn mower robot is equipped with a camera module 200. The working environment of the lawn mower robot is complex. Especially when working outdoors, due to the temperature difference between the inside and outside, the water vapor formed easily enters the camera module 200, causing damage to the lens 210 and other components, thus affecting the service life of the camera module 200. In order to improve this situation, some manufacturers customize waterproof housings 100 for the camera module 200. Different models of cameras need to customize different waterproof housings 100, which has poor universality, inconvenient assembly, and high cost.

[0033] In view of this, the designer provides a lawn mowing robot image acquisition device, which can seal the seam 221 on the shell 220 of the camera module 200 by filling sealant in the space between the camera module 200 and the shell 100, thereby reducing the situation where water vapor enters the interior of the camera module 200 from the seam 221, reducing the probability of the camera module 200 being damaged by water vapor, and an ordinary camera can be directly installed without the need to customize the waterproof shell 100, thereby reducing costs and improving universality.

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0037] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0039] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0040] Please combine Figure 1-Figure 3 In this embodiment, the lawn mowing robot includes a body shell 001, a lawn mowing robot image acquisition device and an antenna module 002. The lawn mowing robot image acquisition device is installed on the top of the body shell 001, and the antenna module 002 is integrated with the lawn mowing robot image acquisition device. The body shell 001 is connected to the chassis of the lawn mowing robot (not shown), and the chassis provides support for the lawn mowing robot, which can walk according to the set route when power is input, thereby realizing planned mowing. At the same time, the lawn mowing robot image acquisition device and the antenna module 002 cooperate to ensure the smooth progress of the lawn mowing operation of the lawn mowing robot.

[0041] It should be understood that the chassis may refer to the chassis structure of an existing lawn mowing robot, and in order to avoid repetition and redundancy, no detailed description is given in this embodiment.

[0042] Please combine Figure 1 In this embodiment, optionally, a main shell 011 is installed on the top of the vehicle shell 001, the top of the main shell 011 is open, a detachable main cover 012 is installed on the top of the main shell 011, a mounting port and a plurality of heat dissipation holes 014 are provided on the side of the main shell 011, and the main shell 011 can be welded to the vehicle shell 001 or fixedly connected by screws or the like. When the main cover 012 closes the opening on the top of the main shell 011, the main cover 012 and the main shell 011 cooperate to define a closed chamber, and the image acquisition device of the lawn mowing robot is arranged in the closed chamber.

[0043] It should be understood that the main cover 012 can be fixedly connected to the main shell 011 by means of structural parts such as screws, and the connection method is simple and reliable, and easy to disassemble and assemble.

[0044] In addition, in other embodiments, the installation port may be formed on the front plate 013 , and the front plate 013 is connected to the main shell 011 .

[0045] Please combine Figure 2 and Figure 3In this embodiment, optionally, the image acquisition device of the lawn mowing robot includes a shell 100 and a camera module 200. The shell 100 is provided with a receiving cavity 101 and an image acquisition hole 102 connected to the receiving cavity 101. The camera module 200 includes a lens 210 and a shell 220 having a joint 221, the shell 220 is installed in the receiving cavity 101, the receiving cavity 101 is filled with sealant, and the sealant covers the joint 221. The lens 210 is installed on the shell 220, and the lens 210 is exposed to the image acquisition hole 102. The shell 100 can be fixed to the main shell 011 by structural members such as screws. In addition, the image acquisition hole 102 is correspondingly connected to the mounting port, and the lens 210 is exposed at the mounting port.

[0046] During installation, the front plate 013 and the main cover 012 can be removed from the main shell 011 first, the outer shell 100 of the lawn mowing robot image acquisition device is fixed to the main shell 011 by screws, and then the front plate 013 is installed, and finally the main cover 012 is installed, which is convenient to operate.

[0047] Optionally, the housing 100 can be made of metal material, that is, the housing 100 is a metal shell, and heat dissipation fins are provided on the housing 100. The camera module 200 is installed on the housing 100, and the camera module 200 generates heat during operation, and the heat can be directly dissipated through the fins on the metal shell, so that the heat dissipation effect is good, the temperature of the camera module 200 is not easy to rise when working, and the camera module 200 is not easy to be damaged by high temperature, and the service life is long.

[0048] Optionally, the accommodating cavity 101 on the outer shell 100 can be set as an accommodating groove, and the notch of the accommodating groove is the image acquisition hole 102. When the outer shell 100 and the main shell 011 are installed, the notch of the accommodating groove faces the direction of the front of the lawn mowing robot. In this way, the lens 210 of the camera module 200 faces forward, which is conducive to capturing the front image.

[0049] Furthermore, a mounting protrusion 110 is provided on the side of the housing 100, and a wire outlet 120 is provided on the mounting protrusion 110. The wire outlet 120 is configured as a wire outlet slot, and the wire outlet slot has a first side and a second side in its length direction, and the first side is connected to the accommodating cavity 101, and the notch of the wire outlet slot and the notch of the accommodating groove are located on the same side. For example, in this embodiment, the notch of the wire outlet slot and the notch of the accommodating groove are located on the same plane, which is convenient for processing.

[0050] It should be understood that when the outer shell 100 is connected to the main shell 011, the length direction of the wire outlet groove of the outer shell 100 is perpendicular to the vehicle shell 001, that is, the length direction of the wire outlet groove is the vertical direction, which is conducive to introducing the wiring harness 230 led out from the camera module 200 from the wire outlet 120 into the vehicle shell 001.

[0051] In addition, a chamber adjacent to the accommodating chamber 101 may be provided on the housing 100 , and the chamber is used to position the antenna module 002 . The top of the chamber is open, and the opening is closed by the antenna cover 500 .

[0052] Optionally, the camera module 200 further includes a control board (not shown) and a wiring harness 230. The control board is electrically connected to the lens 210, and the wiring harness 230 is electrically connected to the control board. The control board may be a circuit board. The wiring harness 230 is passed through the wire outlet 120, and the sealant seals the space of the wire outlet 120 not occupied by the wiring harness 230. Specifically, after the wiring harness 230 is led out from the housing 220 of the camera module 200, the wiring harness 230 is located in the wire outlet slot and passes out from the second side. A shielding layer 300 in contact with the wiring harness 230 is provided in the wire outlet slot, and the shielding layer 300 is located on one side of the slot of the wiring harness 230 close to the wire outlet slot. After the installation is completed, the position of the wire outlet 120 is sealed with sealant, and the airtightness of the accommodating cavity 101 is good. External water vapor is not easy to enter the outer shell 100 through the wire outlet 120, and is not easy to enter the interior of the camera module 200. The lens 210 is not easily damaged by the influence of water vapor, and the service life of the lens 210 is long.

[0053] It should be understood that the first side and the second side of the outlet slot are both open sides, and the notch of the outlet slot is also an open side. In this way, when the camera module 200 is assembled with the housing 100, the wire harness 230 is convenient to be placed into the outlet slot from the notch of the outlet slot, and the first side and the second side can avoid the wire harness 230. The wire harness 230 has a good positioning effect in the outlet slot, the wire harness 230 is not easy to be folded and damaged, and the wire harness 230 is not easy to interfere with the housing 100. The camera module 200 is easy to install and has a long service life. At the same time, due to the design of the shielding layer 300, the high-frequency signal of the camera module 200 can be effectively shielded to avoid interference with the antenna module 002 used for positioning on the lawn mowing robot, while improving EMC.

[0054] Furthermore, a metal pressing sheet 400 is installed on the housing 100 , and the metal pressing sheet 400 can be fixedly connected to the housing 100 by fasteners such as screws. The metal pressing sheet 400 closes the notch of the outlet slot, and the metal pressing sheet 400 is in contact with the shielding layer 300 .

[0055] For example, the metal pressing plate 400 includes a first plate body 410 and a second plate body 420 connected to each other, and the first plate body 410 and the second plate body 420 have an angle. In this embodiment, the first plate body 410 and the second plate body 420 are vertically arranged, and the metal pressing plate 400 is approximately a right-angle plate. The first plate body 410 is fixedly connected to the mounting protrusion 110 on the housing 100 by fasteners such as screws. Obviously, in other embodiments, the second plate body 420 can be connected to the mounting protrusion 110, or the first plate body 410 and the second plate body 420 are both fixedly connected to the mounting protrusion 110. The first plate body 410 closes the notch of the outlet through groove, and the second plate body 420 is provided with an avoidance groove. The second plate body 420 is fitted with the side surface of the housing 100 corresponding to the second side, and the wiring harness 230 passes through the avoidance groove. The structural design of the metal pressing sheet 400 can not only close the notch of the outlet groove through the first plate body 410, and use the first plate body 410 and the wiring harness 230 to clamp the shielding layer 300, so that the position of the shielding layer 300 is stable and reliable, but also use the second plate body 420 to close the open position of the outlet groove 421 corresponding to the second side, so that the sealing effect of the outlet port 120 is good. When the sealant is used to fill the outlet port 120, the sealant is not easy to leak and the filling effect is good.

[0056] Optionally, the shielding layer 300 is configured as a conductive foam. The shielding layer 300 has a simple structure and is easy to manufacture, and the conductive foam has a certain elastic deformation capacity. Under the pressing action of the metal pressing plate 400, the conductive foam is compressed and deformed, and the conductive foam is in close contact with the metal pressing plate 400 and the wiring harness 230, with a small gap, and the position of the conductive foam is firm and reliable, and it is not easy to shift when the sealant is poured, and the shielding effect is good.

[0057] The lawn mower robot provided in this embodiment fills the space between the housing 100 and the housing 220 of the camera module 200 with sealant, and the sealant can cover the joint 221 on the housing 220, thereby reducing the probability of water vapor entering the interior of the housing 220 from the joint 221. The electrical components inside the camera module 200 are not easily affected by water vapor and have a long service life. Ordinary cameras can be directly installed in the housing 100, and there is no need to customize the waterproof housing 100, which saves costs.

[0058] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A lawn mowing robot image acquisition device, characterized in that: include: A housing (100) and a camera module (200), wherein the housing (100) is provided with a housing cavity (101) and an image acquisition hole (102) communicating with the housing cavity (101); the camera module (200) comprises a lens (210) and a shell (220) having a joint (221); the shell (220) is installed in the housing cavity (101); the housing cavity (101) is filled with a sealant, and the sealant covers the joint (221); the lens (210) is installed on the shell (220), and the lens (210) is exposed to the image acquisition hole (102).

2. The lawn mowing robot image acquisition device according to claim 1, characterized in that: The outer shell (100) is configured as a metal shell, and heat dissipation fins are provided on the outer shell (100).

3. The lawn mowing robot image acquisition device according to claim 1, characterized in that: The camera module (200) further comprises a control panel and a wiring harness (230), wherein the control panel is electrically connected to the lens (210), and the wiring harness (230) is electrically connected to the control panel; the housing (100) is provided with a wire outlet (120) communicating with the accommodating cavity (101), and the wire harness (230) is passed through the wire outlet (120); and the sealant seals the space of the wire outlet (120) that is not occupied by the wire harness (230).

4. The lawn mowing robot image acquisition device according to claim 3, characterized in that: The wire outlet (120) is configured as a wire outlet slot, the wire outlet slot having a first side and a second side in its length direction, the first side being connected to the accommodating cavity (101), the wire harness (230) being located in the wire outlet slot and passing through the second side, a shielding layer (300) in contact with the wire harness (230) being provided in the wire outlet slot, the shielding layer (300) being located on a side of the wire harness (230) close to a slot opening of the wire outlet slot.

5. The lawn mowing robot image acquisition device according to claim 4, characterized in that: A metal pressing sheet (400) is installed on the housing (100), the metal pressing sheet (400) closes the notch of the outlet wire slot, and the metal pressing sheet (400) is in contact with the shielding layer (300).

6. The lawn mowing robot image acquisition device according to claim 5, characterized in that: The metal pressing sheet (400) comprises a first plate body (410) and a second plate body (420) connected to each other, wherein the first plate body (410) and the second plate body (420) have an angle; the first plate body (410) or the second plate body (420) is fixedly connected to the housing (100), and the first plate body (410) closes the notch of the outlet wire slot; the second plate body (420) is provided with an avoidance groove, and the second plate body (420) is in contact with the side surface of the housing (100) corresponding to the second side, and the wiring harness (230) passes through the avoidance groove.

7. The lawn mowing robot image acquisition device according to claim 4, characterized in that: The shielding layer (300) is configured as conductive foam.

8. The lawn mowing robot image acquisition device according to claim 1, characterized in that: The accommodating cavity (101) is configured as an accommodating groove, and the notch of the accommodating groove is configured as the image collection hole (102).

9. A lawn mowing robot, characterized in that: The lawn mowing robot comprises: A vehicle shell (001) and the lawn mowing robot image acquisition device according to any one of claims 1 to 8, wherein the outer shell (100) is connected to the vehicle shell (001).

10. The lawn mowing robot according to claim 9, characterized in that: The lawn mowing robot further comprises an antenna module (002), and the antenna module (002) is installed on the housing (100).

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