Cover plate light supplementing structure, camera device and mobile robot

Abstract

The utility model provides a cover plate light supplementing structure, a camera device and a mobile robot, which can be used for simply and conveniently carrying out smudginess detection in an actual application scene without being influenced by the change of an external scene. The cover plate light supplementing structure comprises a shell used for fixedly installing a camera module; the light-transmitting cover plate covers the shell and is used for covering a view field area of the camera module, and the light-transmitting cover plate is provided with a first surface used for backing on to the camera module, a second surface used for facing the camera module and a steering inclined surface which is obliquely arranged relative to the first surface and the second surface; and the light supplementing device comprises a light supplementing lamp arranged in the shell and a light guide part located in a light path between the light supplementing lamp and the steering inclined plane, and the light guide part is used for transmitting illumination light emitted by the light supplementing lamp to the steering inclined plane so that the illumination light can be transmitted between the first surface and the second surface after being steered.

Description

Technical Field

[0001] The utility model relates to the technical field of camera technology, in particular to a cover plate light-filling structure, a camera device and a mobile robot. Background Art

[0002] Depth cameras measure depth by first emitting light to the object being measured, and then receiving the light at the receiving end after reflection; for example, a TOF camera continuously emits light pulses to the object being measured, then receives the light pulses reflected from the object, and calculates the distance of the object being measured from the camera by detecting the flight time of the light pulses. Since depth cameras can collect grayscale images and depth images, people can perform various post-processing based on the images obtained, such as modeling and path planning, so it is very important to ensure the accuracy of the images collected by the depth camera.

[0003] In order to protect the internal transmitter and receiver, the camera device (such as a depth camera) usually uses a protective glass to cover the top of the transmitter and / or receiver; however, the protective glass is easily attached with dirt such as dust, fingerprints or stains because it is exposed to the external environment. When dirt such as dust, fingerprints or stains adhere to the protective glass, the data information collected by the camera device will have errors, affecting the subsequent image processing algorithm or filtering algorithm, thereby affecting the image effect and user experience. Therefore, it is very important to regularly detect whether there is dirt attached to the protective glass in the camera device so as to take effective measures to solve the problem when dirt is attached, in order to obtain accurate image information.

[0004] At present, an existing technical solution is to transmit a light signal to an external fixed structure (such as a whiteboard, etc.) through a camera device to complete dirt detection, but it can only be used in a specific scenario where the fixed structure is provided. This is because when the external scene changes during actual use of the camera device, the data received will be affected by both dirt and scene changes, which is prone to misjudgment and cannot accurately detect dirt, resulting in the user being unable to effectively perform dirt detection in actual application scenarios.

[0005] In order to solve the above problem, another existing technical solution is to set a movable structure on the camera device, so that it can be moved in front of the lens to assist in detection when detecting dirt, and then removed from the front of the lens after the detection is completed. Although this solution does not require dirt detection in a fixed scene, it requires moving the external structure back and forth, which makes the user's operation inconvenient and is not suitable for dirt detection in actual application scenarios. Utility Model Content

[0006] One advantage of the present invention is that it provides a cover plate fill light structure, a camera device and a mobile robot, which can simply and conveniently perform dirt detection in actual application scenarios without being affected by changes in external scenes.

[0007] Another advantage of the present invention is that it provides a cover plate fill light structure, a camera device and a mobile robot. In one embodiment of the present invention, the camera device can illuminate the transparent cover plate by adding a fill light device to eliminate the influence of external scene changes on dirt detection, which helps to accurately detect dirt in actual application scenarios.

[0008] Another advantage of the present invention is that it provides a cover plate fill light structure, a camera device and a mobile robot. In one embodiment of the present invention, the camera device can perform dirt detection without changing the original external structure size of the camera module, so as to realize real-time detection of dirt.

[0009] Another advantage of the present invention is that it provides a cover plate fill light structure, a camera device and a mobile robot, wherein in order to achieve the above-mentioned purpose, the present invention does not need to adopt a complex structure and design. Therefore, the present invention successfully and effectively provides a solution, not only providing a simple cover plate fill light structure, a camera device and a mobile robot, but also increasing the practicality and reliability of the cover plate fill light structure, the camera device and the mobile robot.

[0010] In order to achieve at least one of the above advantages or other advantages and purposes of the utility model, the utility model provides a cover plate fill light structure, which is used to enable the camera module to have a dirt detection function, including:

[0011] A housing for fixing the camera module;

[0012] a light-transmitting cover plate, the light-transmitting cover plate being covered on the housing and used to cover the field of view of the camera module, and the light-transmitting cover plate having a first surface for facing away from the camera module, a second surface for facing the camera module, and a turning inclined surface arranged obliquely relative to the first surface and the second surface; and

[0013] A fill light device, the fill light device includes a fill light arranged in the shell and a light guide located in the light path between the fill light and the turning slope, the light guide is used to transmit the illumination light emitted by the fill light to the turning slope so that the illumination light is turned and then propagates obliquely between the first surface and the second surface.

[0014] According to one embodiment of the present application, the first surface is parallel to the second surface.

[0015] According to an embodiment of the present application, the turning slope extends outwardly from the first surface toward a direction close to the second surface to form a reflecting slope.

[0016] According to an embodiment of the present application, the cover plate fill light structure further includes a reflective film attached to the turning slope.

[0017] According to an embodiment of the present application, the cover plate fill light structure further includes an anti-reflection film, and the anti-reflection film is attached to the area of ​​the second surface corresponding to the turning slope and the light guide.

[0018] According to one embodiment of the present application, the light-transmitting cover has an effective light-transmitting area corresponding to the field of view area of ​​the camera module and an invalid light-transmitting area located around the effective light-transmitting area, and the turning slope is located in the invalid light-transmitting area of ​​the light-transmitting cover; a portion on the first surface located within the invalid light-transmitting area and a portion on the second surface located within the invalid light-transmitting area and corresponding to the first surface are both attached with a reflective film.

[0019] According to an embodiment of the present application, the turning slope extends outwardly from the second surface toward a direction close to the first surface to form a transmission slope.

[0020] According to one embodiment of the present application, the light-transmitting cover plate has an effective light-transmitting area corresponding to the field of view area of ​​the camera module and an invalid light-transmitting area located around the effective light-transmitting area, the turning slope is located in the invalid light-transmitting area of ​​the light-transmitting cover plate, and is attached with an anti-reflection film; the portions of the first surface and the second surface located within the invalid light-transmitting area are both attached with reflective films.

[0021] According to an embodiment of the present application, the light guide member is a light guide column that gradually extends from the light emitting surface of the fill light toward the turning slope.

[0022] According to another aspect of the present application, the present application further provides a camera device, including:

[0023] Any of the above-mentioned cover plate fill light structures; and

[0024] A camera module is arranged on the cover plate fill light structure so that the camera module collects image data and performs dirt detection when the cover plate fill light structure performs fill light.

[0025] According to one embodiment of the present application, the camera module includes an external light source, a receiver and a circuit board, the external light source and the receiver are both electrically mounted on the circuit board, the transparent cover plate in the cover plate fill light structure is located in the receiving light path of the receiver, and the fill light device in the cover plate fill light structure is located on the side of the receiver.

[0026] According to an embodiment of the present application, the fill light of the fill light device is electrically mounted on the circuit board and is located on a side of the receiver away from the external projection light source.

[0027] According to another aspect of the present application, the present application further provides a mobile robot, comprising:

[0028] The robot body; and

[0029] Any of the above-mentioned camera devices is arranged on the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a structural schematic diagram of a camera device according to an embodiment of the present application;

[0031] Figure 2 A schematic top view of a light-transmitting cover plate in the camera device according to the above embodiment of the present application is shown;

[0032] Figure 3 A bottom view schematically shows a light-transmitting cover plate in the camera device according to the above embodiment of the present application;

[0033] Figure 4 A first example of the imaging device according to the above-described embodiment of the present application is shown;

[0034] Figure 5 A second example of the imaging device according to the above-described embodiment of the present application is shown;

[0035] Figure 6 A third example of the imaging device according to the above-described embodiment of the present application is shown;

[0036] Figure 7 A fourth example of the imaging device according to the above-described embodiment of the present application is shown;

[0037] Figure 8 A modified embodiment of the camera device according to the above embodiment of the present application is shown;

[0038] Fig. 9 A bottom view schematically shows a light-transmitting cover plate in a camera device according to the above-mentioned modified embodiment of the present application;

[0039] Fig.10 It is a block diagram of a mobile robot according to an embodiment of the present application.

[0040] Explanation of the main component symbols: 1. Camera device; 10. Cover light filling structure; 11. Shell; 12. Translucent cover; 121. First surface; 122. Second surface; 123. Turning slope; 1201. Effective light transmission area; 1202. Ineffective light transmission area; 12a. Projection cover; 12b. Receiving cover; 13. Fill light device; 131. Fill light; 132. Light guide; 14. Reflective film; 15. Anti-reflection film; 20. Camera module; 21. External light source; 22. Receiver; 23. Circuit board; 2. Robot body.

[0041] The above main component symbols are combined with the accompanying drawings and specific implementation methods to further illustrate the present invention in detail. DETAILED DESCRIPTION

[0042] The following description is used to disclose the utility model so that those skilled in the art can implement the utility model. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the utility model defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the utility model.

[0043] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, which 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. Therefore, the above terms should not be understood as limiting the present invention.

[0044] In the present invention, the term "one" in the claims and the specification should be understood as "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. Unless it is clearly indicated in the disclosure of the present invention that the number of the element is only one, the term "one" cannot be understood as unique or single, and the term "one" cannot be understood as a limitation on the quantity.

[0045] In the description of the present utility model, it should be understood that "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through a medium. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0047] Considering that the existing technical solutions usually use fixed structures or movable structures to assist in dirt detection, but they are not suitable for dirt detection in actual application scenarios. Therefore, this application creatively proposes a cover light filling structure, a camera device and a mobile robot, which can perform dirt detection in actual application scenarios simply and conveniently without being affected by changes in external scenes.

[0048] Specifically, refer to the accompanying drawings of the specification of this application. Figures 1 to 7 According to an embodiment of the present application, a camera device 1 is provided, which may include a cover plate fill light structure 10 and a camera module 20. The camera module 20 is arranged on the cover plate fill light structure 10 so that the camera module 20 collects image data and performs dirt detection when the cover plate fill light structure 10 performs fill light, so that the camera module 20 has a dirt detection function.

[0049] More specifically, if Figure 1As shown, the cover plate fill light structure 10 may include a housing 11 for fixing the camera module 20, a transparent cover plate 12 and a fill light device 13. The transparent cover plate 12 is covered on the housing 11 and used to cover the field of view of the camera module 20, and the transparent cover plate 12 has a first surface 121 for facing away from the camera module 20, a second surface 122 for facing the camera module 20, and a turning inclined surface 123 arranged obliquely relative to the first surface 121 and the second surface 122. The fill light device 13 includes a fill light 131 arranged in the housing 11 and a light guide 132 located in the optical path between the fill light 131 and the turning inclined surface 123, and the light guide 132 is used to transmit the illumination light emitted by the fill light 131 to the turning inclined surface 123 so as to be turned and propagate between the first surface 121 and the second surface 122, thereby illuminating the transparent cover plate 12. It can be understood that the light-transmitting cover plate 12 mentioned in the present application can be implemented as, but not limited to, protective glass.

[0050] Alternatively, if Figure 1 As shown, the first surface 121 is parallel to the second surface 122 to form a pair of parallel surfaces, which facilitates the illumination light to propagate obliquely between the first surface 121 and the second surface 122, thereby illuminating the entire light-transmitting cover plate 12. It is understood that the first surface 121 and the second surface 122 mentioned in the present application refer to the following: Figure 1 The upper surface and the lower surface of the light-transmitting cover plate 12 are shown.

[0051] It is worth noting that since the deflection bevel 123 on the transparent cover 12 can deflect the illumination light from the fill light device 13 to propagate between the first surface 121 and the second surface 122 of the transparent cover 12, the illumination light emitted by the fill light device 13 will not illuminate the external environment when illuminating the transparent cover 12, so that the camera module 20 can only collect very little current environmental information. Therefore, the camera device 1 of the present application is less affected by changes in the external scene when performing dirt detection in actual application scenarios.

[0052] In other words, since the camera device 1 of the present application can perform dirt detection when the transparent cover plate 12 is illuminated by the cover plate fill light structure 10, the camera device 1 of the present application only needs to use the image data obtained during calibration as the calibration fill light data, and use the image data obtained during dirt detection as the detection fill light data, and then compare the detection fill light data with the calibration fill light data, and the obtained difference data is the dirt data of the transparent cover plate 12 when in use, so as to perform dirt judgment. It is understandable that the calibration of the camera device 1 is usually carried out before leaving the factory, at which time the light-transmitting cover plate 12 can be considered to be clean, that is, the calibrated fill light data can be considered to contain no dirt information; and the dirt detection of the camera device 1 is usually carried out after leaving the factory, and during the use of the camera device 1 after leaving the factory, the light-transmitting cover plate 12 is easily attached with dirt due to being exposed to the outside, that is, the detected fill light data contains dirt information, so the present application can compare the detected fill light data and the calibrated fill light data to obtain the fill light difference to perform accurate dirt judgment.

[0053] In addition, in order to further reduce the interference of scene changes on dirt detection, the camera device 1 of the present application can collect image data when the fill light 131 in the cover fill light structure 10 is in the on state and the off state respectively, and use the difference data as calibration fill light data and detection fill light data.

[0054] For example, Figure 1 As shown, the turning slope 123 can extend outwardly from the first surface 121 toward the direction close to the second surface 122 to form a reflecting slope for reflecting the illumination light emitted by the fill light 131 for turning. In this way, the illumination light emitted by the fill light 131 is first transmitted to the second surface 122 via the light guide 132, and then propagates to the turning slope 123 after passing through the second surface 122, and then is reflected by the turning slope 123 to propagate obliquely between the first surface 121 and the second surface 122, thereby illuminating the entire light-transmitting cover plate 12.

[0055] Alternatively, if Figure 2 As shown, the cover light filling structure 10 further includes a reflective film 14 attached to the turning bevel 123 to increase the reflection efficiency of the turning bevel 123 and reduce the transmission efficiency of the turning bevel 123. It can be understood that the reflective film 14 mentioned in the present application can be implemented as a high reflective film such as a metal reflective film or an all-dielectric reflective film, but is not limited to it.

[0056] Alternatively, if Figure 3As shown, the cover plate fill light structure 10 further includes an anti-reflection film 15, which is attached to the area on the second surface 122 corresponding to the turning slope 123 and the light guide 132 to enhance the transmission efficiency of the second surface 122 and reduce the reflection efficiency of the second surface 122. In this way, the reflected light of the illumination light transmitted through the light guide 132 when passing through the second surface 122 is reduced, which helps to improve the fill light efficiency.

[0057] Alternatively, if Figure 2 and Figure 3 As shown, the light-transmitting cover plate 12 may have an effective light-transmitting area 1201 corresponding to the field of view of the camera module 20 and an invalid light-transmitting area 1202 located around the effective light-transmitting area 1201, and the turning bevel 123 is located in the invalid light-transmitting area 1202 of the light-transmitting cover plate 12. It can be understood that the turning bevel 123 mentioned in the present application may be formed by chamfering the edge of the invalid light-transmitting area 1202 of the light-transmitting cover plate 12, so that the illumination light is reflected to laterally enter the light-transmitting cover plate 12, thereby illuminating the light-transmitting cover plate 12.

[0058] Alternatively, if Figure 2 As shown, the reflective film 14 can be attached to the portion of the first surface 121 located within the ineffective light-transmitting area 1202 to prevent the illumination light obliquely propagating between the first surface 121 and the second surface 122 from being lost by passing through the first surface 121 in the ineffective light-transmitting area 1202, thereby helping to reduce the light intensity loss of the fill light 131 and better illuminate the effective light-transmitting area 1201 of the light-transmitting cover 12.

[0059] Alternatively, if Figure 3 As shown, the reflective film 14 may also be attached to the portion of the second surface 122 that is located within the ineffective light transmission area 1202 and corresponds to the first surface 121, so as to prevent the illumination light that propagates obliquely between the first surface 121 and the second surface 122 from being lost by passing through the second surface 122 at the ineffective light transmission area 1202, so as to further reduce the light intensity loss of the fill light 131. It can be understood that the reflective film cannot be attached to the effective light transmission area 1201 of the light-transmitting cover plate 12 because it corresponds to the field of view of the camera module 20, and the reflective film cannot be attached to the area on the second surface 122 of the light-transmitting cover plate 12 that corresponds to the turning slope 123 and the light guide 132 because it needs to pass the illumination light.

[0060] Alternatively, if Figure 1 As shown, the light guide 132 can be, but is not limited to, implemented as a light guide column, the two ends of which respectively contact the light-emitting surface of the fill light 131 and the portion of the transparent cover plate 12 corresponding to the turning slope 123 to reduce light loss.

[0061] Optionally, the light guide column gradually extends from the light-emitting surface of the fill light 131 toward the turning slope 123 to avoid structural interference with the camera module 20 while guiding the illumination light emitted by the fill light 131 to propagate to the turning slope 123 .

[0062] It is worth noting that the light guide column can be made of light-transmitting material, and the outer surface of the light guide column can be treated to prevent light leakage. For example, the outer surface of the light guide column can be coated with a high-reflective film to improve the transmission efficiency of the illumination light and reduce the light intensity loss.

[0063] According to the above embodiments of the present application, the camera module 20 can be implemented as a visual module such as a TOF module or a structured light module for projecting invisible light to obtain image data; it can also be implemented as a visual module such as an infrared camera module for receiving invisible light to obtain image data; in other words, the camera device 1 of the present application can be implemented as a visual camera with a cover plate fill light structure 10 for dirt detection. It can be understood that the type of light emitted by the fill light device 13 of the present application is determined according to the type of photosensitive chip of the camera module 20.

[0064] Optionally, the camera module 20 may include at least one invisible light sensor for collecting invisible light, and the fill light device 13 is used to emit invisible light. For example, the invisible light sensor may be, but is not limited to, implemented as an infrared photosensitive chip, that is, when the collected light is infrared light, the invisible light emitted by the fill light device 13 is also infrared light.

[0065] For example, in the first example of the present application, Figure 4 As shown, the camera module 20 may include an external light source 21, a receiver 22 and a circuit board 23. The external light source 21 and the receiver 22 are both electrically mounted on the circuit board 23. The light-transmitting cover plate 12 is located in the receiving light path of the receiver 22 to cover the receiver 22. The fill light device 13 is located on the side of the receiver 22 to illuminate the area on the light-transmitting cover plate 12 corresponding to the receiver 22. It can be understood that the field of view area of ​​the camera module 20 mentioned in this application refers to the receiving field of view area of ​​the receiver 22.

[0066] It is worth noting that in this example of the present application, the external light source 21 in the camera module 20 can be a projector, so that the camera module 20 is implemented as a visual module such as a TOF module or a structured light module; or, the external light source 21 in the camera module 20 can also be implemented as a fill light for emitting light outward to fill in the environment, so that the camera module 20 is implemented as a visual module such as a monocular or binocular infrared camera with a fill light. In addition, when the camera module 20 collects image data when the fill light device 13 is in the on state and the off state respectively, the external light source 21 of the camera module 20 is turned off and does not project invisible light to prevent the collected image data from containing too much scene information and to avoid interference of scene changes on dirt detection.

[0067] Optionally, the number of the fill light 131 and the light guide 132 in the fill light device 13 of the present application can be one or more, which are used to emit invisible light and transmit the illumination light to the turning bevel 123 to illuminate the transparent cover plate 12. It can be understood that the fill light 131 of the present application can be, but is not limited to, implemented as an LED capable of emitting invisible light.

[0068] It is worth noting that the shape, number and position of the fill light 131 and the light guide 132 in the fill light device 13 can be determined according to the size and structure of the transparent cover plate 12. The setting requirements of the fill light device 13 need to meet the following requirements: all areas on the transparent cover plate 12 that can be photographed by the camera module 20 (i.e., the effective transparent area 1201 of the transparent cover plate 12) are filled with light, and the brightness amplitude of each pixel photographed is between 5 and 100.

[0069] In the above first example of the present application, Figure 4 As shown, the number of the transparent cover plate 12 in the camera device 1 of the present application can be one, so as to simultaneously cover the external projection light source 21 and the receiver 22. It can be understood that in other examples of the present application, the transparent cover plate 12 can also only cover the receiver 22, and the present application will not repeat this.

[0070] Optionally, in this example of the present application, Figure 4 As shown, the fill light device 13 may include a fill light 131 and a light guide 132. The fill light 131 is electrically mounted on the circuit board 23 and is located on the side of the receiver 22 away from the external light source 21. The two ends of the light guide 132 respectively correspond to the light-emitting surface of the fill light 131 and the portion of the second surface 122 of the transparent cover 12 corresponding to the turning slope 123, so as to better fill light all areas on the transparent cover 12 that can be photographed by the camera module 20 while avoiding structural interference between the fill light device 13 and the external light source 21.

[0071] Of course, in other examples of the present application, the fill light device 13 may also include a plurality of fill light lamps 131 , and the plurality of fill light lamps 131 are arranged around the receiver 22 .

[0072] In the second example of this application, Figure 5 As shown, the number of the transparent cover plates 12 in the camera device 1 of the present application can be two, so as to respectively cover the external projection light source 21 and the receiver 22. It can be understood that, for the convenience of description, the present application defines the transparent cover plate covering the external projection light source 21 as a projection cover body 12a, and defines the transparent cover plate covering the receiver 22 as a receiving cover body 12b.

[0073] Alternatively, if Figure 5 As shown, when the number of the transparent cover plates 12 is two, namely the projection cover 12a and the receiving cover 12b, the fill light device 13 may include a fill light 131 and a light guide 132. The fill light 131 is electrically mounted on the circuit board 23 and is located on the side of the receiver 22. The two ends of the light guide 132 respectively correspond to the light-emitting surface of the fill light 131 and the area on the receiving cover 12b corresponding to the turning slope 123, so as to fill light all areas on the receiving cover 12b that can be photographed by the camera module 20.

[0074] Alternatively, if Figure 5 As shown, the fill light 131 is located on a side of the receiver 22 away from the external light source 21 to avoid structural interference between the fill light 131 and the light guide 132 and the external light source 21 .

[0075] Of course, in the third example of the present application, Figure 6 As shown, the fill light device 13 may also include two fill light lamps 131 , and the two fill light lamps 131 are symmetrically arranged on the left and right sides of the receiver 22 .

[0076] It is worth noting that in other examples of the present application, the camera module 20 may not include the external light source 21. For example, the camera module 20 may include one or two receivers 22 so that the camera device 1 can be used as a monocular camera or a binocular camera without a fill light.

[0077] For example, in the fourth example of the present application, Figure 7As shown, the camera module 20 includes two receivers 22 arranged at intervals, and the two transparent cover plates 12 cover the two receivers 22 one by one. At this time, the fill light device 13 may include two fill light lamps 131 and two light guides 132, the two fill light lamps 131 are located on the sides of the two receivers 22 one by one, and the two ends of the two light guides 132 correspond to the light-emitting surfaces of the two fill light lamps 131 and the areas on the two transparent cover plates 12 corresponding to the turning inclined surfaces 123 to illuminate the corresponding transparent cover plates 12 respectively.

[0078] It is worth noting that in other examples of the present application, the fill light device 13 may also include four fill light lamps 131 and four light guides 132, the four fill light lamps 131 are located around the two receivers 22, and the two ends of the four light guides 132 correspond to the light-emitting surfaces of the four fill light lamps 131 and the four edges of the transparent cover plate 12, respectively, so as to illuminate the entire transparent cover plate 12. Of course, the number of the fill light lamps 131 can be less than four or more than four, as long as it can meet the illumination requirements of the transparent cover plate 12, and this application will not elaborate on this.

[0079] It is worth mentioning that in a modified embodiment of the present application, Figure 8 and Fig. 9 As shown, the turning slope 123 can also extend outwardly from the second surface 122 toward the first surface 121 to form a transmission slope for transmitting the illumination light emitted by the fill light 131 to turn and propagate obliquely between the first surface 121 and the second surface 122, thereby illuminating the transparent cover 12.

[0080] Optionally, in this variant embodiment of the present application, as Fig. 9 As shown, an anti-reflection film 15 can be attached to the turning slope 123; and a reflective film 14 can be attached to the first surface 121 and the second surface 122 of the transparent cover plate 12 within the ineffective light transmission area 1202 to ensure that the camera device 1 has good fill light efficiency.

[0081] According to another aspect of the present application, Fig.10 As shown, the present application further provides a mobile robot, which may include a robot body 2 and the above-mentioned camera device 1, wherein the camera device 1 is arranged on the robot body 2 so as to perform dirt detection according to the image data collected by the camera device 1. It is understandable that the mobile robot mentioned in the present application may be, but is not limited to, implemented as a sweeping robot. Since the light-transmitting cover plate in front of the camera module in the sweeping robot is prone to dust or stains, it is necessary to frequently perform dirt detection to ensure the normal operation of the sweeping robot.

[0082] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model.

Claims

1. The cover light filling structure is used to enable the camera module to have a dirt detection function, characterized in that: include: A housing for fixing the camera module; A light-transmitting cover plate, which is disposed on the housing and is used to cover the field of view of the camera module, and has a first surface facing away from the camera module, a second surface facing the camera module, and a turning slope arranged obliquely relative to the first surface and the second surface; as well as A fill light device, the fill light device includes a fill light arranged in the housing and a light guide located in the light path between the fill light and the turning slope, the light guide is used to transmit the illumination light emitted by the fill light to the turning slope so as to be turned and then propagated between the first surface and the second surface.

2. The cover plate fill light structure according to claim 1, characterized in that: The turning slope extends outwardly from the first surface toward the direction close to the second surface to form a reflecting slope.

3. The cover plate fill light structure according to claim 2, characterized in that: The cover plate fill light structure further includes a reflective film attached to the turning slope.

4. The cover plate fill light structure according to claim 3, characterized in that: The cover plate fill light structure further includes an anti-reflection film, and the anti-reflection film is attached to the area of ​​the second surface corresponding to the turning slope and the light guide member.

5. The cover plate fill light structure according to claim 4, characterized in that: The light-transmitting cover plate has an effective light-transmitting area corresponding to the field of view of the camera module and an invalid light-transmitting area located around the effective light-transmitting area, and the turning slope is located in the invalid light-transmitting area of ​​the light-transmitting cover plate; A reflective film is attached to a portion of the first surface located within the ineffective light transmission area and a portion of the second surface located within the ineffective light transmission area and corresponding to the first surface.

6. The cover plate fill light structure according to claim 1, characterized in that: The turning slope extends outwardly from the second surface toward the direction close to the first surface to form a transmission slope.

7. The cover plate fill light structure according to claim 6, characterized in that: The light-transmitting cover plate has an effective light-transmitting area corresponding to the field of view of the camera module and an invalid light-transmitting area located around the effective light-transmitting area; the turning slope is located in the invalid light-transmitting area of ​​the light-transmitting cover plate and is attached with an anti-reflection film; the first surface and the second surface are both attached with reflective films at locations within the invalid light-transmitting area.

8. The cover plate fill light structure according to any one of claims 1 to 7, characterized in that: The light guide member is a light guide column which gradually extends from the light emitting surface of the fill light toward the turning inclined surface.

9. A camera device, characterized in that include: The cover plate fill light structure as claimed in any one of claims 1 to 8; and A camera module is arranged on the cover plate fill light structure so that the camera module collects image data and performs dirt detection when the cover plate fill light structure performs fill light.

10. The imaging device according to claim 9, characterized in that: The camera module includes an external light source, a receiver and a circuit board. The external light source and the receiver are both electrically mounted on the circuit board. The transparent cover plate in the cover plate fill light structure is located in the receiving light path of the receiver, and the fill light device in the cover plate fill light structure is located on the side of the receiver.

11. The imaging device according to claim 10, wherein: The fill light of the fill light device is electrically mounted on the circuit board and is located on a side of the receiver away from the external projection light source.

12. A mobile robot, characterized in that: include: Robot body; and The camera device according to any one of claims 9 to 11, wherein the camera device is provided on the robot body.

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