Camera modules and self-moving devices

Abstract

This application relates to the field of self-moving device technology, providing a camera module and a self-moving device. The camera module includes a camera component, a supplementary lighting component, and a frame component. The camera component includes a camera; the supplementary lighting component includes a light-emitting element for providing supplementary lighting to the object being photographed by the camera; both the camera component and the supplementary lighting component are disposed within the frame component; wherein, the camera module is mounted on the main body of the self-moving device, with the normal of the light-emitting surface of the light-emitting element set at an elevation angle to the geoid. By setting the supplementary lighting component, supplementary lighting can be provided to the camera, supplementing the light source for the camera when light is insufficient, so that the camera can obtain environmental information well, facilitating path planning for the self-moving device based on environmental information. Therefore, in this application, setting the light-emitting element at an elevation angle can reduce the light intensity generated by the light-emitting element towards the ground, reducing the possibility of overexposure affecting the image quality.

Description

Technical Field

[0001] This application relates to the field of self-moving device technology, and more particularly to a camera module and a self-moving device. Background Technology

[0002] In related technologies, self-moving devices such as lawnmowers are used to repair green belts or lawns. These lawnmowers include camera modules to identify the work area. In low light conditions, the camera module's camera struggles to identify the work area, affecting normal operation. Utility Model Content

[0003] In view of this, embodiments of this application aim to provide a camera module and a self-moving device capable of providing supplemental lighting for the camera's subject, enabling the camera to identify the working area. The camera module includes:

[0004] Camera components, including a camera;

[0005] A supplementary lighting component, including a light-emitting element, is used to provide supplementary lighting for the object being photographed by the camera;

[0006] The frame assembly, wherein both the camera assembly and the supplementary lighting assembly are disposed within the frame assembly;

[0007] The camera module is installed on the main body of the self-moving device, such that the normal of the light-emitting surface of the light-emitting element is set at an elevation angle to the geoid.

[0008] In some embodiments, the light-emitting element is located below the camera, and the elevation angle is greater than or equal to 10° and less than or equal to 45°.

[0009] In some embodiments, the angle between the light-emitting surface of the light-emitting element and the optical axis of the camera is greater than or equal to 60° and less than or equal to 80°.

[0010] In some embodiments, the supplemental lighting component further includes:

[0011] A light-diffusing element is disposed in front of the light-emitting element.

[0012] In some embodiments, the supplemental lighting component further includes:

[0013] A heat-conducting component is disposed on the rear side of the light-emitting component and is in contact with the light-emitting component.

[0014] In some embodiments, the frame assembly includes:

[0015] A heat-conducting base having heat-conducting holes, wherein the heat-conducting element is disposed on the heat-conducting base and covers the heat-conducting holes;

[0016] The housing, wherein the heat-conducting base is disposed on the housing.

[0017] In some embodiments, the frame assembly includes:

[0018] Main support;

[0019] The housing is disposed on the rear side of the main bracket and is sealed to the main bracket. The housing and the main bracket form a first mounting cavity. The camera assembly and the supplementary lighting assembly are both disposed in the first mounting cavity. The light-emitting element is disposed in the housing, and the light-emitting surface faces away from the housing.

[0020] In some embodiments, the frame assembly further includes:

[0021] A first sealing element is disposed between the main support and the housing to ensure a sealed connection between the main support and the housing.

[0022] In some embodiments, the camera module includes a wiring harness connecting the camera and the light-emitting element, and the housing has a wire through hole through which the wiring harness passes;

[0023] The frame assembly further includes a second seal, which is disposed at the wire hole and surrounds the wire harness to seal between the wire hole and the wire harness.

[0024] In some embodiments, the frame assembly includes:

[0025] Main support;

[0026] A light-blocking element is installed on the main bracket to block the light emitted by the light-emitting element from entering the camera.

[0027] In some embodiments, the main support has a light-transmitting hole through which light emitted by the light-emitting element is emitted, and the light-transmitting hole is configured to provide supplemental lighting for the field of view of the camera.

[0028] In some embodiments, the frame assembly further includes:

[0029] A light-transmitting element is disposed on the front side of the main support and is sealed to the main support. The light-transmitting element and the main support form a second mounting cavity, and the light emitted by the light-emitting element can be emitted through the light-transmitting element.

[0030] The light-blocking component is located inside the second mounting cavity and is configured to block the light emitted by the light-emitting component from entering the camera after being reflected by the light-transmitting component.

[0031] In some embodiments, the frame assembly further includes:

[0032] A third sealing element is disposed between the main support and the light-transmitting element to ensure a sealed connection between the main support and the light-transmitting element.

[0033] In some embodiments, the length of the light-blocking element in the horizontal direction is greater than the length of the light-transmitting hole in the horizontal direction.

[0034] In some embodiments, the light-blocking member has a straight section and a curved section that bends toward the light-transmitting hole, with the two curved sections respectively connected to the two ends of the straight section.

[0035] In some embodiments, the number of cameras is two, and the two cameras are arranged at a distance from each other in the horizontal direction;

[0036] The distance between the optical centers of the two cameras is greater than or equal to 60mm and less than or equal to 100mm.

[0037] In some embodiments, the aperture value of the camera is 1.6 to 2.0.

[0038] In some embodiments, the vertical field of view of the camera is greater than or equal to 80° and less than or equal to 120°.

[0039] A self-moving device, comprising:

[0040] Equipment body;

[0041] The camera module provided in any embodiment of this application is disposed on the main body of the device.

[0042] In some embodiments, the angle of depression between the optical axis of the camera and the geoid is greater than or equal to 0 and less than or equal to 30°.

[0043] In some embodiments, the normal to the mounting surface of the camera module is set at a downward angle to the geoid.

[0044] In some embodiments, the camera is positioned at a height greater than or equal to 150 mm and less than or equal to 260 mm above the ground.

[0045] In some embodiments, the distance between the camera and the front of the device body is greater than or equal to 10 mm and less than or equal to 100 mm.

[0046] In some embodiments, the angle between the light-emitting surface of the light-emitting element and the mounting surface of the camera is greater than or equal to 10° and less than or equal to 30°.

[0047] The camera module and self-moving device provided in this application embodiment can supplement the camera's illumination by setting a supplementary lighting component. This provides additional light to the camera when there is insufficient light, enabling the camera to better acquire environmental information and facilitating path planning for self-moving devices such as lawnmowers. If the light-emitting element shines directly towards the ground, it will generate strong reflected light near the self-moving device, causing overexposure of the camera. Therefore, in this application, the light-emitting element is set at an elevation angle, which reduces the light intensity generated by the light-emitting element towards the ground, reducing the possibility of overexposure affecting the camera's image quality. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the structure of a self-moving device according to an embodiment of this application;

[0049] Figure 2 This is a structural schematic diagram of a camera module from a first perspective in one embodiment of this application;

[0050] Figure 3 for Figure 2 A schematic diagram of the AA cross-sectional structure;

[0051] Figure 4 This is a structural schematic diagram of a camera module from a second perspective in one embodiment of this application;

[0052] Figure 5 for Figure 4 The diagram shows a partial structural representation of the camera module, in which the light-transmitting component is hidden.

[0053] Figure 6 for Figure 5 A partial structural diagram of the camera module shown from another perspective, in which the main support is hidden;

[0054] Figure 7 for Figure 6 The diagram shows a partial structure of the camera module, in which the wiring harness, FPC, and light-diffusing element are hidden.

[0055] Figure 8 for Figure 7 The diagram shows a partial structural schematic of the camera module, in which heat-conducting components are hidden.

[0056] Figure 9 This is a structural schematic diagram of a camera module from a third perspective in one embodiment of this application;

[0057] Figure 10 for Figure 9 The diagram shows a partial structural schematic of the camera module, in which the second sealing element is hidden;

[0058] Figure 11 for Figure 10A partial structural diagram of the camera module shown from another perspective, in which the housing is hidden;

[0059] Figure 12 This is a schematic diagram illustrating the principle of triangulation.

[0060] Explanation of reference numerals in the attached figures

[0061] 100. Camera module; 10. Camera assembly; 11. Camera; 112. FPC; 12. Wiring harness; 20. Lighting assembly; 21. Light-emitting element; 22. Light-diffusing element; 23. Heat-conducting element; 30. Frame assembly; 30a. First mounting cavity; 30b. Second mounting cavity; 30c. Clearance opening; 31. Heat-conducting base; 31a. Heat-conducting hole; 32. Housing; 32a. Cable guide hole; 33. Main bracket; 33 a. Light-transmitting hole; 33b. Sealing groove; 331. Outer frame; 332. Outer panel; 34. First sealing element; 35. Second sealing element; 36. Light-transmitting element; 37. Light-blocking element; 371. Straight section; 372. Curved section; 200. Self-moving device; 210. Equipment body; 220. Walking mechanism; 221. Walking wheel; M1. Geodetic plane; M3. Light-emitting surface; M2. Mounting surface; L2. Optical axis. Detailed Implementation

[0062] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0063] It should be noted that in the embodiments of this application, the orientations or positional relationships such as "upper," "lower," and "rear" are based on the orientations or positional relationships shown in the accompanying drawings. It should be understood that these orientational terms are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0064] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. 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 an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0065] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0066] In the description of this specification, references to terms such as "some embodiments," "exemplary," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine the different embodiments or examples described in this application, as well as the features of those different embodiments or examples.

[0067] In related technologies, lawn mowing equipment is used to repair green belts or lawns. The lawn mowing equipment includes a camera module for identifying the work area. In low light conditions, the camera module has difficulty identifying the work area, affecting its normal operation. In related technologies, supplementary lighting is often used at a downward angle, directly illuminating the ground nearby. However, excessive supplementary lighting results in strong reflected light, causing overexposure on the camera.

[0068] In view of this, please refer to Figure 1 This application provides a camera module 100, which can be used in a self-moving device 200, such as a robot vacuum cleaner or a lawnmower. The camera module 100 can acquire environmental information to enable autonomous navigation of the self-moving device. For example, the self-moving device 200 can walk on the ground, such as an indoor floor, lawn, or farmland.

[0069] Please see Figures 2-4 The camera module 100 includes a camera assembly 10, a supplementary lighting assembly 20, and a frame assembly 30. The camera assembly 10 includes a camera 11; the supplementary lighting assembly 20 includes a light-emitting element 21 for providing supplementary lighting to the object being photographed by the camera 11; both the camera assembly 10 and the supplementary lighting assembly 20 are disposed within the frame assembly 30. The camera module 100 is mounted on the device body 210 of the self-moving device 200, such that the normal L1 of the light-emitting surface M3 of the light-emitting element 21 is set at an elevation angle to the geoid M1. For example, as... Figure 3As shown, the angle between the normal L1 of the light-emitting surface M3 of the light-emitting element 21 and the geoid M1 is R1.

[0070] The light-emitting surface of the light-emitting element 21 refers to the last surface that the light comes into contact with in the light-emitting element 21 when it is emitted, that is, the surface on the light-emitting element 21 from which the light is emitted. For example, the light-emitting element 21 includes multiple LED beads, and the light-emitting surface can refer to the plane on which the tops of the multiple LED beads are located. When measuring the geoid M1, the bottom plane of the self-moving device can be used instead. Specifically, taking a lawnmower robot as an example, the bottom plane of the lawnmower robot is the plane on which the bottoms of the multiple wheels are located.

[0071] Camera 11 is used to collect information about the surrounding environment to identify the work objects, obstacles, etc. within the work area, so as to rationally plan the walking path, carry out work on the target object, or change direction in time to avoid obstacles.

[0072] The number of cameras 11 is unlimited and can be configured according to requirements. For example, there can be one, two, or more. Exemplarily, a camera 11 may include a lens assembly, an image sensor, and a circuit board. The lens assembly is used for imaging and commonly includes wide-angle lenses, fisheye lenses, standard lenses, macro lenses, or telephoto lenses. The image sensor converts the light signal focused by the lens assembly into an electrical signal, and the circuit board transmits the electrical signal to the host for data transmission.

[0073] In the following embodiments, the camera module 100 is used as an example of being applied to a lawnmower, but it should not be construed as a limitation on the application of the camera module 100 in the various embodiments of this application.

[0074] In some embodiments, the camera module 100 can record the working process of the lawnmower, allowing users to view the working status. Alternatively, in other embodiments, it can also be connected to a remote terminal for remote monitoring, enabling users to remotely view the working status and working environment of the lawnmower. Exemplarily, the lawnmower has a host unit, which is the core control unit of the lawnmower to control other structures to achieve automated operation of the lawnmower, thereby realizing intelligent and efficient lawnmower operation. The camera module 100 is electrically connected to the host unit, enabling the host unit to use the images acquired by the camera 11 to perform actions such as map building and obstacle avoidance, and to rationally plan the walking path.

[0075] The light-emitting element 21 is used to provide supplemental lighting for the object being photographed by the camera 11. When the camera module 100 is used in a lawn mowing device, the light-emitting element 21 can illuminate the surrounding environment, such as the lawn, so that the camera 11 can acquire the imaging information of the lawn, facilitating visual recognition, positioning, navigation, and other functions of the lawn mowing device.

[0076] The normal L1 of the light-emitting surface M3 of the light-emitting element 21 is set at an elevation angle to the geoid M1, so that the light emitted by the light-emitting element 21 does not directly illuminate the ground near the lawnmower, reducing the phenomenon of overexposure caused by strong light reflection from the ground to the camera 11. The geoid refers to the state where the camera module 100 is installed on the lawnmower and the lawnmower is on a level surface. Overexposure refers to too much light entering the camera 11, causing the brightness of the overall image or part of it to exceed the range that the camera can record, resulting in an image that is overly bright and lacks detail.

[0077] For example, the way the light-emitting element 21 achieves the supplementary lighting function is not limited. For example, the light-emitting element 21 can be an LED lamp, a fluorescent lamp, a high-pressure sodium lamp, or a metal halide lamp, etc.

[0078] The frame assembly 30 is used to mount and support the camera assembly 10 and the lighting assembly 20. The camera assembly 10 and the lighting assembly 20 are disposed on the frame assembly 30 in any way, such as by fasteners, for example screws, or by snap-fit.

[0079] The camera module 100 provided in this application embodiment can supplement the lighting of the camera 11 by setting the supplementary lighting component 20. This supplements the light source for the camera 11 when there is insufficient light, enabling the camera 11 to acquire environmental information effectively. This facilitates path planning for mobile devices such as lawnmowers based on the environmental information. If the light-emitting element 21 shines directly towards the ground, it will generate strong reflected light near the ground of the mobile device, causing overexposure of the camera 11. Therefore, in this application, the light-emitting element 21 is set at an elevation angle, which reduces the light intensity generated by the light-emitting element 21 towards the ground, reducing the possibility of overexposure affecting the image quality.

[0080] The structural form of the frame assembly 30 is not limited. Exemplarily, the frame assembly 30 has two detachably connected parts. For example, the frame assembly 30 includes a main support 33 and a housing 32. The housing 32 is disposed on the rear side of the main support 33, and the housing 32 and the main support 33 enclose a first mounting cavity 30a. The camera assembly 10 and the supplementary lighting assembly 20 are both disposed within the first mounting cavity 30a, and the light-emitting element 21 is disposed within the housing 32, with its light-emitting surface facing away from the housing 32. Exemplarily, the housing 32 and the main support 33 are configured with a sealed connection to achieve waterproof, dustproof, and moisture-proof effects, reducing the impact of the external environment on the structure within the first mounting cavity 30a and the possibility of affecting the camera's imaging effect.

[0081] The shape of the frame component 30 is not limited; exemplaryly, the shape of the frame component 30 is close to that of a cuboid. In other embodiments not shown, the shape of the frame component 30 can also be square, circular, or trapezoidal, or it can be an irregular shape. Specific settings can be made according to requirements, and this application does not impose any special limitations.

[0082] Understandably, the frame assembly 30 has a light-transmitting hole 33a through which light emitted by the light-emitting element 21 is emitted. The frame assembly 30 also has a clearance opening 30c to allow the lens of the camera 11 to pass through, enabling the camera to acquire environmental information. For an example, please refer to... Figure 5 The main support 33 has a light-transmitting hole 33a through which light emitted from the light-emitting element 21 is emitted. The light-transmitting hole 33a is configured to provide supplementary lighting to the field of view of the camera 11. Thus, the structure of the light-transmitting hole 33a allows control over the supplementary lighting range, ensuring that the light emitted from the light-emitting element 21 illuminates the entire field of view of the camera 11. For example, the shape of the light-transmitting hole 33a is approximately trapezoidal. Exemplarily, the height of the light-transmitting hole 33a is 5–7 mm. For example, the height of the light-transmitting hole 33a can be 5 mm, 5.5 mm, 6 mm, 6.5 mm, or 7 mm, etc.

[0083] For example, please refer to Figure 5 The system employs two cameras 11, spaced horizontally apart. Using two cameras allows for binocular vision ranging technology, simulating human eyes to acquire depth information of the environment, improving ranging accuracy, and helping the lawnmower perceive distances and identify obstacles. Furthermore, combined with SLAM technology, the lawnmower can build an environmental map and achieve real-time localization, planning its path to efficiently complete the mowing task. SLAM (Simultaneous Localization and Mapping) is a technology that enables robots to autonomously locate themselves in unknown environments while simultaneously building an environmental map.

[0084] Binocular vision ranging technology is a form of machine vision based on the parallax principle. It uses two cameras to acquire images of an object from different angles to reconstruct its three-dimensional geometric information. Depth perception, based on the triangulation principle, uses two cameras 11 to capture images from different perspectives and calculates the distance from the object to each camera 11 using parallax. For details, please refer to [link to relevant documentation]. Figure 12As shown, Or and Ot are two cameras, point P is an object in the scene, and Z is the distance from object P to the camera. The position and distance of the object are obtained through the relationship between disparity (Disparity = xr - xt)D and depth (Depth)Z. The relationship between disparity D and depth Z is: Z = B * f / D. Where Z is the distance from the object to the camera; D represents the positional difference of the same object on the imaging planes of the two cameras, that is, the pixel displacement of the object on the two imaging planes; B represents the baseline, that is, the distance between the optical centers of the two cameras; and f is the focal length of the camera. For example, the distance between the optical centers of the two cameras 11 is greater than or equal to 60mm and less than or equal to 100mm. Here, the distance between the two cameras 11 should be understood as the distance between their optical centers. The distance between the two cameras 11 can be 60mm, 65mm, 70mm, 75mm, 80mm, 85mm, 90mm, 95mm, or 100mm, etc. By limiting the distance between the two cameras 11, a technical effect can be achieved that balances ranging accuracy and reduces the blind spot of the camera 11.

[0085] Binocular vision ranging includes several steps: camera calibration, image correction, stereo matching, depth calculation, and post-processing. Camera calibration determines the intrinsic and extrinsic parameters of the cameras. Intrinsic parameters include focal length, principal point position, and camera distortion, while extrinsic parameters represent the relative position and orientation of the two cameras. Image correction aligns the two images to ensure they are coplanar. Stereo matching finds corresponding points in the two images and calculates disparity to provide the foundational data for depth calculation. Depth calculation uses triangulation formulas to calculate the depth of each pixel based on disparity information and calibration parameters. Post-processing optimizes the depth image through techniques such as filtering and interpolation to improve its quality and usability.

[0086] For example, please refer to Figure 1 The vertical field of view R2 of camera 11 is greater than or equal to 80° and less than or equal to 120°. When there are two or more cameras 11, the vertical field of view R2 should also be understood as the vertical field of view of a single camera 11. For example, the vertical field of view R2 of camera 11 can be 80°, 90°, 100°, 110°, or 120°, etc., so that camera 11 can acquire a larger range and obtain more environmental information, helping the lawnmower quickly identify lawn boundaries, obstacles, and terrain changes, in order to better plan the path and avoid obstacles. For example, to balance depth of field and vertical field of view R2, the aperture value of camera 11 is selected to be 1.6 to 2.0, for example, 1.6, 1.7, 1.8, 1.9, or 2.0.

[0087] For example, please refer to Figure 1The angle of depression R3 between the optical axis L2 of camera 11 and the geoid M1 is greater than or equal to 0 and less than or equal to 30°. For example, the angle of depression R3 of camera 11 can be 0°, 5°, 10°, 15°, 20°, 25°, or 30°, etc. Setting camera 11 at a downward angle can reduce the impact of rain and sunlight on camera 11.

[0088] For example, the normal of the mounting surface M2 of the camera module 100 is set at a downward angle to the geoid M1. For instance, the downward angle of the camera module 100 is the same as that of the camera 11.

[0089] In some embodiments, the normal of the mounting surface M2 of the camera module 100 coincides with the geoid M1, and only the optical axis L2 of the camera 11 is set at a downward angle to the mounting surface M2 of the camera module 100, so that the downward angle R3 between the optical axis L2 of the camera 11 and the geoid M1 is greater than or equal to 0 and less than or equal to 30°.

[0090] In some embodiments, the normal of the mounting surface M2 of the camera module 100 is set at a downward angle to the geoid M1, and the optical axis L2 of the camera 11 is set at a downward angle to the geoid M1. The combined result of these two factors is that the downward angle R3 between the optical axis L2 of the camera 11 and the geoid M1 is greater than or equal to 0 and less than or equal to 30°.

[0091] In some embodiments, please refer to Figure 1 The ground clearance H1 of camera 11 is greater than or equal to 150mm and less than or equal to 260mm. Ground clearance refers to the height of the optical center of camera 11 from the ground. For example, the ground clearance H1 of camera 11 can be 150mm, 160mm, 170mm, 180mm, 190mm, 200mm, 210mm, 220mm, 230mm, 240mm, 250mm, or 260mm, etc. This ensures that camera 11 can obtain a suitable field of view, reducing the possibility of limited field of view due to excessively low camera clearance H1 and easy obstruction of camera 11. Furthermore, it reduces the impact of excessively high camera clearance H1 on the clarity of the acquired image and the difficulty in capturing obstacles and details on the ground.

[0092] In some embodiments, please refer to Figure 1 The distance S1 between the camera 11 and the front position of the device body 210 is greater than or equal to 10mm and less than or equal to 100mm. The direction captured by the camera 11 is the forward direction of the self-moving device during operation, and the position on the device body 210 that is relatively close to the forward direction is the front position. For example, the distance S1 between the camera 11 and the front position of the device body 210 is 10mm, 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 80mm, 90mm, or 100mm, etc.

[0093] In this way, the possibility of the camera 11 being too far away from the rear of the device body 210 and affecting the field of view can be reduced. At the same time, by combining the camera's height from the ground and vertical field of view, the blind spot of the camera 11 can be left on the device body 210, thereby improving the accuracy of obstacle recognition.

[0094] In some embodiments, please refer to Figure 3 and Figure 6 The light-emitting element 21 is located below the camera 11, with an elevation angle R1 greater than or equal to 10° and less than or equal to 45°. For example, the elevation angle R1 can be 10°, 15°, 20°, 25°, 30°, 35°, 40°, or 45°, etc. It is understandable that, given the height setting of the camera 11 on the lawnmower, the light-emitting element 21 is positioned below the camera 11 in order to control the overall height of the lawnmower.

[0095] For example, the angle between the light-emitting surface M3 of the light-emitting element 21 and the optical axis of the camera 11 is greater than or equal to 60° and less than or equal to 80°. For example, it is 60°, 63°, 65°, 68°, 70°, 73°, 75°, 78° or 80°.

[0096] For example, please refer to Figure 3 The angle R4 between the light-emitting surface M3 of the light-emitting element 21 and the mounting surface M2 of the camera 11 is greater than or equal to 10° and less than or equal to 30°. For example, it is 10°, 13°, 15°, 18°, 20°, 23°, 25°, 28° or 30°. In some embodiments, the mounting surface M2 of the camera 11 is perpendicular to the optical axis L2 of the camera 11. For example, when the angle R4 between the light-emitting surface M3 of the light-emitting element 21 and the mounting surface M2 of the camera 11 is 20°, the angle between the light-emitting surface M3 of the light-emitting element 21 and the optical axis of the camera 11 is 70°.

[0097] In some embodiments, please refer to Figure 6 The supplementary lighting assembly 20 also includes a light-diffusing element 22, which is disposed in front of the light-emitting element 21. This ensures that the light emitted by the light-emitting element 21 is radiated evenly after passing through the light-diffusing element 22. For example, the light-diffusing element 22 is disposed between the light-emitting surface M3 and the frame assembly 30. The light emitted by the light-emitting element 21 is radiated evenly after passing through the light-diffusing element 22, which helps to improve the imaging quality of the camera 11 and reduce the possibility of overexposure of the camera 11 due to excessive energy per unit area.

[0098] For example, the light-diffusing element 22 includes a transparent sheet and a light-diffusing agent. The light-diffusing agent is uniformly disposed on the surface of the transparent sheet so that the light emitted by the light-emitting element 21 can be radiated uniformly, making the light spot reaching the ground more uniform.

[0099] For example, the transparent sheet can be made of transparent PC, which is transparent polycarbonate. It has high light transmittance, is easy to process, and has high impact resistance, which can reduce the possibility of damage after being subjected to external forces.

[0100] For example, a light-diffusing agent can be uniformly sprayed onto a transparent sheet using a spraying device.

[0101] It is understandable that the light-emitting element 21 generates heat when operating within the first mounting cavity 30a. This accumulated heat may cause the camera module 100 to overheat; therefore, it is necessary to dissipate the heat to the outside of the frame assembly 30 in a timely manner. For some embodiments, please refer to... Figure 7 The supplementary lighting assembly 20 also includes a heat-conducting element 23 disposed on the rear side of the light-emitting element 21. This allows heat from the light-emitting element 21 to be conducted to the frame assembly 30. Exemplarily, the heat-conducting element 23 is disposed between the backlight surface of the light-emitting element 21 and the frame assembly 30. Exemplarily, the heat-conducting element 23 is disposed on the frame assembly 30 to directly contact the frame assembly 30, improving the efficiency of transferring heat from the first mounting cavity 30a to the outside of the frame assembly 30. The backlight surface of the light-emitting element 21 refers to the side opposite to the light-emitting surface M3.

[0102] The form of the heat-conducting element 23 is not limited and can be adapted to meet structural requirements. For example, the heat-conducting element 23 is set as a heat-conducting pad.

[0103] In some embodiments, please refer to Figure 8 The frame assembly 30 includes a heat-conducting base 31 and a housing 32. The heat-conducting base 31 has a heat-conducting hole 31a, and a heat-conducting element 23 is disposed on the heat-conducting base 31 and covers the heat-conducting hole 31a; the heat-conducting base 31 is disposed on the housing 32.

[0104] The heat-conducting base 31 is located inside the first mounting cavity 30a and extends a predetermined length from the housing 32 into the first mounting cavity 30a, providing a mounting position for the light-emitting element 21 in the first mounting cavity 30a and enabling it to fully absorb the heat in the first mounting cavity 30a.

[0105] The sealing connection between the main support 33 and the housing 32 is not limited; it can be achieved by using a sealing ring or gasket between them. Alternatively, it can be sealed with sealant. In other embodiments, sealing can also be achieved through manufacturing processes, such as by interfering with the main support 33 and the housing 32 during assembly. In some embodiments, the sealing connection between the main support 33 and the housing 32 can combine the above-mentioned sealing methods, such as using sealant and also providing a sealing ring.

[0106] For example, please refer to Figures 9-11 The frame assembly 30 also includes a first seal 34, which is disposed between the main support 33 and the housing 32 to make the main support 33 and the housing 32 sealed together.

[0107] For example, please refer to Figure 11 The main support 33 has a sealing groove 33b, and a first sealing element 34 is disposed in the sealing groove 33b. For example, the main support 33 includes an outer frame 331 and an outer plate 332, and the sealing groove 33b is disposed near the inner periphery of the outer frame 331.

[0108] In some embodiments, please refer to Figures 9-11 The camera module 100 includes a wiring harness 12 connecting the camera 11 and the light-emitting element 21. The housing 32 has a wire hole 32a through which the wiring harness 12 passes. The frame assembly 30 also includes a second seal 35, which is disposed at the wire hole 32a and surrounds the wiring harness 12 to seal the wire hole 32a and the wiring harness 12.

[0109] The second seal 35 has a clearance hole for avoiding the wire harness 12, so that the wire harness 12 can pass through the wire hole 32a and the clearance hole to the outside of the frame assembly 30.

[0110] For example, the camera 11 includes an FPC (flexible printed circuit board), which is electrically connected to the host via a wiring harness 12, so that the host can use the acquired images to perform actions such as map building and obstacle avoidance, and rationally plan the walking path.

[0111] By setting the second seal 35, moisture and dust can be prevented from entering the first mounting cavity 30a, which could damage the camera 11 and the supplementary lighting assembly 20 and affect their service life.

[0112] In some embodiments, please refer to Figures 3-5 The frame assembly 30 includes a light-blocking element 37, which is disposed on the main support 33 to block light emitted by the light-emitting element 21 from entering the camera 11. For example, the light-blocking element 37 is located above the light-transmitting hole 33a.

[0113] The light-blocking element 37 is used to block reflected light and / or direct light emitted by the light-emitting element 21, thereby reducing the possibility that the light emitted by the light-emitting element 21 will directly enter the camera 11 and affect the imaging quality of the camera 11. Exemplarily, the light-blocking element 37 and the main support 33 are integrally formed. Exemplarily, the light-blocking element 37 is a protruding rib integrally formed on the main support 33.

[0114] In some embodiments, please refer to Figures 3-5The frame assembly 30 also includes a light-transmitting element 36, which is disposed on the front side of the main bracket 33 and sealed to the main bracket 33. The light-transmitting element 36 and the main bracket 33 enclose a second mounting cavity 30b, through which light emitted by the light-emitting element 21 can pass. A light-blocking element 37 is disposed in the second mounting cavity 30b and configured to block light emitted by the light-emitting element 21 from entering the camera 11 after being reflected by the light-transmitting element 36. The outer side of the main bracket 33 refers to the side facing away from the first mounting cavity 30a of the main bracket 33 and towards the external environment.

[0115] In some embodiments, please refer to Figure 5 The length of the light-blocking element 37 in the horizontal direction is greater than the length of the light-transmitting hole 33a in the horizontal direction. In this way, the light-blocking element 37 can block the light emitted by the light-emitting element 21 along the extension direction of the light-emitting element 21, thereby improving the light-blocking effect.

[0116] For example, when the light-emitting element 21 is located below the camera 11 and the light-emitting element 21 is set at an elevation angle to the horizontal plane, the light-blocking element 37 is placed above the light-emitting element 21 to block the light emitted by the light-emitting element 21.

[0117] In some embodiments, please refer to Figure 5 The light-blocking member 37 has a straight section 371 and a curved section 372 that bends toward the light-transmitting hole 33a, with the two curved sections 372 respectively connected to the two ends of the straight section 371. Thus, by providing the curved section 372, the blocking effect of the light-blocking member 37 can be further improved. The straight section 371 and the curved section 372 are parallel.

[0118] The sealing connection between the main support 33 and the light-transmitting element 36 is not limited; it can be achieved by using a sealing ring or gasket between the main support 33 and the light-transmitting element 36. Alternatively, it can be sealed with sealant. In some embodiments, the sealing connection between the main support 33 and the light-transmitting element 36 can combine the above-mentioned sealing methods, such as sealing with sealant and also providing a sealing ring.

[0119] For example, the frame assembly 30 also includes a third seal disposed between the main support 33 and the light-transmitting element 36. By providing the third seal to seal the connection between the main support 33 and the light-transmitting element 36, the effects of waterproofing, dustproofing, and moisture-proofing are achieved, reducing the possibility of dust, rainwater, and other external environmental factors entering the second mounting cavity 30b.

[0120] This application also provides a self-moving device 200, please refer to... Figure 1 The device includes a main body 210 and a camera module 100 according to any of the embodiments of this application, which is disposed on the main body 210. For example, the self-moving device 200 is a lawn mowing device, such as a lawn mowing robot, which can realize automated lawn mowing operations.

[0121] For example, the self-moving device 200 also includes a walking mechanism 220, which is disposed on the device body 210 for walking on the surface to be walked on. For example, the walking mechanism 220 includes walking wheels 221, and the number of walking wheels 221 is not limited and can be set according to needs. For example, there may be two, three or more.

[0122] For example, the self-moving device 200 also includes a lawn mower for cutting grass. For instance, the lawn mower is disposed on the device body 210.

[0123] Self-moving devices 200 include, but are not limited to, lawn mowing equipment, cleaning equipment, or patrol robots, capable of driving a walking mechanism to achieve self-propelled functionality.

[0124] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A camera module for a self-moving device, the camera module comprising: include: Camera components, including a camera; A supplementary lighting component, including a light-emitting element, is used to provide supplementary lighting for the object being photographed by the camera; The frame assembly, wherein both the camera assembly and the supplementary lighting assembly are disposed within the frame assembly; The camera module is installed on the main body of the self-moving device, such that the normal of the light-emitting surface of the light-emitting element is set at an elevation angle to the geoid.

2. The camera module of claim 1, wherein, The light-emitting element is located below the camera, and the elevation angle is greater than or equal to 10° and less than or equal to 45°.

3. The camera module of claim 1, wherein, The angle between the light-emitting surface of the light-emitting element and the optical axis of the camera is greater than or equal to 60° and less than or equal to 80°.

4. The camera module of claim 1, wherein, The supplemental lighting component also includes: A light-diffusing element is disposed in front of the light-emitting element.

5. The camera module of claim 1, wherein, The supplemental lighting component also includes: A heat-conducting component is disposed on the rear side of the light-emitting component and is in contact with the light-emitting component.

6. The camera module of claim 5, wherein, The frame component includes: A heat-conducting base having heat-conducting holes, wherein the heat-conducting element is disposed on the heat-conducting base and covers the heat-conducting holes; The housing, wherein the heat-conducting base is disposed on the housing.

7. The camera module of claim 1, wherein, The frame component includes: Main support; The housing is disposed on the rear side of the main bracket and is sealed to the main bracket. The housing and the main bracket form a first mounting cavity. The camera assembly and the supplementary lighting assembly are both disposed in the first mounting cavity. The light-emitting element is disposed in the housing, and the light-emitting surface faces away from the housing.

8. The camera module of claim 7, wherein, The frame assembly also includes: A first sealing element is disposed between the main support and the housing to ensure a sealed connection between the main support and the housing.

9. The camera module of claim 7, wherein, The camera module includes a wiring harness connecting the camera and the light-emitting element, and the housing has a wire hole through which the wiring harness passes. The frame assembly further includes a second seal, which is disposed at the wire hole and surrounds the wire harness to seal between the wire hole and the wire harness.

10. The camera module of claim 1, wherein, The frame component includes: Main support; A light-blocking element is installed on the main bracket to block the light emitted by the light-emitting element from entering the camera.

11. The camera module of claim 10, wherein, The main support has a light-transmitting hole, through which the light emitted by the light-emitting element is emitted. The light-transmitting hole is configured to provide supplementary lighting for the field of view of the camera.

12. The camera module of claim 10, wherein, The frame assembly also includes: A light-transmitting element is disposed on the front side of the main support and is sealed to the main support. The light-transmitting element and the main support form a second mounting cavity, and the light emitted by the light-emitting element can be emitted through the light-transmitting element. The light-blocking component is located inside the second mounting cavity and is configured to block the light emitted by the light-emitting component from entering the camera after being reflected by the light-transmitting component.

13. The camera module of claim 12, wherein, The frame assembly also includes: A third sealing element is disposed between the main support and the light-transmitting element to ensure a sealed connection between the main support and the light-transmitting element.

14. The camera module of claim 11, wherein, The length of the light-blocking component in the horizontal direction is greater than the length of the light-transmitting hole in the horizontal direction.

15. The camera module of claim 11, wherein, The light-blocking component has a straight section and a curved section that bends toward the light-transmitting hole, with the two curved sections respectively connected to the two ends of the straight section.

16. The camera module of any one of claims 1 to 15, wherein, The number of cameras is two, and the two cameras are arranged at a distance from each other in the horizontal direction; The distance between the optical centers of the two cameras is greater than or equal to 60mm and less than or equal to 100mm.

17. The camera module of any one of claims 1 to 15, wherein, The aperture value of the camera is 1.6 to 2.0; and / or, the vertical field of view of the camera is greater than or equal to 80° and less than or equal to 120°.

18. A self-moving device, characterized by include: Equipment body; The camera module according to any one of claims 1 to 17 is disposed on the main body of the device.

19. The self-moving device of claim 18, wherein, The angle of depression between the optical axis of the camera and the geoid is greater than or equal to 0 and less than or equal to 30°.

20. The self-moving device of claim 19, wherein, The normal to the mounting surface of the camera module is set at a downward angle to the geoid.

21. The self-moving device of claim 18, wherein, The camera's height above the ground is greater than or equal to 150mm and less than or equal to 260mm.

22. The self-moving device of claim 18, wherein, The distance between the camera and the front of the main body of the device is greater than or equal to 10mm and less than or equal to 100mm.

23. The self-moving device of claim 18, wherein, The angle between the light-emitting surface of the light-emitting element and the mounting surface of the camera is greater than or equal to 10° and less than or equal to 30°.

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