A camera module and a lawnmower robot

Abstract

This application relates to the field of lawnmower technology, and provides a camera module and a lawnmower robot. The camera module includes: a housing; an image acquisition module, disposed on the housing, for acquiring image information of the environment surrounding the lawnmower robot, including a first RGB camera, a second RGB camera, and a third RGB camera, the first RGB camera being disposed at the front of the housing, and the second RGB camera and the third RGB camera being disposed at the left rear and right rear of the housing, respectively; a distance acquisition module, for acquiring distance information of the environment surrounding the lawnmower robot, including a first ranging unit and a second ranging unit, the first ranging unit and the second ranging unit being disposed on the left and right sides of the front of the housing, the first ranging unit and the second ranging unit being at the same horizontal height; a main controller is disposed inside the housing, and the main controller is electrically connected to the image acquisition module and the distance acquisition module.

Description

Technical Field

[0001] This manual relates to the field of lawnmower technology, and in particular to a camera module and a lawnmower robot. Background Technology

[0002] With the help of a camera module, the lawnmower robot can detect obstacles, identify ground conditions, terrain conditions, and grass blade shapes.

[0003] In existing technologies, some lawnmower robots do not integrate dedicated ranging cameras, and relying solely on a single type of vision sensor severely limits their spatial perception and depth estimation capabilities. While some lawnmower robots are equipped with ranging units, the installation location of these units is not sufficiently optimized, resulting in limited effective ranging range or reduced accuracy. Furthermore, the rear and side camera layouts of some lawnmower robots are unreasonable, leading to insufficient overlap between the rear and side fields of view, hindering effective stereoscopic perception, or creating numerous blind spots. These deficiencies collectively result in poor image quality acquired by the lawnmower robot, thus affecting its visual perception capabilities.

[0004] Improving the visual perception capabilities of lawnmower robots and achieving high-quality, high-efficiency lawnmowing operations are urgent technical problems that need to be solved. Utility Model Content

[0005] This specification provides one or more embodiments of a camera module, including: The system includes: a housing; an image acquisition module, mounted on the housing, for acquiring image information of the environment surrounding the lawnmower robot, including a first RGB camera, a second RGB camera, and a third RGB camera, with the first RGB camera located at the front of the housing, and the second and third RGB cameras located at the rear left and right sides of the housing, respectively; a distance acquisition module, also mounted on the housing, for acquiring distance information of the environment surrounding the lawnmower robot, including a first ranging unit and a second ranging unit, located on the left and right sides of the front of the housing, at the same horizontal height; and a main controller, electrically connected to the image acquisition module and the distance acquisition module, housed within the housing.

[0006] In some embodiments, the camera module further includes: a heat dissipation module, thermally connected to the main controller, for dissipating heat from the main controller; wherein the heat dissipation module includes a heat dissipation duct formed by adjacent fins of a heat sink and a fan configured in conjunction with the heat dissipation duct, and the cross-sectional area of ​​the heat dissipation duct gradually decreases along the airflow direction.

[0007] In some embodiments, the first RGB camera, the first ranging unit, and the second ranging unit are jointly fixed to the front center of the housing via a vertical bracket; the lens surfaces of the second RGB camera and the third RGB camera are flush with or protrude from the outer surface of the housing.

[0008] In some embodiments, a light-shielding structure is provided at the front of the housing corresponding to the positions of the first RGB camera, the first ranging unit, and the second ranging unit, and the light-shielding structure extends forward and upward to form a brim shape.

[0009] In some embodiments, the main controller adopts a layered stacked structure, which includes: a bottom interface board, which is provided with power management circuitry and external device interfaces; a bottom core board, which is provided with a main processor, memory and storage units, and is thermally connected to a heat dissipation module; and a top communication board, which is provided with an RTK module and a wireless communication module.

[0010] In some embodiments, the RTK module and the wireless communication module are spaced at a preset distance on the top communication board, and / or the RTK module and the wireless communication module are each covered by an independent metal shield.

[0011] In some embodiments, the heat dissipation module further includes thermally conductive gel filling the space between the main processor of the main controller and the heat dissipation module.

[0012] In some embodiments, the first RGB camera, the second RGB camera, and the third RGB camera have a field of view of 120° to 180°.

[0013] In some embodiments, the second RGB camera and the third RGB camera are respectively disposed on the rear side of the left end face and the rear side of the right end face of the housing; or, the second RGB camera and the third RGB camera are respectively disposed on the left rear end face interface and the right rear end face interface of the housing, wherein the left rear end face interface is the interface between the left end face and the rear end face, and the right rear end face interface is the interface between the right end face and the rear end face.

[0014] This specification provides one or more embodiments of a lawn mowing robot, including a mowing mechanism, a motion mechanism, a collision sensor, a main controller, and a camera module as described above; wherein the camera module is disposed at the front of the lawn mowing robot, and the main controller is connected to the mowing mechanism, the motion mechanism, the collision sensor, and the camera module.

[0015] The beneficial effects that the embodiments in this specification may bring may include, but are not limited to: The camera module, through the coordinated layout of two front ranging units and RGB cameras with side and rear RGB cameras, achieves visual perception from the front main field of view to a wide-angle panoramic view. This not only enables the lawnmower robot to perform centimeter-level precise positioning and navigation, but also provides a hardware foundation for accurately identifying obstacle types and effectively perceiving terrain slopes and potholes, thereby greatly improving the intelligence, safety, and path planning efficiency of the lawnmower robot in complex environments.

[0016] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects. Attached Figure Description

[0017] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The same numbers in the drawings denote the same structures or steps.

[0018] Figure 1 This is a schematic diagram of a camera module and a lawnmower robot according to some embodiments of this specification.

[0019] Figure 2 This is a schematic diagram of the housing and image acquisition module of a camera module according to some embodiments of this specification.

[0020] Figure 3 yes Figure 2 A schematic diagram of the camera module after removing the top cover and the image acquisition module.

[0021] Figure 4 This is a schematic diagram of a heat dissipation module for a camera module according to some embodiments of this specification.

[0022] Figure 5 This is a schematic diagram of the layered stacking structure of a camera module according to some embodiments of this specification.

[0023] Figure 6 This is a schematic diagram of the body of a camera module according to some embodiments of this specification.

[0024] Figure 7 This is a schematic diagram of the annular frame of a camera module according to some embodiments of this specification.

[0025] Figure 8 This is a schematic diagram of the vertical frame of a camera module according to some embodiments of this specification.

[0026] Figure 9 This is a cross-sectional schematic diagram of the housing of a camera module according to some embodiments of this specification.

[0027] Marked in the image: 10 Motion mechanism; 11 Front wheel; 12 Rear wheel; 13 Body; 131 Flat panel heat conduction structure; 20 Camera module; 21 Housing; 2101 Top cover; 2102 Wall panel; 211 Front side of left end face; 212 Front side of right end face; 213 Rear side of left end face; 214 Rear side of right end face; 215 Front end face; 221 First RGB camera; 222 Second RGB camera; 223 Third RGB camera; 231 First ranging camera; 232 Second ranging camera; 24 Heat dissipation module; 241 Flat panel mounting part; 242 Fin; 25 Ring frame; 251 Clearance part; 261 Bottom core board; 262 Wireless communication module; 263 RTK module; 27 Vertical frame plate; 30 Collision sensor; 401 Front end face; 402 Rear end face; 403 Left end face; 404 Right end face; 405 Left rear end face intersection interface; 406 Left rear end face intersection interface. Detailed Implementation

[0028] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

[0029] It should be understood that the terms "system," "device," "equipment," "part" and / or "component," "unit" and / or "module" used in this specification are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0030] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0031] In the description of this specification, it should be understood that the directional descriptions, such as up, down, front, back, left, and right, indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. These descriptions are for the convenience of describing this application and for simplification, 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. Therefore, they should not be construed as limitations on this application. In the description of this specification, unless otherwise expressly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of the above terms in this specification in conjunction with the specific content of the technical solution.

[0032] Figures 1 to 3 This is a schematic diagram of a camera module according to some embodiments of this specification, which is applied to a lawnmower robot. For example... Figure 1 , Figure 2 and Figure 3 As shown, in one or more embodiments of this specification, the lawnmower robot has a mowing mechanism (not shown), a motion mechanism 10, a collision sensor 30, and a camera module 20. The motion mechanism of the lawnmower robot includes front wheels 11, rear wheels 12, and a body 13. The camera module 20 includes a housing 21, an image acquisition module, and a distance acquisition module. The image acquisition module is mounted on the housing and is used to acquire image information of the environment surrounding the lawnmower robot. The image acquisition module includes a first RGB (Red, Green, Blue) camera 221, a second RGB camera 222, and a third RGB camera 223. The first RGB camera 221 is located at the front of the housing 21, and the second RGB camera 222 and the third RGB camera 223 are located at the left rear and right rear of the housing 21, respectively. The three RGB cameras can acquire real-time images of the area surrounding the lawnmower robot.

[0033] The housing 21 houses a main controller, which is electrically connected to the image acquisition module and the distance acquisition module. The main controller is used to process image information acquired by the image acquisition module and distance information acquired by the distance acquisition module, and can also be used to process other sensor data.

[0034] The RGB cameras in some embodiments of this specification can form a 360-degree surround view, enabling 360-degree environmental observation and providing enhanced security. When using vision for localization, 360-degree observation makes the results of visual SLAM (Simultaneous Localization and Mapping) algorithms more stable, reduces localization errors, and is less susceptible to quality degradation from individual sensor observations due to lens dirt or image glare, which could affect position estimation accuracy. Furthermore, RGB cameras can share a common viewing area when forming a 360-degree surround view, facilitating online calibration using scene information during runtime.

[0035] The camera layout of the camera module in some embodiments of this specification is specifically designed according to the structure of the lawnmower robot, which can observe nearby obstacles around the lawnmower robot with a small blind spot.

[0036] In some embodiments of this specification, the first and second ranging units in the distance acquisition module can form a binocular camera, which shares a large field of view with the RGB camera in front. By acquiring the semantic information of each 3D point, the reliability of the main controller's positioning function in environments with interference can be improved, and the adaptability of the perception function to complex environments can be enhanced.

[0037] like Figure 3 As shown, the distance acquisition module includes a first ranging unit and a second ranging unit, which can be a first ranging camera 231 and a second ranging camera 232 disposed on the front of the housing 21. The first and second ranging units are located on the left and right sides of the front of the housing, at the same horizontal height. The first ranging camera 231 and the second ranging camera 232 form a binocular module. This binocular module can output the distance value of each pixel, which is the depth information. Based on this depth information, the distance information of the target object in the current scene can be obtained.

[0038] Depth information can be generated through parallax calculation, and the distance information of target objects in the current scene can be further obtained based on the depth information. The first and second ranging cameras are set on the left and right sides of the front of the housing. The fact that the first and second ranging cameras are at the same horizontal height allows for symmetrical arrangement of the two ranging cameras, which helps to accurately generate depth information.

[0039] Specifically, when the first ranging camera 231 and the second ranging camera 232 form a binocular stereo vision system, the image sensors of the two ranging cameras can be global shutter sensors, which are image sensors that use a global shutter method for exposure and reading. The baseline distance between the two ranging cameras needs to be set to an optimal value based on the effective ranging range and the body size of the lawnmower robot to ensure the accuracy of depth information calculation. The binocular stereo vision system can generate a depth map, thereby enabling real-time identification of potholes, slope changes, and obstacle heights on the ground ahead, to further decide whether to detour, slow down, or pass normally. At this time, the image captured by the first RGB camera 221 located at the front of the housing 21 can provide rich feature points to assist in achieving precise positioning and path tracking, and can also identify specific objects to achieve more intelligent obstacle avoidance and behavior strategies.

[0040] In this embodiment, the three RGB cameras of the image acquisition unit are wide-angle lenses with a field of view of 120° to 180°, which can maximize the coverage of the area in front of, to the side and behind the lawnmower robot, achieving 360-degree surround perception and avoiding blind spots. Two RGB cameras located on the left and right rear sides of the housing 21 can provide side and rear images when the lawnmower robot turns or reverses, preventing collisions with low obstacles. The three RGB cameras of the image acquisition unit and the two ranging units of the distance acquisition unit can all be embedded, with their lens surfaces flush with the outer surface of the housing 21, effectively preventing dust accumulation. The interior of the housing 21 can be equipped with precise slots and a leveling mechanism to ensure that the angles of each camera are fixed.

[0041] In some embodiments, the camera module may further include a light source to provide illumination in low-light conditions. The light source may be located at the front of the camera module housing.

[0042] like Figure 4 and Figure 5 As shown, the camera module also includes a heat dissipation module 24, comprising a tablet mounting portion 241 and fins 242, thermally connected to the main controller for dissipating heat from the main controller. The heat dissipation module 24 includes a heat dissipation duct formed by adjacent fins of the heat sink and a fan (not shown) configured to cooperate with the heat dissipation duct. The cross-sectional area of ​​the heat dissipation duct is as follows: Figure 4 and Figure 5 The airflow direction shown gradually decreases. It is evident that the fins of the heat sink are aligned with the convection direction of the airflow generated by the lawnmower robot's movement.

[0043] Specifically, the heat dissipation duct is an asymmetrical, funnel-shaped duct along the airflow direction. The duct inlet is wide to gather more air, while the outlet is narrow to accelerate airflow. The heat dissipation module 24 can be integrally die-cast from multiple heat sinks to ensure structural strength and thermal conductivity.

[0044] In some embodiments of this specification, the main controller adopts a layered stacked structure, which includes: a bottom core board 261, which is provided with a main processor, memory and storage unit, and the bottom core board is thermally connected to the heat dissipation module; and a top communication board is provided with an RTK (Real Time Kinematic) module 263 and a wireless communication module 262.

[0045] In some embodiments of this specification, the heat dissipation module 24 further includes thermally conductive gel filling the space between the main processor of the main controller and the heat dissipation module. In addition to using high-performance thermally conductive gel between the main processor and the heat dissipation module, thermally conductive pads can also be used between the flat mounting portion 241 and the metal frame of the lawnmower robot, such as... Figure 6 As shown, the corresponding part of the metal frame of the lawnmower robot and the flat mounting part 241 are equipped with a corresponding flat heat conduction structure 131, forming a multi-path heat dissipation system from the main processor chip to the frame, using the entire body of the lawnmower robot as a heat sink to optimize the heat dissipation effect.

[0046] Furthermore, at least one fan can be installed on each of the two sides inside the housing 21. The fan speed can be adjusted by the main processor using PWM (Pulse-Width Modulation) based on the real-time temperature feedback from the internal temperature sensor. It operates quietly at low speed under low load, and runs at full speed under high load or high ambient temperature, balancing heat dissipation efficiency with energy consumption and noise.

[0047] Specifically, the main controller can adopt a two-layer stacked architecture. The bottom core board is in direct contact with the heatsink and is the main heat source. The wireless communication module can be a 4G communication module, a 5G communication module, a Wi-Fi module, or a Bluetooth module, and is not limited to these. In addition, the main controller can also adopt a three-layer stacked architecture. In this case, an interface board can be set below the bottom core board to house the power management circuitry and external device interfaces such as motor drive interfaces and sensor interfaces, forming a three-layer stacked structure for the main controller.

[0048] The camera module in some embodiments of this specification adopts an integrated design, integrating RTK / 4G / WIFI / Bluetooth and other wireless modules. Through spatial layout and signal shielding, mutual interference between electronic components is reduced, allowing these wireless modules to be integrated into a small smart camera module. This has the advantages of convenient maintenance and quick portability to other platforms.

[0049] In some embodiments of this specification, the RTK module and the wireless communication module can be set at a preset distance on the top communication board, or the RTK module and the wireless communication module can be designed to be covered by independent metal shields.

[0050] Specifically, in terms of PCB layout, independent metal shielding covers can be provided for the RTK module and the 4G module. The shielding cover should be grounded to effectively isolate them from other circuits on the motherboard and prevent high-frequency signals from interfering with each other.

[0051] In addition to physical distance, the software can stagger the high-load working periods of the RTK module, which needs to continuously receive satellite signals, and the 4G communication module, which transmits large amounts of data, further reducing the risk of interference.

[0052] In addition, ferrite beads and decoupling capacitors can be added at the power input of each communication module to filter out power supply noise.

[0053] In some embodiments of this specification, the housing 21 includes a top cover 2101 and a wall panel 2102, with an annular frame 25 disposed between the top cover and the wall panel. A second RGB camera and a third RGB camera are disposed between the annular frame and the wall panel, as shown below. Figure 7 As shown, the second RGB camera 231 and the third RGB camera 232 on the ring frame each have an upwardly protruding clearance portion 251 at their corresponding positions. A cylindrical receiving space is formed between the clearance portion 251 and the wall plate of the housing 21. This receiving space can accommodate either the second RGB camera or the third RGB camera. The lens surfaces of the second RGB camera and the third RGB camera are flush with or protrude from the outer surface of the housing 21, which can reduce dust accumulation and ensure the field of view.

[0054] In some embodiments of this specification, such as Figure 8 As shown, the first RGB camera, the first ranging camera 231, and the second ranging camera 232 are jointly fixed to the front center of the housing 21 by a vertical bracket 27, thereby achieving a better fixing effect. Specifically, the two ranging cameras, the first ranging camera 231 and the second ranging camera 232, are positioned on opposite sides of the vertical bracket, while the first RGB camera is mounted on the vertical bracket and located between the first ranging camera 231 and the second ranging camera 232.

[0055] The first ranging camera 231 and the second ranging camera 232 can be fixed with a metal vertical bracket to enhance structural strength. The first RGB camera, the second RGB camera, and the third RGB camera can also be rigidly connected to the binocular module with metal vertical brackets as needed.

[0056] In some embodiments of this specification, a light-shielding structure is provided on the upper front part of the housing 21 corresponding to the positions of the first RGB camera, the first ranging camera 231, and the second ranging camera 232. The light-shielding structure extends forward and upward to form a brim shape, creating a light shield. This light shield can be designed as a multi-level light-shielding structure resembling a "duckbill cap." The first level is an external rigid light-shielding brim, and the second level can be equipped with light-shielding sponge or velvet inside the brim to completely eliminate stray light generated by reflection from the inner wall of the brim. The inner side of the light shield can be designed with deep serrations or a matte finish to further absorb scattered light. A rain guide groove can be designed at the connection between the light shield and the housing 21 to prevent rainwater from flowing directly onto the lens surface. This housing design allows the camera module to adapt to various harsh weather conditions such as rain, fog, and strong light, ensuring stable operation in all weather conditions and superior image quality.

[0057] In some embodiments of this specification, all seams of the housing 21 may use silicone sealing rings, and the cable interface may use a waterproof connector to ensure overall sealing. The lens may be protected with a glass cover plate with a hydrophobic and oleophobic coating to prevent water stains and oil from affecting imaging.

[0058] In some embodiments of this specification, the second RGB camera and the third RGB camera are respectively disposed on the rear side of the left end face and the rear side of the right end face of the housing, or the second RGB camera and the third RGB camera are respectively disposed on the interface between the left rear end face and the right rear end face of the housing, wherein the interface between the left rear end face and the rear end face is the interface between the right rear end face and the rear end face. The second RGB camera and the third RGB camera disposed on the rear left side and the rear right side of the housing can capture images of the lawnmower robot's rear and side views, thereby obtaining a wider field of view image of the lawnmower robot's surrounding environment.

[0059] Specifically, such as Figure 2 As shown, the housing 21 includes a front end face 215, a left end face front side 211, a right end face front side 212, a left end face rear side 213, a right end face rear side 214, and a rear end face (not shown in the figure). The left end face front side and the left end face rear side form a left end face that bulges outward relative to the housing, and the right end face front side and the right end face rear side form a right end face that bulges outward relative to the housing. A second RGB camera and a third RGB camera are respectively mounted on the left end face rear side 213 and the right end face rear side 214, allowing for convenient acquisition of images from the side and rear view of the lawnmower robot.

[0060] In another embodiment, such as Figure 9As shown, the shell has a roughly rectangular cross-section. The shell includes a front end face 401, a rear end face 402, a left end face 403, a right end face 404, and a left rear end face interface 405 and a left rear end face interface 406. The second RGB camera and the third RGB camera are respectively set on the left rear end face interface and the left rear end face interface, so as to conveniently collect images of the side and rear view of the lawnmower robot.

[0061] The camera modules provided in some embodiments of this specification can achieve multimodal fusion perception from two-dimensional imaging to three-dimensional depth information and from the front main field of view to a wide-angle panoramic view through the collaborative layout of a front binocular stereo vision system and RGB cameras with side and rear RGB cameras. This not only enables lawnmower robots to perform centimeter-level precise positioning and navigation, but also provides a hardware foundation for achieving semantic-level environmental understanding, accurately identifying obstacle types, and effectively perceiving terrain slopes and potholes, thereby greatly improving the intelligence, safety, and path planning efficiency of lawnmower robots operating in complex environments.

[0062] Secondly, the innovative active cooling design plays a crucial role in system reliability. A highly efficient thermal management system, comprised of a tapered airflow duct, intelligent speed-regulating fans, and thermal conductive gel, ensures the main processor operates stably under high computing demands, preventing perception distortion, decision delays, or system crashes caused by overheating and frequency throttling. This guarantees the reliability of the lawnmower robot's vision system for long-term continuous operation and extends the equipment's lifespan.

[0063] Finally, in terms of overall integration and adaptability, the solution successfully integrates complex multi-sensor systems with a high-performance computing platform through a layered stacked motherboard architecture, EMC shielding design, and an integrated housing. This enables the system to withstand the challenges of electromagnetic interference, dust, rain, and changing light conditions in outdoor environments. Ultimately, this camera module provides the lawnmower robot with stable, reliable, and all-weather visual perception capabilities, ensuring safe, reliable, and efficient operation and achieving high-quality, high-efficiency lawnmowing.

[0064] The camera components provided in some embodiments of this specification offer stronger sensing capabilities, greater accuracy, more reliable installation, and reduced calibration and maintenance costs. Their heat dissipation efficiency is greatly improved, resulting in more stable system operation, longer lifespan, and lower energy consumption and noise. The internal architecture of the camera components has clearly defined layered functions and can employ EMC designs with shielding covers and filters. The internal electromagnetic environment of the camera components is pure, resulting in more accurate RTK positioning, more stable 4G communication, and reduced system crashes.

[0065] In one or more embodiments of this specification, a lawnmower robot is also provided, including a lawnmower mechanism, a motion mechanism, a collision sensor, a main controller, and the aforementioned camera module; wherein the camera module is disposed at the front of the lawnmower robot, and the main controller is electrically connected to the lawnmower mechanism, the motion mechanism, the camera module, and the collision sensor.

[0066] The lawnmower robot in some embodiments of this specification includes the camera module described above. This camera module, through the coordinated layout of two front ranging units and RGB cameras with side and rear RGB cameras, achieves visual perception from the front main field of view to a wide-angle panoramic view. This not only enables the lawnmower robot to perform centimeter-level precise positioning and navigation, but also provides a hardware foundation for accurately identifying obstacle types and effectively perceiving terrain slopes and potholes, thereby significantly improving the intelligence, safety, and path planning efficiency of the lawnmower robot in complex environments.

[0067] The beneficial effects that the embodiments in this specification may bring include, but are not limited to, the following: The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are taught in this specification, and therefore, such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments in this specification.

Claims

1. A camera module, characterized in that, include: case; An image acquisition module, mounted on the housing, is used to acquire image information of the environment surrounding the lawnmower robot. It includes a first RGB camera, a second RGB camera, and a third RGB camera. The first RGB camera is located at the front of the housing, and the second RGB camera and the third RGB camera are located at the rear left and rear right sides of the housing, respectively. A distance acquisition module, mounted on the housing, is used to collect distance information about the environment around the lawnmower robot. It includes a first distance measuring unit and a second distance measuring unit, wherein the first distance measuring unit and the second distance measuring unit are located on the left and right sides of the front part of the housing, and the first distance measuring unit and the second distance measuring unit are at the same horizontal height. The housing contains a main controller, which is electrically connected to the image acquisition module and the distance acquisition module.

2. The camera module according to claim 1, characterized in that, The camera module also includes: A heat dissipation module, thermally connected to the main controller, is used to dissipate heat from the main controller; The heat dissipation module includes a heat dissipation duct formed by adjacent fins of a heat sink and a fan that is configured in conjunction with the heat dissipation duct. The cross-sectional area of ​​the heat dissipation duct gradually decreases along the airflow direction.

3. The camera module according to claim 1 or 2, characterized in that, The first RGB camera, the first ranging unit, and the second ranging unit are jointly fixed to the front center of the housing via a vertical bracket; the lens surfaces of the second RGB camera and the third RGB camera are flush with or protrude from the outer surface of the housing.

4. The camera module according to claim 2, characterized in that, A light-shielding structure is provided at the front of the housing corresponding to the positions of the first RGB camera, the first ranging unit, and the second ranging unit. The light-shielding structure extends forward and upward to form a brim shape.

5. The camera module according to claim 2, characterized in that, The main controller adopts a hierarchical stacked structure, which includes: The underlying core board is equipped with a main processor, memory and storage unit, and the underlying core board is thermally connected to the heat dissipation module. The top-level communication board is equipped with a real-time dynamic positioning (RTK) module and a wireless communication module.

6. The camera module according to claim 5, characterized in that, The RTK module and the wireless communication module are set at a preset distance on the top-level communication board, and / or the RTK module and the wireless communication module are each covered by an independent metal shield.

7. The camera module according to claim 5, characterized in that, The heat dissipation module also includes thermally conductive gel filling the space between the main processor of the main controller and the heat dissipation module.

8. The camera module according to claim 1, characterized in that, The first RGB camera, the second RGB camera, and the third RGB camera have a viewing angle range of 120° to 180°.

9. The camera module according to claim 1, characterized in that, The second RGB camera and the third RGB camera are respectively disposed on the rear side of the left end face and the rear side of the right end face of the housing; or, The second RGB camera and the third RGB camera are respectively disposed at the left rear end face interface and the right rear end face interface of the housing, wherein the left rear end face interface is the interface between the left end face and the rear end face, and the right rear end face interface is the interface between the right end face and the rear end face.

10. A lawnmower robot, characterized in that, It includes a lawn mowing mechanism, a motion mechanism, a collision sensor, a main controller, and a camera module as described in any one of claims 1 to 9; The camera module is located at the front of the lawnmower robot, and the main controller is connected to the lawnmower mechanism, the motion mechanism, the collision sensor, and the camera module.

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