Optical module, intelligent mobile device and mode switching method

Abstract

The invention relates to an optical module, intelligent mobile equipment and a mode switching method. The optical module comprises an optical assembly and a shielding cylinder arranged on the outer side of the optical assembly in a sleeving mode. The optical assembly comprises a first optical signal emitter used for emitting a first optical signal, a second optical signal emitter used for emitting a second optical signal, a lens and an optical signal receiver, and the first optical signal is reflected into the optical signal receiver after passing through the shielding cylinder; the second optical signal passes through the shielding cylinder, is reflected, passes through the lens and then enters the optical signal receiver. The optical module comprises the optical assembly and the shielding cylinder arranged on the outer side of the optical assembly in a sleeving mode, the optical assembly is provided with the first optical signal transmitter, the second optical signal transmitter and the optical signal receiver, and the optical signal receiver can switch different illumination light sources according to the environment so that positioning can be more accurate.

Description

[0001] Divisional application

[0002] This application is a divisional application of the invention patent application with application number 201710876071.1, application date September 25, 2017, and invention name optical module and smart mobile device having the same. Technical Field

[0003] The present application relates to the field of robot positioning, and in particular, to an optical module, an intelligent mobile device and a mode switching method. Background Art

[0004] Mobile robots are often equipped with various sensors to locate themselves by sensing objects in the environment. Common positioning methods include relative positioning methods, such as dead reckoning, encoder method, positioning through IMU (inertial sensor), etc., and absolute positioning methods, such as beacon-based positioning, environmental map model matching positioning, and visual positioning. Among them, the visual system is the closest detection method for robots to humans' perception of the environment. Benefiting from the development of pattern recognition and machine vision, vision-based robot positioning has become a research hotspot in recent years.

[0005] However, a single positioning method often cannot accurately position the robot. The accumulated errors or sudden failures it produces will affect the robot's positioning, causing the robot to be unable to operate normally. By integrating multiple positioning methods, the mobile robot can select the appropriate positioning method according to different environmental characteristics or actual needs, thus improving the accuracy of the robot's positioning.

[0006] In a home environment, the floor may be a smooth tile surface, a floor surface, or a carpet surface. Generally, the robot will carry some accessories, such as a water tank, to form a sweeping and mopping machine. Sometimes, you do not want the robot to move onto the carpet, or you need to turn off the water tank on the carpet. However, the robot cannot determine what material the floor is currently on, so it cannot switch to different modes to match whether it moves onto the carpet.

[0007] Therefore, it is necessary to propose an optical module, a smart mobile device and a mode switching method to at least partially solve the above problems existing in the prior art. Summary of the invention

[0008] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Specific Embodiments section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0009] According to one aspect of the present application, an optical module is provided, the optical module comprising an optical component and a shielding cylinder sleeved outside the optical component;

[0010] The optical components include:

[0011] A first optical signal transmitter, the first optical signal transmitter is used to transmit a first optical signal;

[0012] A second optical signal transmitter, the second optical signal transmitter is used to transmit a second optical signal;

[0013] lens; and

[0014] An optical signal receiver, wherein the first optical signal is reflected and enters the optical signal receiver through the shielding tube, and the second optical signal is reflected and enters the optical signal receiver through the shielding tube and the lens;

[0015] The first optical signal and the second optical signal are different; the first optical signal transmitter and the second optical signal transmitter are configured to work in time-sharing mode.

[0016] According to the present application, the optical module includes an optical component and a shielding tube mounted on the outside of the optical component. The optical component has a first optical signal transmitter, a second optical signal transmitter and an optical signal receiver. The optical signal receiver can switch different lighting sources according to the environment to make positioning more accurate.

[0017] Optionally, the first optical signal transmitter is a laser transmitter; and the second optical signal transmitter is a light emitting diode.

[0018] Optionally, the optical signal receiver is an image sensor.

[0019] Optionally, the first optical signal transmitter and the optical signal receiver are arranged on the same chip, and the lens is located between the second optical signal transmitter and the chip.

[0020] Optionally, the optical module further includes a circuit board, and the first optical signal transmitter, the second optical signal transmitter and the optical signal receiver are all electrically connected to the circuit board.

[0021] Optionally, the optical module further includes a supporting member, the supporting member is mounted on the circuit board, the lens is embedded in the supporting member, and the shielding tube is sleeved on the outer side of the supporting member.

[0022] Optionally, the supporting member includes a first step portion, a second step portion and a third step portion adjacent to each other in sequence, the height of the second step portion is greater than the height of the first step portion, the height of the third step portion is greater than the height of the second step portion, and the lens is embedded in the second step portion.

[0023] Optionally, the first step portion defines a first optical signal transmitter opening corresponding to the first optical signal transmitter and an optical signal receiver opening corresponding to the optical signal receiver, and a light isolation plate is disposed between the first optical signal transmitter opening and the optical signal receiver opening.

[0024] Optionally, the second optical signal transmitter is disposed in the third step portion, and the third step portion is provided with a second optical signal transmitter opening corresponding to the second optical signal transmitter.

[0025] Optionally, a shielding tube opening is provided at a first end of the shielding tube away from the optical component, and a filter is provided at a second end of the shielding tube close to the optical component, and the first optical signal and the second optical signal pass through the filter.

[0026] Optionally, the filter is configured as an infrared lens.

[0027] Optionally, the filter includes a first filter portion and a second filter portion connected to the first filter portion, and the first filter portion and the second filter portion are arranged at a predetermined angle.

[0028] Optionally, the first optical filter portion is directly opposite to the first optical signal transmitter and the optical signal receiver, and the first optical filter portion is arranged along a direction inclined to the horizontal direction;

[0029] The second filter part faces the second optical signal transmitter and the lens, and the second filter part is arranged along the horizontal direction.

[0030] The present application also provides a smart mobile device, comprising the aforementioned optical module, wherein the optical module is arranged at the bottom of the smart mobile device.

[0031] According to the smart mobile device of the present application, the smart mobile device includes the aforementioned optical module, the optical module includes an optical component and a shielding tube mounted on the outside of the optical component, the optical component has a first optical signal transmitter, a second optical signal transmitter and an optical signal receiver, and the optical signal receiver can switch different lighting light sources according to the environment to make positioning more accurate.

[0032] Optionally, the intelligent mobile device controls the first optical signal transmitter or the second optical signal transmitter to transmit the optical signal according to the characteristic value collected by the optical signal receiver.

[0033] Optionally, the intelligent mobile device is a cleaning robot.

[0034] The present application also provides a mode switching method.

[0035] Transmitting an optical signal to the ground;

[0036] Receive light signals reflected from the ground and determine the ground material;

[0037] When the ground material is the preset material, switch the mode;

[0038] The optical signal includes a first optical signal and a second optical signal, and the first optical signal and the second optical signal are different.

[0039] Optionally, the first optical signal is infrared laser, and the second optical signal is infrared light.

[0040] Optionally, transmitting the optical signal to the ground includes: transmitting the first optical signal and the second optical signal in a time-sharing manner.

[0041] Optionally, the mode switching method further includes switching between the first optical signal and the second optical signal according to the optical signal reflected by the ground.

[0042] Optionally, receiving the light signal reflected by the ground and determining the ground material includes: determining the ground material according to an image feature value of the reflected light signal.

[0043] Optionally, judging the ground material according to the image characteristic value of the reflected light signal includes: photographing the light signal reflected by the ground to obtain the characteristic value of the light signal reflected by the ground.

[0044] Optionally, when the ground material is a preset material, the mode switching includes switching to the mopping mode when it is detected that the ground material is a smooth surface, and switching to the cleaning mode when it is detected that the ground material is a carpet.

[0045] Optionally, when switching to cleaning mode, the wind speed of the smart mobile device is increased.

[0046] Optionally, when switching to mopping mode, the water tank is turned on for spraying water.

[0047] The present application also provides a smart mobile device, which uses the aforementioned mode switching method to switch the mode of the smart mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and other aspects of the present application will become more apparent and easier to understand from the following description of exemplary embodiments of the present application in conjunction with the accompanying drawings, in which:

[0049] Figure 1 A bottom-up schematic diagram of a smart mobile device equipped with an optical module according to a preferred embodiment of the present application;

[0050] Figure 2 for Figure 1 A cross-sectional schematic diagram of a smart mobile device is shown;

[0051] Figure 3 for Figure 2 An enlarged view of part A in FIG.

[0052] Figure 4is an enlarged view of an optical component of an optical module according to a preferred embodiment of the present application;

[0053] Figure 5 for Figure 4 A schematic top view of

[0054] Figure 6 It is a three-dimensional schematic view of the optical module.

[0055] Description of reference numerals:

[0056] 1: Smart mobile device 2: Bottom opening

[0057] 3: Ground 9: Optical module

[0058] 10: Circuit board 20: Chip

[0059] 21: Laser transmitter 22: Optical signal receiver

[0060] 30: LED 40: Lens

[0061] 50: Support member 51: First step portion

[0062] 511: Laser emitter opening 512: Image sensor opening

[0063] 513: light isolation plate 52: second step portion

[0064] 521: lens receiving groove 53: third step portion

[0065] 531: LED opening 60: Shielding tube

[0066] 61: First filter section 62: Second filter section

[0067] 63: Shielding tube opening DETAILED DESCRIPTION

[0068] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be noted that the terms "upper", "lower" and similar expressions used herein are only for the purpose of illustration and are not intended to be limiting.

[0069] Herein, ordinal numbers such as “first” and “second” cited in the present application are merely identifications and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term “first component” itself does not imply the existence of the “second component”, and the term “second component” itself does not imply the existence of the “first component”.

[0070] See also Figures 1 to 3, which exemplarily shows an optical module 9 according to the present application, which is integrally configured on an intelligent mobile device 1, and the intelligent mobile device 1 may be a cleaning robot such as a sweeping robot or a mopping robot. The optical module 9 can sense the ground 3 where the intelligent mobile device 1 is located through a bottom opening 2 provided at the bottom of the intelligent mobile device 1. The optical module 9 includes an optical component and a shielding tube 60 sleeved on the outside of the optical component, and the optical component includes a first optical signal transmitter, a second optical signal transmitter, a lens 40, and an optical signal receiver, which will be described in detail below. The shielding tube 60 is used to shield the surrounding stray light, and the opening of the shielding tube 60 faces the ground 3.

[0071] Please refer to Figure 3 and Figure 5 The first optical signal transmitter is used to transmit a first optical signal, and the second optical signal transmitter is used to transmit a second optical signal. The first optical signal may be different from the second optical signal. For example, in the illustrated embodiment, the first optical signal transmitter is a laser transmitter 21, and the second optical signal transmitter is a light emitting diode 30.

[0072] Please refer to Figure 6 The first light signal emitted by the laser transmitter 21 is reflected by the shielding tube 60 and enters the light signal receiver, and the second light signal emitted by the light emitting diode 30 is reflected by the shielding tube 60 and enters the light signal receiver through the lens 40.

[0073] Specifically, the optical signal receiver is an image sensor 22. The laser transmitter 21 and the light emitting diode 30 can emit infrared light to illuminate the ground 3, and the image sensor 22 is used to continuously shoot the ground 3. The smart mobile device 1 can determine the material of the ground 3 where the smart mobile device 1 is located, such as tiles or carpets, by analyzing the captured images.

[0074] Combined with reference Figure 5 , the laser emitter 21 and the image sensor 22 can be arranged on the same chip 20, and the lens 40 is located between the light emitting diode 30 and the chip 20. The chip 20 can work in conjunction with the light emitting diode 30, for example, one of the laser emitter 21 and the light emitting diode 30 is turned on to illuminate the ground 3, that is, the laser emitter 21 and the light emitting diode 30 do not work (emit light signals) at the same time to illuminate the ground 3.

[0075] In addition, the optical module 9 further includes a circuit board 10 (e.g., a printed circuit board), and the laser emitter 21, the light emitting diode 30, and the image sensor 22 are all electrically connected to the circuit board 10. The circuit board 10 can be electrically connected to a main controller (not shown) of the smart mobile device 1, and the optical module 9 can continuously capture images.

[0076] The working principle of the optical module 9 will now be briefly described. When the smart mobile device 1 is working, only one of the laser emitter 21 and the light emitting diode 30 is turned on. In other words, the laser emitter 21 and the light emitting diode 30 are not allowed to be turned on at the same time. The main controller can determine whether to select the laser emitter 21 or the light emitting diode 30 to illuminate the ground 3 according to the image features captured by the image sensor 22. In particular, when the smart mobile device 1 is initially started, the laser emitter 21 can be selected by default to work.

[0077] Generally, when the laser emitter 21 is working, the image characteristic value of the tile surface captured by the image sensor 22 is high, while the image characteristic value of the carpet surface captured by the image sensor 22 is low. When the light emitting diode 30 is working, the image characteristic value of the carpet surface captured by the image sensor 22 is high, while the image characteristic value of the tile surface captured by the image sensor 22 is low.

[0078] In this way, the optical assembly can identify surfaces of different materials, from white smooth tiles to shag carpets. Since the floor materials of indoor homes vary, the optical module 9 according to the present application can identify a wider range of material surfaces, making the application range of the smart mobile device 1 wider and the positioning more accurate. In addition, a higher DOF (depth of field) range can be provided to adapt to uneven surfaces.

[0079] In the illustrated embodiment, the optical module 9 further includes a support member 50, the support member 50 is mounted on the circuit board 10, the lens 40 is embedded in the support member 50, and the shielding tube 60 is sleeved on the outer side of the support member 50. Further, in the illustrated embodiment, the support member 50 may include a first step portion 51, a second step portion 52, and a third step portion 53 that are adjacent in sequence. The support member 50 has an internal space for accommodating components such as the laser emitter 21, the light emitting diode 30, and the image sensor 22.

[0080] like Figure 4 As shown, the height of the second step portion 52 is greater than the height of the first step portion 51, the height of the third step portion 53 is greater than the height of the second step portion 52, and the lens 40 is embedded in the second step portion 52. The second step portion 52 is provided with a lens receiving groove 521 corresponding to the lens 40, and the lens 40 is embedded in the lens receiving groove 521. A light-transmitting hole (not shown) is formed at the bottom of the lens receiving groove 521, and the light-transmitting hole is aligned with a portion of the image sensor 22.

[0081] In addition, the first step portion 51 is provided with a laser emitter opening 511 (first light signal emitter) corresponding to the laser emitter 21 and an image sensor opening 512 (light signal receiver opening) corresponding to the image sensor 22. The laser emitter opening 511 is used for the light signal emitted by the laser emitter 21 to irradiate the ground 3. The image sensor opening 512 allows the light signal reflected by the ground 3 to directly enter the image sensor 22. In addition, in order to improve the sensing effect and avoid interference, a light isolation plate 513 is provided between the laser emitter opening 511 and the image sensor opening 512, and the light isolation plate 513 is protruding between the laser emitter opening 511 and the image sensor opening 512.

[0082] Since the volume of the LED 30 is relatively large, the LED 30 can be arranged in the third step portion 53. The third step portion 53 is provided with an LED opening 531 (second light emitter opening) corresponding to the LED 30. The LED opening 531 is used for allowing the light signal emitted by the LED to irradiate the ground 3. The LED 30 partially exposes the LED opening 531, so that half of the LED 30 is exposed and the other half of the LED 30 is blocked. The shape of the lens 40 is similar to the shape of the exposed half of the LED 30, so as to effectively receive the second light signal emitted by the LED 30.

[0083] See also Figure 6 The shielding tube 60 has a shielding tube opening 63 at one end away from the optical component, and a filter is disposed at one end of the shielding tube 60 close to the optical component. The shielding tube 60 is in a gradually transitioning trumpet shape. The first optical signal and the second optical signal pass through the filter.

[0084] Optionally, in the case where both the laser emitter 21 and the light emitting diode 30 emit infrared light, the filter is configured as an infrared lens. For example, the infrared lens 40 can be made of a material that only allows infrared light to pass through, thereby facilitating shielding other light beams and facilitating the image sensor 22 to capture a clearer image.

[0085] In the illustrated embodiment, the filter includes a first filter portion 61 and a second filter portion 62 connected to the first filter portion 61, and the first filter portion 61 and the second filter portion 62 are arranged at a predetermined angle. The first filter portion 61 faces the laser emitter 21 and the image sensor 22, and the first filter portion 61 is arranged in a direction inclined to the horizontal direction; the second filter portion 62 faces the light emitting diode 30 and the lens 40, and the second filter portion 62 is arranged in the horizontal direction.

[0086] It is easy to understand that the distance between the laser emitter 21 and the image sensor 22 is small, and the first filter 61 arranged obliquely can make the laser emitted by the laser emitter 21 produce a certain amount of refraction when passing through the first filter 61. The distance between the light emitting diode 30 and the image sensor 22 is large, and the second filter 62 arranged in the horizontal direction can make the light emitted by the light emitting diode 30 produce as little refraction as possible when passing through the second filter 62.

[0087] According to another aspect of the present application, a smart mobile device 1 is provided, which includes the above-mentioned optical module 9 , and the optical module 9 is arranged at the bottom of the smart mobile device 1 .

[0088] See also Figure 3 The following is an example of the optical module 9 being installed on a sweeping robot. The bottom edge of the shielding tube 60 can be roughly flush with the bottom surface of the sweeping robot. The distance H between the bottom edge of the shielding tube 60 and the ground 3 is 1 to 1.5CM, and this distance can be adaptively adjusted according to the object distance.

[0089] When the sweeping robot is moving on the ground, the laser transmitter 21 in the control optical module 9 is operated first. When the laser transmitter is turned on, the image sensor 22 takes an image and sends it to the main controller, which analyzes and determines whether the image feature value is high or low. If the analyzed image feature value is higher than the preset feature value range stored in the main controller, it proves that the current sweeping robot is on the tile surface and continues to use the laser for positioning; as the sweeping robot continues to move on the ground, it keeps tracking the image. Once the analyzed image feature value is lower than the preset feature value range stored in the main controller, it proves that the current sweeping robot has moved from the tile surface to the carpet surface. At this time, the light emitting diode 30 is switched to work, the laser emitter 21 is turned off, and the image sensor 22 continues to capture images. The main controller analyzes the image feature value. If the analyzed image feature value is higher than the preset feature value range stored in the main controller memory, it proves that the current sweeping robot is still moving on the carpet surface. As the sweeping robot continues to move on the ground, it keeps tracking the image. Once the analyzed image feature value is lower than the preset feature value range stored in the main controller, it proves that the current sweeping robot has moved from the carpet surface to the tile surface. In this way, the laser emitter 21 or the light emitting diode 30 can be controlled to emit light signals according to the image feature value.

[0090] For a sweeping and mopping cleaning robot, a cleaning mode and a mopping mode can be set therein. The sweeping and mopping cleaning robot based on the above optical module configuration can intelligently switch between the cleaning mode and the mopping mode according to the information fed back by the optical module. For example: when the main controller switches to the light emitting diode 30 to work and turns off the laser emitter 21, it proves that the cleaning robot has been moving on the carpet surface. At this time, the cleaning robot is switched to the sweeping mode and the mopping mode is turned off, thereby preventing the water tank from spraying water; when the main controller switches to the laser emitter 21 to work and turns off the light emitting diode 30, it proves that the cleaning robot has been moving on a relatively smooth surface such as tiles. At this time, the cleaning robot is switched to the mopping mode and the sweeping mode is turned off, thereby controlling the opening of the water tank to continue spraying water.

[0091] It can be understood that the cleaning mode only turns on the sweeping mode for the cleaning robot, that is, the garbage and debris on the ground are swept by a roller brush and a side brush, and the mopping mode is to wipe the swept ground again by sprinkling water on the rag, so that the ground is cleaner. However, when the cleaning robot moves to the carpet surface, the mopping mode must be turned off. At the same time, the carpet surface is rough, and garbage and debris on the carpet surface are not easy to be sucked into the cleaning robot, so the wind force needs to be increased. The cleaning mode can also be further set to a general cleaning mode and a strong cleaning mode. In this way, when the cleaning robot moves to the carpet surface, a strong wind force is needed to support the cleaning. By judging the cleaning robot in different ground environments and switching different cleaning modes, it can effectively provide a cleaning effect, which is more intelligent.

[0092] According to the optical module of the present application and the smart mobile device having the same, different optical signal transmitters can be switched to work and image capture according to the surfaces of different materials. After image feature recognition, the two lighting modes can be automatically switched to adapt to the surface materials of different ground surfaces, so that it can be coordinated with other positioning methods to reduce cumulative errors so as to make positioning more accurate.

[0093] The intelligent mobile device according to the present application includes an optical module, the optical module includes an optical component and a shielding tube sleeved on the outside of the optical component, the optical component has a first optical signal transmitter, a second optical signal transmitter and an optical signal receiver, and the optical signal receiver can switch different lighting sources according to the environment to make the positioning more accurate. For a sweeping and mopping cleaning robot, it is often necessary to know what kind of ground the cleaning robot is driving on in order to switch different modes, such as sweeping mode or mopping mode. The optical module in this embodiment can judge the ground material to match the appropriate cleaning mode in different ground environments, ensuring that the cleaning robot will not spill water on the carpet, making it more intelligent.

[0094] It should be noted that the present application can cooperate with the sweeping robot to travel on smooth ground by setting a first optical signal transmitter in combination with a second optical signal transmitter, thereby avoiding the limitation of only setting a second optical signal transmitter and only being able to travel on carpets. The mode switching of the sweeping robot thereby broadens its cleaning area and application scenarios, making it more adaptable to the complex and changeable conditions of household floors.

[0095] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "component" and the like appearing in this article may represent either a single part or a combination of multiple parts. Terms such as "installation" and "setting" and the like appearing in this article may represent either a component being directly attached to another component or a component being attached to another component through an intermediate. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0096] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. In addition, it can be understood by those skilled in the art that the present application is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed by the present application.

Claims

1. An optical module, characterized in that: The optical module comprises an optical component and a shielding tube sleeved outside the optical component; The optical assembly comprises: A first optical signal transmitter, wherein the first optical signal transmitter is used to transmit a first optical signal; A second optical signal transmitter, the second optical signal transmitter is used to transmit a second optical signal; lens; and An optical signal receiver, wherein the first optical signal is reflected and enters the optical signal receiver through the shielding tube, and the second optical signal is reflected and enters the optical signal receiver after passing through the shielding tube and the lens; The first optical signal and the second optical signal are different; the first optical signal transmitter and the second optical signal transmitter are configured to work in time-sharing mode.

2. The optical module according to claim 1, characterized in that: The first optical signal transmitter is a laser transmitter; the second optical signal transmitter is a light emitting diode.

3. The optical module according to claim 1, characterized in that: The optical signal receiver is an image sensor.

4. The optical module according to claim 1, characterized in that: The first optical signal transmitter and the optical signal receiver are arranged on the same chip, and the lens is located between the second optical signal transmitter and the chip.

5. The optical module according to claim 1, characterized in that: The optical module further includes a circuit board, and the first optical signal transmitter, the second optical signal transmitter, and the optical signal receiver are all electrically connected to the circuit board.

6. The optical module according to claim 5, characterized in that: The optical module further comprises a supporting member, wherein the supporting member is mounted on the circuit board, the lens is embedded in the supporting member, and the shielding tube is sleeved on the outer side of the supporting member.

7. The optical module according to claim 6, characterized in that: The support member includes a first step portion, a second step portion and a third step portion adjacent to each other in sequence, the height of the second step portion is greater than the height of the first step portion, the height of the third step portion is greater than the height of the second step portion, and the lens is embedded in the second step portion.

8. The optical module according to claim 7, characterized in that: The first step portion defines a first optical signal transmitter opening corresponding to the first optical signal transmitter and an optical signal receiver opening corresponding to the optical signal receiver, and a light isolation plate is disposed between the first optical signal transmitter opening and the optical signal receiver opening.

9. The optical module according to claim 8, characterized in that: The second optical signal transmitter is disposed in the third step portion, and the third step portion is provided with a second optical signal transmitter opening corresponding to the second optical signal transmitter.

10. The optical module according to claim 1, characterized in that: A shielding tube opening is disposed at a first end of the shielding tube away from the optical component, and a filter is disposed at a second end of the shielding tube close to the optical component. The first optical signal and the second optical signal pass through the filter.

11. The optical module according to claim 10, characterized in that: The filter is configured as an infrared lens.

12. The optical module according to claim 10 or 11, characterized in that: The filter comprises a first filter portion and a second filter portion connected to the first filter portion, and the first filter portion and the second filter portion are arranged at a predetermined angle.

13. The optical module according to claim 12, characterized in that: The first optical filter part is directly opposite to the first optical signal transmitter and the optical signal receiver, and the first optical filter part is arranged in a direction inclined to a horizontal direction; The second filter portion is directly opposite to the second optical signal transmitter and the lens, and the second filter portion is arranged along the horizontal direction.

14. A smart mobile device, characterized in that: The optical module comprises the optical module according to any one of claims 1 to 13, wherein the optical module is arranged at the bottom of the smart mobile device.

15. The intelligent mobile device according to claim 14, characterized in that: The intelligent mobile device controls the first optical signal transmitter or the second optical signal transmitter to transmit an optical signal according to the characteristic value collected by the optical signal receiver.

16. The intelligent mobile device according to claim 14, characterized in that: The intelligent mobile device is a cleaning robot.

17. A mode switching method, characterized in that: Transmitting an optical signal to the ground; Receive light signals reflected from the ground and determine the ground material; When the ground material is the preset material, switch the mode; The optical signal includes a first optical signal and a second optical signal, and the first optical signal and the second optical signal are different.

18. The mode switching method according to claim 17, characterized in that: The first optical signal is infrared laser, and the second optical signal is infrared light.

19. The mode switching method according to claim 17, characterized in that: The transmitting of the optical signal to the ground includes: transmitting the first optical signal and the second optical signal in time division.

20. The mode switching method according to claim 19, characterized in that: The mode switching method further includes switching between the first optical signal and the second optical signal according to the optical signal reflected by the ground.

21. The mode switching method according to claim 17, characterized in that: The receiving of the light signal reflected from the ground and determining the ground material comprises: determining the ground material according to the image feature value of the reflected light signal.

22. The mode switching method according to claim 21, characterized in that: The determining of the ground material according to the image characteristic value of the reflected light signal comprises: photographing the light signal reflected from the ground to obtain the characteristic value of the light signal reflected from the ground.

23. The mode switching method according to claim 17, characterized in that: When the ground material is a preset material, the mode switching includes switching to a mopping mode when it is detected that the ground material is a smooth surface, and switching to a sweeping mode when it is detected that the ground material is a carpet.

24. The mode switching method according to claim 23, characterized in that: When switching to the cleaning mode, the wind speed of the smart mobile device is increased.

25. The mode switching method according to claim 23, characterized in that: When switching to the mopping mode, the water tank is turned on to spray water.

26. A smart mobile device, characterized in that: The mode of the intelligent mobile device is switched using the mode switching method according to any one of claims 17 to 25.

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