Optical module and cleaning equipment

Abstract

The invention provides an optical module and cleaning equipment. The optical module comprises a light source assembly, a receiving assembly and a view field folding assembly. The light source assembly is used for emitting a detection signal to detect a target object; the receiving assembly is used for receiving an echo signal reflected by the target object, and the receiving assembly at least forms a receiving view field in the vertical direction; the view field folding assembly is configured to fold a part of the receiving view field to form a first receiving view field, the receiving view field which is not folded forms a second receiving view field, and the direction in which the first receiving view field receives the echo signals is different from the direction in which the second receiving view field receives the echo signals.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning equipment, and more particularly, to an optical module and a cleaning device. Background Art

[0002] With the progress of technology, autonomous mobile devices such as service robots and cleaning robots have been widely used in industrial sites, commercial places, and residential households. Autonomous mobile devices need to actively judge and avoid obstacles in complex environments. To ensure that autonomous mobile devices can effectively and real-time understand the surrounding environment and avoid occlusion by nearby objects, a detection module or an optical module can be set inside the autonomous mobile device to achieve navigation and obstacle avoidance. However, the existing detection modules or optical modules have complex structures or a large number, which affects the structural layout of the autonomous mobile device and increases the cost of the autonomous mobile device. Summary of the Invention

[0003] The purpose of the present disclosure is to provide an optical module and a cleaning device for the technical problems in the related art. The specific solutions are as follows:

[0004] A first aspect of an embodiment of the present disclosure provides an optical module, including: a light source assembly configured to emit detection signals to detect a target object; a receiving assembly configured to receive echo signals reflected by the target object, the receiving assembly forming at least a receiving field of view along the vertical direction; and a field of view folding assembly configured to fold a part of the receiving field of view to form a first receiving field of view, and the non-folded receiving field of view forms a second receiving field of view, wherein the direction of receiving the echo signals by the first receiving field of view is different from the direction of receiving the echo signals by the second receiving field of view.

[0005] In some embodiments, the first receiving field of view is generally located above the horizontal plane where the center line of the receiving field of view is located.

[0006] In some embodiments, the direction of receiving the echo signals by the first receiving field of view is opposite to the direction of receiving the echo signals by the second receiving field of view.

[0007] In some embodiments, the field of view folding assembly is configured as a mirror having a reflecting surface for reflecting detection signals.

[0008] In some embodiments, the reflecting surface of the field of view folding assembly is substantially perpendicular to the interface between the first receiving field of view and the second receiving field of view.

[0009] In some embodiments, the light source assembly includes a first light source and a second light source, and the first light source and the second light source are configured to emit detection signals along the first receiving field of view and / or the second receiving field of view.

[0010] In some embodiments, the first light source and the second light source are configured to transmit detection signals along the first receiving field of view and / or the second receiving field of view in a time-sharing or simultaneous manner.

[0011] In some embodiments, the wavelengths emitted by the first light source and the second light source are the same or different.

[0012] In some embodiments, the light source assembly further includes: a shaping assembly configured to shape the detection signal into a surface emission signal.

[0013] In some embodiments, the shaping component includes at least one of the following: a single lens, a lens group, or a diffuser.

[0014] In some embodiments, the receiving component includes: a sensor for receiving the echo signal; and a lens component for converging the echo signal on the sensor.

[0015] In some embodiments, the receiving component further includes: a filter for filtering out stray light.

[0016] A second aspect of the embodiments of the present disclosure provides a cleaning device, comprising the optical module provided in the first aspect of the embodiments of the present disclosure.

[0017] Compared with the related art, the above solution of the embodiment of the present disclosure has at least the following beneficial effects:

[0018] The optical module provided by the present invention includes a field of view folding component, which can fold a part of the original receiving field of view on the basis of the original field of view to form a first receiving field of view and a second receiving field of view with a different direction from the first receiving field of view. The receiving component can receive echo signals of the first receiving field of view and the second receiving field of view, and judge the surrounding target objects through echo signals in different directions, thereby achieving the effect of completing multi-directional detection by setting up one optical module.

[0019] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0021] Figure 1 It is a structural schematic diagram of a cleaning device according to a related technology.

[0022] Figure 2 It is a schematic structural diagram of a cleaning device shown according to some embodiments.

[0023] Figure 3 It is a schematic structural diagram of an optical module shown according to some embodiments.

[0024] Figure 4 It is a schematic structural diagram of the field of view angle of an optical module shown according to some embodiments.

[0025] Reference numerals:

[0026] Detection module 100';

[0027] Optical module 100, first receiving field of view 101, second receiving field of view 102, field of view folding assembly 110, circuit board 120, lens assembly 130, light source assembly 140, light source 141, shaping assembly 142, receiving assembly 150, sensor 151, focusing assembly 152, lens holder 160, cleaning device 200. Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0029] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "the" and "said" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two, and other quantifiers are similar thereto.

[0030] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present disclosure for description, these descriptions should not be limited to these terms. These terms are only used to distinguish the described objects. For example, without departing from the scope of the embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0031] It should be understood that the term "and / or" used herein is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this text generally indicates that the associated objects before and after are in an "or" relationship. The singular forms of "a", "the", and "said" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0032] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the commodity or device comprising said element.

[0033] In the related art, in order to enable a cleaning device to automatically navigate and avoid obstacles during the automatic cleaning process, a detection module 100' is placed at both the front end and the rear end of the cleaning device. As Figure 1 shown, the front field of view and the rear field of view in the moving direction of the cleaning device are respectively obtained by two detection modules 100'. Further, obstacle detection is respectively performed in the front field of view and the rear field of view to achieve obstacle detection and navigation avoidance in front of and behind the cleaning device. The setting of the two detection modules 100' on the one hand occupies the internal space of the cleaning device and increases the power consumption of the device. On the other hand, after the two detection modules 100' are installed in the cleaning device, external parameter calibration needs to be performed respectively, which increases the volume and complexity of the fixture, reduces the production efficiency, not only affects the arrangement of other functional components, but also greatly increases the cost of the cleaning device.

[0034] Based on this, the present disclosure provides an optical module, comprising: a light source component for emitting a detection signal to detect a target object; a receiving component for receiving an echo signal reflected by the target object, the receiving component forming at least a receiving field of view along the vertical direction; and a field of view folding component configured to fold a part of the receiving field of view to form a first receiving field of view, and the non-folded receiving field of view forms a second receiving field of view, wherein the direction of receiving the echo signal of the first receiving field of view is different from the direction of receiving the echo signal of the second receiving field of view.

[0035] The optical module provided by the present disclosure can fold a part of the original receiving field of view on the basis of the original field of view, forming a first receiving field of view and a second receiving field of view with a direction different from that of the first receiving field of view. The receiving component can receive the echo signals of the first receiving field of view and the second receiving field of view, and judge the surrounding target objects through the echo signals in different directions, achieving the effect of completing multi-direction detection with one optical module.

[0036] The optional embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0037] Figure 2 It is a schematic perspective view of a cleaning device shown according to some embodiments, where the receiving field of view is the receiving field of view in the vertical plane. As Figure 2 shown, an optical module 100 and a cleaning device 200 equipped with the optical module 100 are provided in an embodiment of the present disclosure. The optical module 100 is disposed on one side of the cleaning device 200 for environmental detection. For example, it can be disposed at the front end or the rear end of the cleaning device 200, or can be disposed on any side of the cleaning device 200, and this is not limited. In the following, taking the example of being disposed at the front end of the cleaning device 200, the optical module 100 forms a folded first field of view 101 and an unfolded second field of view 102, and the first field of view 101 and the second field of view 102 are respectively used to detect different directions of the cleaning device 200.

[0038] In some embodiments, the optical module 100 can be a 3D ToF module based on field of view folding. Among them, 3D ToF refers to using the ToF (Time of Flight) measurement principle based on the lens module to determine the distance between the lens module and the objects in the surrounding environment, and generating 3D depth information through the measurement points. The measurement principle of ToF is that the emitted detection light is reflected after encountering an object during flight. When the device receives the reflection information, an information acquisition work is completed. The sensor calculates the distance of the photographed object by calculating the time difference or phase difference between the emission and reflection of the light.

[0039] Figure 3 It is a schematic structural view of an optical module in the vertical plane shown according to some embodiments. In some embodiments, as Figure 3As shown in the figure, the optical module 100 includes a light source component 140, a receiving component 150, and a field-of-view folding component 110. The light source component 140 is used to emit detection signals to detect the surrounding environment of the cleaning device 200. The receiving component 150 is used to receive the echo signals reflected by the target object. The field-of-view folding component 110 is used to fold the receiving field of view in a single direction to form receiving fields of view in different directions, so that the environment detection within at least two directions of the field of view can be realized by setting one optical module in the cleaning device. For example, the cleaning device can simultaneously detect the environment of the front field of view and the rear field of view in the moving direction of the cleaning device through the one optical module.

[0040] Specifically, a circuit board 120 and a lens holder 160 are provided in the optical module 100. At least a part of the light source component 140 and the receiving component 150 is disposed on the circuit board 120. For example, the light source component 140 includes a light source 141 and a shaping component 142, and the receiving component 150 includes a sensor 151 and a focusing component 152. The light source 141 and the sensor 151 are both disposed on the circuit board 120, and the shaping component 142 and the focusing component 152 are disposed on the lens holder 160. The light source component 140 emits detection signals to detect information such as the direction, position, and size of the target object. The detection signals are reflected by the target object to form echo signals that enter the receiving field of view of the receiving component 150 and are received by the receiving component 150. The environmental state around the cleaning device is determined through calculation and analysis by other peripheral devices in the optical module 100.

[0041] In some embodiments, the light source component 140 includes at least one light source 141. For example, it may include one laser light source, two laser light sources, or three laser light sources, etc. There is no strict limit on the quantity, and it can be within a reasonable range.

[0042] It should be noted that the present disclosure does not limit the type of the laser. The laser includes but is not limited to an edge-emitting laser (EEL) with horizontal resonance and horizontal light emission or a vertical-cavity surface-emitting laser (VCSEL) with vertical resonance and vertical light emission.

[0043] Furthermore, the present disclosure does not limit the wavelength of the laser emitted by the laser, which can be visible light or invisible light. The invisible light is, for example, infrared laser, and the wavelength includes but is not limited to 808 nm, 850 nm, 905 nm, 920 nm, 940 nm.

[0044] In some embodiments, the light source assembly 140 further includes a shaping assembly 142. Optionally, the shaping assembly 142 may be a single-piece lens, a lens group, or a diffuser, or a combination thereof. The lens material includes but is not limited to glass, PC, PMMA, etc. The shaping assembly 142 is configured to shape the detection signal emitted by at least one light source 141 into a surface emission signal, and the surface emission signal forms a detection light beam that is generally conical and is directed around the cleaning device 200, so that the echo signal can enter the receiving field of view. Among them, the wider the conical detection light beam is in the horizontal direction, the better. For example, it can detect in the range of 150-180 degrees in the horizontal direction to cover a wider detection range as much as possible. Limited by the light source structure, in the vertical direction, the light source can usually cover a range of 60-90 degrees.

[0045] In some embodiments, the receiving assembly 150 includes at least one sensor 151. For example, it may include a single sensor, two sensors, or a surface receiving sensor formed by multiple sensors. There is no strict limit on the number of sensors, and a required receiving field of view can be formed within a reasonable range, including but not limited to iToF (indirect Time-of-Flight) sensors and dToF (direct Time-of-Flight) sensors.

[0046] In some embodiments, the receiving assembly 150 further includes a focusing assembly 152. Optionally, the focusing assembly 152 may be the lens, which may be a single-piece lens or a lens group composed of multiple lenses. The lens material includes but is not limited to glass, PC, PMMA, etc. The focusing assembly 152 is configured to receive the echo signal and converge the echo signal on the sensor 151.

[0047] In some embodiments, the receiving assembly 150 forms a generally conical receiving field of view centered on the receiving assembly 150. Generally, the echo signals that enter the receiving field of view can be received by the receiving assembly 150. Among them, the wider the conical receiving field of view is in the horizontal direction, the better. For example, it can detect in the range of 100-180 degrees in the horizontal direction to cover a wider detection range as much as possible. Limited by the detection signal of the detection light source, in the vertical direction, the receiving field of view can usually cover a range of 60-120 degrees. This embodiment aims to expand the detection direction by folding the local field of view in the vertical direction.

[0048] In some embodiments, a field-of-view folding component 110 is disposed inside the receiving field of view. The field-of-view folding component 110 folds a part of the receiving field of view. The field of view of the folded part can receive echo signals in a direction different from the original field-of-view direction. The folded receiving field of view forms a first receiving field of view 101, and the unfolded receiving field of view still maintains the original receiving field-of-view direction, forming a second receiving field of view 102. It should be noted that due to the setting of the field-of-view folding component 110, the conical detection signal formed by the light source component 140 is also folded, so that the folded detection light beam can be received through the folded first receiving field of view 101, and the unfolded detection light beam can be received through the unfolded second receiving field of view 102, thereby completing detection in at least two directions.

[0049] It can be understood that the field-of-view folding component 110 can also form detection light beams and folded fields of view that are folded in multiple directions, thereby forming synchronous detections in multiple directions, which is not specifically limited herein.

[0050] Specifically, the receiving field of view forms a generally conical receiving field of view in space, which has an axis OM. The receiving field of view has the same divergence angle a in the vertical plane formed by the axis OM, as Figure 3 shown. Among them, the first receiving field of view 101 is generally located above the horizontal plane where the axis OM is located.

[0051] Furthermore, the first receiving field of view 101 only receives the echo signals of the target objects within the first receiving field of view 101, and the second receiving field of view 102 only receives the echo signals of the target objects within the second receiving field of view 102. Due to the setting of the field-of-view folding component 110, the emission signal directions of the first receiving field of view 101 and the second receiving field of view 102 are different. Therefore, the direction in which the first receiving field of view 101 receives the echo signals is different from the direction in which the second receiving field of view 102 receives the echo signals. The receiving component 150 can realize navigation and obstacle avoidance within the fields of view in two directions by receiving the echo signals within the first receiving field of view 101 and the second receiving field of view 102.

[0052] Figure 4 is a schematic diagram of the field-of-view angle structure in the vertical plane of an optical module shown according to some embodiments. In some embodiments, as Figure 4As shown, the reflecting surface where the field of view folding component 110 is located is substantially perpendicular to the interface ON of the first receiving field of view 101 and the second receiving field of view 102. When the field of view folding component 110 is substantially perpendicular to the interface ON, the detection signal in the first receiving field of view 101 can be reflected by the reflecting surface of the field of view folding component 110 to a direction different from that of the second receiving field of view 102, such as the opposite direction or other directions. At this time, the first receiving field of view 101 and the second receiving field of view 102 have different field of view directions. Further, the direction of the echo signal received by the first receiving field of view 101 is different from the direction of the echo signal received by the second receiving field of view 102.

[0053] In some embodiments, the field of view folding component 110 can be a single mirror, or a mirror group or a lens group. The lens materials include but are not limited to glass, PC, PMMA, etc. The field of view folding component 110 can fold the first receiving field of view 101 to one or more directions as needed. At this time, one or more reflecting surfaces are provided on the side of the field of view folding component 110 facing the light source.

[0054] As Figure 4 As shown, the lower edge of the folded second receiving field of view 102 has an angle b with the horizontal plane. In response to the elevation angle of the control field of view folding component 110 and the lower edge of the second receiving field of view 102 being larger, the angle of the angle b is larger. Further, the position of the boundary line between the first receiving field of view 101 and the second receiving field of view 102 can be changed by controlling the pitching degree of the field of view folding component 110. Thus, the sizes of the angle c of the first receiving field of view 101 and the angle d of the second receiving field of view 102 can be adjusted. Among them, when the elevation angle of the field of view folding component 110 is adjusted, 2a = c + d is often maintained to control the size of the angle b so that the lower edge of the first receiving field of view 101 can be not blocked by the optical module. In addition, in order to make the lower edge of the first receiving field of view 101 not be blocked by the cleaning device, a housing made of a transparent material can be adopted in the propagation path of the optical path.

[0055] In some embodiments, the light source 141 includes a first light source and a second light source, and the first light source and the second light source are configured to emit detection signals along the first receiving field of view 101 and / or the second receiving field of view 102. Among them, the first light source and the second light source emit detection signals with the same or different wavelengths so as not to form interference. For example, the first light source is visible light, the second light source is infrared light, or both the first light source and the second light source are infrared lights with the same or different wavelengths.

[0056] In some embodiments, the first light source may emit detection signals along the first receiving field of view 101 and the second receiving field of view 102. When the first light source emits detection signals along the first receiving field of view 101, the first light source is reflected by a target object within the first receiving field of view 101 to form an echo signal for detecting the target object within the first receiving field of view 101. When the first light source emits detection signals along the second receiving field of view 102, the first light source is reflected by a target object within the second receiving field of view 102 to form an echo signal for detecting the target object within the second receiving field of view 102.

[0057] Similarly, the second light source may also emit detection signals along the first receiving field of view 101 and the second receiving field of view 102. When the second light source emits detection signals along the first receiving field of view 101, the second light source is reflected by a target object within the first receiving field of view 101 to form an echo signal for detecting the target object within the first receiving field of view 101. When the second light source emits detection signals along the second receiving field of view 102, the second light source is reflected by a target object within the second receiving field of view 102 to form an echo signal for detecting the target object within the second receiving field of view 102.

[0058] In some other embodiments, the first light source and the second light source may simultaneously emit detection signals towards the first receiving field of view 101. When the first light source and the second light source simultaneously emit detection signals towards the first receiving field of view 101, the receiving component 150 will receive the echo signals formed by the first light source and the second light source within the first receiving field of view 101. Further, the echo signals received within the first receiving field of view 101 are analyzed to determine the position and size of the target object within the first receiving field of view 101.

[0059] Similarly, when the first light source and the second light source simultaneously emit detection signals towards the second receiving field of view 102, the receiving component 150 will receive the echo signals formed by the first light source and the second light source within the second receiving field of view 102. Further, the echo signals received within the second receiving field of view 102 are analyzed to determine the position and size of the target object within the second receiving field of view 102.

[0060] In some embodiments, the first light source and the second light source may emit detection signals along the first receiving field of view 101 and the second receiving field of view 102 in a time-division manner.

[0061] Specifically, at a certain moment, the first light source emits detection signals to the first receiving field of view 101 and the second receiving field of view 102 respectively, so as to detect the target objects in the first receiving field of view 101 and the second receiving field of view 102 respectively. When the first light source emits detection signals to the first receiving field of view 101 and the second receiving field of view 102 respectively, the first light source contacts the target objects in the first receiving field of view 101 and the second receiving field of view 102 respectively to generate echo signals. Further, the echo signals feedback optical information to the receiving component 150. The receiving component 150 receives the echo signals in the first receiving field of view 101 and the second receiving field of view 102 and analyzes them, and judges the positions or sizes of the target objects in the first receiving field of view 101 and the second receiving field of view 102 according to the echo signals.

[0062] At the next moment, the second light source emits detection signals to the second receiving field of view 102 and the first receiving field of view 101 respectively, so as to detect the target objects in the second receiving field of view 102 and the first receiving field of view 101 respectively. When the second light source emits detection signals to the second receiving field of view 102 and the first receiving field of view 101 respectively, the second light source contacts the target objects in the second receiving field of view 102 and the first receiving field of view 101 respectively to generate echo signals. Further, the echo signals feedback optical information to the receiving component 150. The receiving component 150 receives the echo signals in the second receiving field of view 102 and the first receiving field of view 101 and analyzes them, and judges the positions or sizes of the target objects in the second receiving field of view 102 and the first receiving field of view 101 according to the echo signals.

[0063] In some other embodiments, the first light source and the second light source are configured to emit detection signals to the first receiving field of view 101 and the second receiving field of view 102 respectively at the same moment, so as to judge the target objects in the second field of view.

[0064] Specifically, the first light source and the second light source can respectively emit detection signals to the first receiving field of view 101 and the second receiving field of view 102 at the same moment. For example, the first light source emits a detection signal to the first receiving field of view 101, and the second light source emits a detection signal to the second receiving field of view 102. The first light source contacts the target object in the first receiving field of view 101 and forms a first light echo that is transmitted back to the receiving component 150; the second light source contacts the target object in the second receiving field of view 102 and forms a second light echo that is transmitted back to the receiving component 150. The receiving component 150 simultaneously receives the first light echo and the second light echo, and forms an optical analysis of the target objects inside the first receiving field of view 101 and the second receiving field of view 102 based on the first light echo and the second light echo. Thus, the effect of an optical module 100 simultaneously obtaining data in two receiving fields of view is achieved, improving the analysis efficiency while saving production costs, and further enhancing the user experience.

[0065] When the first light source emits a detection signal to the second receiving field of view 102 and the second light source emits a detection signal to the first receiving field of view 101, the principle is the same as above and will not be elaborated here.

[0066] In some embodiments, the receiving component 150 further includes a filter, which is used to filter out stray light, making the echo signal easier to be recognized and judged by the receiving component 150, and avoiding the influence of stray light, resulting in deviation of the analysis result of the target object.

[0067] The second aspect of the embodiments of the present disclosure provides a cleaning device 200, including the optical module 100 according to any one of the above embodiments of the present disclosure. As Figure 2 shown, the optical module 100 is disposed on one side of the cleaning device 200 for obstacle detection, for example, disposed at the front end or the rear end of the cleaning device 200.

[0068] In some embodiments, the part of the top of the cleaning device 200 that contacts the optical module 100 can be configured as a transparent window to avoid blocking the optical path by the cleaning device 200. The light source folded by the field of view folding component 110 can emit a detection signal through the transparent window to detect the target object in the first receiving field of view 101.

[0069] Further, the transparent window can extend to the side of the cleaning device 200, and the area of the transparent window is increased, which is beneficial to the light source in the first receiving field of view 101 to emit from the transparent window to receive and detect the target object in the first receiving field of view 101.

[0070] The optical module 100 applied to the cleaning device 200 can meet the requirements of navigation and obstacle avoidance of the cleaning device 200. Since the cleaning device 200 generally does not require a large vertical field of view angle during operation, a field of view folding component 110 is added. By means of the reflection of the field of view folding component 110, a part of the top field of view in the vertical field of view angle is folded to different directions, which can enhance the detection of obstacles in other directions of the cleaning device. For example, after the first receiving field of view 101 is folded to the rear upper oblique direction, it can be used for the backward navigation of the cleaning device 200, and the remaining second receiving field of view 102 can still meet the requirements of the forward navigation and obstacle avoidance of the cleaning device 200.

[0071] In the cleaning device involved in the present disclosure, only one optical module is required to complete the forward navigation obstacle avoidance and backward navigation functions of the cleaning device, which simplifies the external parameter calibration in the manufacturing process of the cleaning device, reduces the volume and complexity of the jig, improves the production efficiency, and reduces the production cost.

[0072] For the specific structures, working principles, and beneficial effects of the optical module 100 and the cleaning device 200 provided in the embodiments of the present disclosure, reference may be made to the optical module 100 and the existing cleaning device 200 described in any of the foregoing embodiments, and details are not described herein again.

[0073] Finally, it should be noted that the embodiments in this specification are described in a progressive manner, and the key point of each embodiment is to describe the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0074] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. An optical module, characterized in that, it includes: a light source assembly for emitting a detection signal to detect a target object; a receiving assembly for receiving an echo signal reflected by the target object, the receiving assembly forming at least a receiving field of view in the vertical direction; and a field of view folding assembly configured to fold a part of the receiving field of view to form a first receiving field of view, and the unfolded receiving field of view forms a second receiving field of view, wherein, the direction of receiving the echo signal by the first receiving field of view is different from the direction of receiving the echo signal by the second receiving field of view.

2. The optical module according to claim 1, characterized in that, the first receiving field of view is generally located above the horizontal plane where the center line of the receiving field of view is located.

3. The optical module according to claim 1, characterized in that, the direction of receiving the echo signal by the first receiving field of view is opposite to the direction of receiving the echo signal by the second receiving field of view.

4. The optical module according to claim 1, characterized in that, the field of view folding assembly is constructed as a reflector, having a reflecting surface for reflecting the detection signal.

5. The optical module according to claim 4, characterized in that, the reflecting surface of the field of view folding assembly is substantially perpendicular to the interface between the first receiving field of view and the second receiving field of view.

6. The optical module according to claim 1, characterized in that, the light source assembly includes a first light source and a second light source, and the first light source and the second light source are configured to emit detection signals along the first receiving field of view and / or the second receiving field of view.

7. The optical module according to claim 6, characterized in that, the first light source and the second light source are configured to emit detection signals along the first receiving field of view and / or the second receiving field of view in a time-sharing or simultaneous manner.

8. The optical module according to claim 6, characterized in that, the wavelengths emitted by the first light source and the second light source are the same or different.

9. The optical module according to claim 1, characterized in that, the light source assembly further includes: a shaping assembly configured to shape the detection signal into a surface emission signal.

10. The optical module according to claim 9, characterized in that, the shaping assembly includes at least one of the following: a single-piece lens, a lens group or a diffuser.

11. The optical module according to claim 1, characterized in that, the receiving assembly includes: a sensor for receiving the echo signal; and a lens assembly for converging the echo signal onto the sensor.

12. The optical module according to claim 11, characterized in that, the receiving assembly further includes: a filter for filtering out stray light.

13. A cleaning device, characterized in that, it includes: the optical module according to any one of claims 1-12.

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