Optical sensor and self-moving device

Abstract

The embodiment of the utility model discloses an optical sensor and a self-moving device, the optical sensor comprises a light emitting part and a light receiving part, and a receiving light path of the light receiving part is provided with a first light reflecting part; according to the optical sensor, the first light reflecting part is used for reflecting the second emergent light emitted by other optical sensing parts, so that the light intensity value of the second emergent light received by the light receiving part is greatly reduced, the interference of other optical sensing parts on the optical sensor is reduced, and the accuracy of the detection result of the optical sensor is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of sensors, in particular to an optical sensor and a self-moving device. Background Art

[0002] Currently, self-mobile devices have been widely used in users' homes. Self-mobile devices can provide any one or more cleaning services such as sweeping, mopping or washing the floor, for example, sweeping robots, mopping robots, etc.

[0003] In the prior art, multiple optical sensors are installed on the mobile device to detect the surrounding environment through the optical sensors, so as to ensure that the mobile device can smoothly perform tasks. However, interference is easily generated between the optical sensors, resulting in reduced accuracy of the detection results of the interfered optical sensors. Utility Model Content

[0004] A series of simplified concepts are introduced in the utility model content section, which will be further described in detail in the detailed implementation section. The utility model content section of the utility model does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0005] In a first aspect, an embodiment of the utility model provides an optical sensor, comprising a light emitting unit and a light receiving unit, wherein a first light reflecting unit is provided on a receiving light path of the light receiving unit;

[0006] Among them, the light emitting unit is used to emit a first outgoing light to an area or object to be detected, the first outgoing light is emitted through the surface of the area or object to be detected to form a reflected light, and at least part of the reflected light passes through the first light reflecting unit; the first light reflecting unit is used to reflect the second outgoing light emitted by other optical sensing components; the light receiving unit is used to receive the reflected light passing through the first light reflecting unit.

[0007] Optionally, the optical sensor comprises a housing, a housing is provided in the housing, and the light emitting part and the light receiving part are both arranged in the housing;

[0008] The first light reflecting portion is arranged on a first shell wall of the housing corresponding to the light receiving portion, and the first shell wall is a light-transmitting wall.

[0009] Optionally, a second light reflecting portion is provided on the emission light path of the light emitting portion, and the second light reflecting portion is used to reflect the second emitted light.

[0010] Optionally, the second light reflecting portion is arranged on a second shell wall of the shell corresponding to the light emitting portion, and the second shell wall is a light-transmitting wall.

[0011] Optionally, the first light reflecting portion is arranged on the inner side or the outer side of the first shell wall.

[0012] Optionally, the second light reflecting portion is arranged on the inner side or the outer side of the second shell wall.

[0013] Optionally, the first light reflecting portion and the second light reflecting portion are integrally formed.

[0014] Optionally, a first convex lens is provided between the light receiving part and the first light reflecting part.

[0015] Optionally, a second convex lens is provided between the light emitting portion and the second light reflecting portion.

[0016] Optionally, a light isolation portion is provided between the light emitting portion and the light receiving portion.

[0017] Optionally, the light-isolating portion further extends between the first convex lens and the second convex lens.

[0018] Optionally, the first light reflecting portion is a reflective film.

[0019] Optionally, the second light reflecting portion is a reflective film.

[0020] In a second aspect, an embodiment of the utility model provides a self-moving device, including a main body; a plurality of optical sensing components are provided on the main body, and one or more of the plurality of optical sensing components are the above-mentioned optical sensors.

[0021] Optionally, the optical sensing component is a cliff sensor, a tof ranging sensor or an optical mouse sensor.

[0022] Optionally, the tof ranging sensor is located on the side wall of the main body, the cliff sensor is located on the edge of the bottom surface of the main body, and the optical mouse sensor is located on the bottom surface of the main body.

[0023] According to an optical sensor and a self-moving device provided by an embodiment of the utility model, the optical sensor includes a light emitting part and a light receiving part; a first light reflecting part is provided on the receiving light path of the light receiving part, and the first light reflecting part can reflect the second outgoing light emitted by other optical sensing components to greatly reduce the light intensity value of the second outgoing light received by the light receiving part, thereby reducing the interference of other optical sensing components on the optical photosensor and improving the accuracy of the detection results of the optical sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following drawings of the present invention are used as a part of the embodiments of the present invention for understanding the present invention. The drawings show the embodiments of the present invention and their descriptions, and are used to explain the principle of the present invention.

[0025] In the attached figure:

[0026] Figure 1 It is a structural diagram of a self-moving device according to an optional embodiment of the utility model;

[0027] Figure 2 is an overall structural diagram of an optical sensor according to an optional embodiment of the utility model;

[0028] Figure 3 is a cross-sectional view of an optical sensor according to an optional embodiment of the utility model;

[0029] Figure 4 is a cross-sectional view of an optical sensor according to another optional embodiment of the utility model;

[0030] Figure 5 A partial exploded view of an optical sensor according to an optional embodiment of the utility model;

[0031] Figure 6 is a cross-sectional view of an optical sensor according to yet another optional embodiment of the present utility model;

[0032] Figure 7 is a cross-sectional view of an optical sensor according to another optional embodiment of the utility model;

[0033] Figure 8 A partial exploded view of an optical sensor according to another optional embodiment of the utility model;

[0034] Fig. 9 The figure is a reflectivity curve diagram of the first light reflecting portion according to an optional embodiment of the utility model.

[0035] Description of reference numerals:

[0036] 100-self-moving device, 110-main body, 120-tof distance measuring sensor, 130-cliff sensor, 140-optical mouse sensor, 150-driving system, 151-driving wheel module, 152-driven wheel, 160-cleaning system, 161-dry cleaning system, 162-side brush, 163-cleaning element, 200-optical sensor, 210-light emitting part, 220-light receiving part, 230-first light reflecting part, 240-first shell wall, 250-first convex lens, 260-second light reflecting portion, 270-second shell wall, 280-second convex lens, 290-shell, 291-first shell, 292-second shell, 2921-first sub-shell, 2922-second sub-shell, 2100-light-isolating portion, 2110-first opening, 2120-connector, 2130-accommodating cavity, 2131-first chamber, 2132-second chamber, 2140-blocking piece, 2150-second opening. DETAILED DESCRIPTION

[0037] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0039] Now, exemplary embodiments according to the present utility model will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present utility model thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0040] The embodiment of the present application provides a self-moving device, wherein the self-moving device 100 can be a device with an automatic cleaning function, and of course can also be an automatic device with other functions, which is not strictly limited in this embodiment. The structure of the self-moving device 100 is described in detail below by taking the self-moving device 100 with a cleaning function as an example.

[0041] like Figure 1 and Figure 2 As shown, the self-mobile device 100 may include a main body 110, a sensing system, a control module, a driving system 150, a cleaning system 160, an energy system and a human-computer interaction system. As shown in FIG1 , the main body 110 includes a forward portion and a rearward portion, and has an approximately circular shape (both the front and the rear are circular), and may also have other shapes, including but not limited to an approximately D-shaped shape with a front and a rear circular shape, and a rectangular or square shape with a front and a rear.

[0042] As shown in Figure 1, the perception system includes a collision sensor and a proximity sensor arranged on the buffer of the forward part of the main body 110, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer arranged inside the main body, which are used to provide the control module with various position information and motion status information of the machine.

[0043] As shown in FIG1 , the forward portion of the main body 110 can carry a buffer. During the cleaning process, when the driving wheel module 141 propels the self-moving device 100 to walk on the ground, the buffer detects one or more events in the driving path of the self-moving device 100 via a sensor system, such as an infrared sensor, disposed thereon. The self-moving device 100 can control the driving wheel module 151 to respond to the event, such as an obstacle or a wall, based on the event detected by the buffer.

[0044] The control module is disposed on a circuit board within the main body 110 and includes a computing processor, such as a central processing unit, an application processor, that communicates with a non-temporary memory, such as a hard disk, a flash memory, or a random access memory.

[0045] like Figure 1As shown, the drive system 150 can manipulate the main body 110 to travel across the ground based on a drive command with distance and angle information such as x, y and θ components. The drive system 150 includes a drive wheel module 151, which can control the left wheel and the right wheel at the same time. In order to more accurately control the movement of the machine, it is preferred that the drive wheel module 151 includes a left drive wheel module and a right drive wheel module respectively. The left and right drive wheel modules are arranged along the transverse axis defined by the main body 110. In order for the self-moving device 100 to move more stably on the ground or have stronger movement ability, the self-moving device 100 may include one or more driven wheels 152, and the driven wheels 152 include but are not limited to universal wheels. The drive wheel module 151 includes a walking wheel and a drive motor and a control circuit for controlling the drive motor. The drive wheel module 151 can also be connected to a circuit and an odometer for measuring the drive current. The drive wheel may have a biased drop suspension system, which is fastened in a movable manner, for example, rotatably attached to the main body 110, and receives a spring bias that is biased downward and away from the main body 110. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground contact force, while the cleaning elements 153 of the self-moving device 100 also contact the ground with a certain pressure.

[0046] The energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, which are then connected to a single-chip microcomputer control circuit. The host is connected to the base station for charging via charging electrodes arranged on the side or bottom of the fuselage.

[0047] The human-machine interaction system includes buttons on the host panel for users to select functions; it may also include a display screen and / or indicator lights and / or speakers, which display the current state of the machine or function selection items to the user; it may also include a mobile client program. For the route navigation type self-mobile device 100, the mobile client can show the user a map of the environment where the device is located, as well as the location of the machine, and can provide the user with more abundant and humanized function items.

[0048] The cleaning system 160 includes a wet cleaning system, that is, the self-moving device 100 may be a mopping machine, or the cleaning system 160 includes a wet cleaning system and a dry cleaning system 161, that is, the self-moving device 100 may be a sweeping and mopping machine.

[0049] like Figure 1As shown, the dry cleaning system 161 provided in the embodiment of the present application may include a roller brush, a dust box, a fan, and an air outlet. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then the suction gas generated by the fan and passing through the dust box is sucked into the dust box. The dry cleaning system 161 may also include a side brush 162 with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move debris to the roller brush area of ​​the cleaning system 160.

[0050] The wet cleaning system may include: a cleaning component, a water supply mechanism, a liquid storage tank, etc. The cleaning component may be arranged below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transmitted to the cleaning component through the water supply mechanism, so that the cleaning component performs wet cleaning on the surface to be cleaned. In other embodiments of the present application, the cleaning liquid inside the liquid storage tank may also be directly sprayed onto the surface to be cleaned, and the cleaning component cleans the surface by evenly applying the cleaning liquid.

[0051] The cleaning assembly provided in the embodiment of the present application includes a motion mechanism and a cleaning element 163 disposed on the main body 110, that is, the entire cleaning assembly can be installed on the main body 110 through the motion mechanism, and the cleaning assembly moves with the movement of the main body 110 to achieve the mopping function. The motion mechanism is used to drive the cleaning element 163 to move, such as the motion mechanism can drive the cleaning element 163 to rise and fall, and the motion mechanism can also drive the cleaning element 163 to rotate. Therefore, according to the requirement of whether the cleaning element 163 is in contact with the surface to be cleaned, the lifting and rotating operations of the cleaning element 163 can be realized through the motion mechanism to meet the different functional requirements of the cleaning element 163, that is, the processing of the distinguishing strategy of the cleaning element 163 can be realized, thereby improving the cleaning performance of the self-cleaning device, and improving the cleaning efficiency and the user experience.

[0052] Among them, Figure 1 As shown, in the forward direction of the self-moving device 100, the cleaning element 163 is located at the rear of the dry cleaning system 151, and the cleaning element 163 can generally be a flexible material with water absorption such as fabric and sponge. In this solution, the cleaning element 163 can be at least one rotating turntable, and the water in the liquid storage tank of the self-moving robot is guided to the cleaning element 163, and the soaked cleaning element 163 removes the stains on the ground through the rotation motion.

[0053] Furthermore, during the movement of the self-mobile device 100, in some scenarios where mopping the floor is required, such as wet treatment of the floor, the control module can be used to control the motion mechanism to drive the cleaning element 163 to descend, so that the lowest lower surface of the cleaning element 163 interferes with the surface to be cleaned. At the same time, the control module is used to control the motion mechanism to drive the cleaning element 163 to rotate. As a result, when the driving wheel drives the self-mobile device 100 to move, the cleaning element 163 will contact and interfere with the surface to be cleaned, so as to realize the mopping operation of the surface to be cleaned.

[0054] Furthermore, during the movement of the self-moving device 100, in some scenarios where mopping is not required, such as traveling to and from a base station, or performing carpet cleaning, the control module can be used to control the motion mechanism to drive the cleaning element 163 to rise. It can be understood that the cleaning element 163 can be raised so that the lowest lower surface of the cleaning element 163 is higher than the lowest lower surface of the driving wheel, so that in this case, during the movement of the self-moving device 100 driven by the driving wheel, the cleaning element 163 will not contact the surface to be cleaned, thereby avoiding the situation where the cleaning element 163 contacts the surface to be cleaned in a scenario where mopping is not required, causing secondary contamination of the surface to be cleaned, which is beneficial to improving the cleanliness of the self-moving device 100, and improving the cleaning efficiency and user experience.

[0055] In a specific application, a plurality of optical sensing components are also provided on the main body 110 of the mobile device 100, and one or more of the plurality of optical sensing components are the optical sensors 200 provided in the embodiment of the present application, that is, all optical sensing components can adopt the optical sensors 200 provided in the present application, or a part of them can adopt the optical sensors 200 provided in the present application, while the other optical sensing components are existing optical sensors 200, which can be set by the staff themselves, and this embodiment does not make a strict limitation. In some implementations, the optical sensing components that are close to each other are set to the optical sensors 200 provided in the embodiment of the present application to avoid mutual interference between the optical sensing components, while the other optical sensors 200 that are farther away adopt the existing optical sensors 200 to reduce costs.

[0056] Specifically, the optical sensing component is a cliff sensor 130, a tof ranging sensor 120, or an optical mouse sensor 140, that is, part or all of the cliff sensor 130, the tof ranging sensor 120, and the optical mouse sensor 140 adopt the optical sensor 200 provided in the embodiment of the present application. For example, in some embodiments, only the cliff sensor 130 adopts the optical sensor 200 provided in the embodiment of the present application. In other embodiments, the cliff sensor 130, the tof ranging sensor 120, and the optical mouse sensor 140 all adopt the optical sensor 200 provided in the present application.

[0057] Furthermore, the number of cliff sensors 130, tof ranging sensors 120 or optical mouse sensors 140 can be set by the staff according to actual needs, and this embodiment does not make a strict limitation.

[0058] Among them, Figure 1 As shown, the TOF distance measuring sensor 120 is located on the side wall of the main body to more accurately detect the distance between the mobile device 100 and the obstacle. The cliff sensor 130 is located on the edge of the bottom surface of the main body to more accurately detect whether there is a cliff around the mobile device. The optical mouse sensor 140 is located on the bottom surface of the main body to more accurately detect the moving distance and direction of the mobile device.

[0059] When the self-moving device is operating, the control module uses the positioning algorithm, such as SLAM (Simultaneous Localization And Mapping), to draw a real-time map of the environment where the self-moving device is located according to the obstacle information fed back by the tof distance measuring sensor 120. And combined with the distance information and speed information fed back by the sensor devices such as the sensor, magnetometer, accelerometer, gyroscope, cliff sensor 130, optical mouse sensor 140, odometer, etc. set on the buffer 122, it comprehensively judges the current working state and position of the self-moving pen, as well as the current posture of the self-moving device, such as passing the threshold, getting on the carpet, on the cliff, stuck above or below, etc., and will also give specific next action strategies for different situations, so that the self-moving device has better operating performance and user experience.

[0060] The optical sensor 200 provided in the embodiment of the present application is described in detail below. Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, the optical sensor 200 includes a light emitting unit 210 and a light receiving unit 220, and a first light reflecting unit 230 is provided on the receiving light path of the light receiving unit 220; wherein the light emitting unit 210 is used to emit a first outgoing light to the area or object to be detected, and the first outgoing light is emitted through the surface of the area or object to be detected to form a reflected light, and at least part of the reflected light passes through the first light reflecting unit 230; the first light reflecting unit 230 is used to reflect the second outgoing light emitted by other optical sensing components; and the light receiving unit 220 is used to receive the reflected light passing through the first light reflecting unit 230.

[0061] The light emitting unit 210 is an infrared transmitter, which has the advantages of long service life, small size and strong anti-interference. The light receiving unit 220 is an infrared receiver.

[0062] The first light reflecting part 230 is disposed on the receiving light path of the light receiving part 220. The first light reflecting part 230 can reflect the second outgoing light emitted by other optical sensing components, so as to greatly reduce the light intensity value of the second outgoing light received by the light receiving part 220, thereby reducing the interference of other optical sensing components on the optical photoreceptor and improving the accuracy of the detection result of the optical sensor 200. It is worth noting that the first light reflecting part 230 can reflect a large amount of the second outgoing light emitted by other optical sensing components, or even reflect all of it, and reflect a very small amount of the reflected light formed by the first outgoing light reflected by the surface of the area to be detected or the object, or even no reflection.

[0063] In order to realize that the first light reflecting part 230 reflects a large amount of the second outgoing light emitted by other optical sensing components, the first light reflecting part 230 is configured to have a higher reflectivity corresponding to the wavelength of the second outgoing light. In order to realize that the first light reflecting part 230 does not reflect very little reflected light formed by the first outgoing light reflected by the area to be detected or the surface of the object, the first light reflecting part 230 is also configured to have a lower reflectivity corresponding to the wavelength of the reflected light, and the wavelength corresponding to the reflected light is different from the wavelength of the second outgoing light, that is, the wavelength of the first outgoing light is different from the wavelength of the second outgoing light.

[0064] Exemplarily, the cliff sensor 130 on the self-moving device is the optical sensor 200 provided in the embodiment of the present application, and the TOF distance measuring sensor 120 and the photoelectric mouse sensor on the self-moving device are other optical sensing components for the cliff sensor 130. If the wavelength of the first outgoing light emitted by the cliff sensor 130 is 850nm, the wavelength of the second outgoing light emitted by the TOF distance measuring sensor 120 is 940nm, and the wavelength of the second outgoing light emitted by the photoelectric mouse sensor is 800nm, then Fig. 9 As shown, the first light reflecting part 230 of the cliff sensor 130 is configured to have a higher reflectivity for light with wavelengths of 940 nm and 800 nm, and a lower reflectivity for light with a wavelength of 850 nm, so that the first light reflecting part 230 of the cliff sensor 130 can reflect the light of 940 nm and 800 nm, that is, the second outgoing light emitted by the TOF distance measuring sensor 120 and the photoelectric mouse sensor is reflected in large quantities, so that the light receiving part 220 of the cliff sensor 130 cannot receive or receives very little of the second outgoing light emitted by the TOF distance measuring sensor 120 and the photoelectric mouse sensor, and the light with a wavelength of 850 nm, that is, the first outgoing light emitted by the light emitting part 210 of the cliff sensor 130 and the reflected light formed by reflection from the surface of the to-be-detected area or the object, is very little reflected by the first light reflecting part 230, so that the light intensity value of the reflected light received by the light receiving part 220 is almost not affected.

[0065] In a specific application, when the optical sensor 200 is used as a cliff sensor 130, the first outgoing light is emitted to the area to be detected through the light emitting unit 210, and then the first outgoing light is reflected by the area to be detected to form reflected light, at least part of the reflected light passes through the first light reflecting unit 230 and is received by the light receiving unit 220, and most or all of the second outgoing light emitted by other optical sensing components will be reflected by the first light reflecting unit 230, so that the actual light intensity value received by the light receiving unit 220 is almost the same as the light intensity value of the reflected light that should be received, and then the control module compares the light intensity value received by the light receiving unit 220 with a preset threshold value. If the received light intensity value is greater than or equal to the preset threshold value, it is determined that there is no cliff in the area to be detected, and if the received light intensity value is less than the preset threshold value, it is determined that there is a cliff in the area to be detected.

[0066] When the optical sensor 200 is used as a TOF ranging sensor 120, the first outgoing light is emitted to the surrounding environment through the light emitting unit 210, and then the first outgoing light is reflected by objects in the surrounding environment to form reflected light, at least part of the reflected light passes through the first light reflecting unit 230 and is received by the light receiving unit 220, and most or all of the second outgoing light emitted by other optical sensing components will be reflected by the first light reflecting unit 230, so that the actual light intensity value received by the light receiving unit 220 is almost the same as the light intensity value of the reflected light that should be received, and then the control module calculates the distance between the mobile device and the object based on the time difference between receiving the reflected light and emitting the first outgoing light, and the light speed of the first outgoing light.

[0067] When the optical sensor 200 is used as an optical mouse sensor 140, the first outgoing light is emitted to the area to be detected through the light emitting unit 210, and then the first outgoing light is reflected by the area to be detected to form reflected light, at least part of the reflected light passes through the first light reflecting unit 230 and is received by the light receiving unit 220, and most or all of the second outgoing light emitted by other optical sensing components will be reflected by the first light reflecting unit 230, so that the actual light intensity value received by the light receiving unit 220 is almost the same as the light intensity value of the reflected light that should be received, and then the control module can determine the moving distance and direction of the self-moving device through the received light intensity and the angle of the light.

[0068] In this embodiment, the second outgoing light emitted by other optical sensing components is reflected by the first light reflecting unit 230 to greatly reduce the light intensity value of the second outgoing light received by the light receiving unit 220, thereby reducing the interference of other optical sensing components on the optical photosensor and improving the accuracy of the detection results of the optical sensor 200.

[0069] Furthermore, if Figures 2 to 8As shown, the optical sensor 200 includes a shell 290, in which a accommodating cavity 2130 is provided, and the light emitting part 210 and the light receiving part 220 are both arranged in the accommodating cavity 2130; the first light reflecting part 230 is arranged on the first shell wall 240 corresponding to the light receiving part 220 on the shell, and the first shell wall 240 is a light-transmitting wall.

[0070] The shape of the housing 290 can be any shape, such as a cube, a cylinder, etc., which is not strictly limited in this embodiment. The housing 290 can protect the light emitting unit 210 and the light receiving unit 220, thereby improving the service life of the optical sensor 200. And the first shell wall 240 adopts a light-transmitting wall to avoid blocking the first outgoing light emitted from the first light reflecting unit 230. The other parts of the housing 290 can be light-transmitting or not. Among them, the light-transmitting wall can be made of transparent or translucent materials, such as transparent plastic.

[0071] Furthermore, if Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, the first light reflecting portion 230 is disposed on the inner side or the outer side of the first shell wall 240 .

[0072] Specifically, in some implementations, the first light reflecting portion 230 is disposed on the inner side of the first shell wall 240 , so that the first shell wall 240 is used to protect the first light reflecting portion 230 , so as to extend the service life of the first light reflecting portion 230 .

[0073] In some other implementations, the first light reflecting portion 230 is disposed on the outer side of the first shell wall 240 , thereby facilitating the assembly of the first light reflecting portion 230 and the first shell wall 240 .

[0074] Furthermore, the first light reflecting portion 230 is a reflecting film, so that the size of the first reflecting portion can be greatly reduced, the occupied space can be reduced, and the structure can be more compact.

[0075] Furthermore, if Figure 3 and Figure 5 As shown, a first convex lens 250 is disposed between the light receiving portion 220 and the first light reflecting portion 230 .

[0076] The first convex lens 250 is also located in the accommodating cavity 2130, so that the housing 290 protects the first convex lens 250 and the second convex lens 280, and prevents external objects from wearing the first convex lens 250 and the second convex lens 280. The incident surface of the first convex lens 250 is convex toward the direction close to the light receiving unit 220, and the emitting surface is a plane.

[0077] The emitted light passing through the first light reflecting part 230 is converged by the first convex lens 250, and the converged reflected light is emitted to the light receiving part 220, thereby increasing the light intensity value of the reflected light received by the light receiving part 220, thereby improving the accuracy of the detection result.

[0078] Furthermore, in order to improve the accuracy of detection, Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, a second light reflecting part 260 is provided on the emission light path of the light emitting part 210, and the second light reflecting part 260 is used to reflect the second emitted light, thereby greatly reducing the interference of the second emitted light on the light emitting part 210, so that the detection result of the optical sensor 200 is more accurate.

[0079] It is worth noting that the second light reflecting portion 260 can reflect a large amount of, or even all of, the second output light emitted by other optical sensing components, while reflecting a very small amount of, or even no reflection of, the first output light, that is, most or all of the first output light can pass through the second light reflecting portion 260.

[0080] In order to realize that the second light reflecting part 260 reflects a large amount of the second outgoing light emitted by other optical sensing components, the second light reflecting part 260 is configured to have a higher reflectivity corresponding to the wavelength of the second outgoing light. In order to realize that the second light reflecting part 260 does not reflect very little of the first outgoing light, the second light reflecting part 260 is also configured to have a lower reflectivity corresponding to the wavelength of the first outgoing light, and the wavelength of the first outgoing light is different from the wavelength of the second outgoing light.

[0081] Furthermore, if Figures 2 to 8 As shown, the second light reflecting portion 260 is disposed on a second shell wall 270 on the housing corresponding to the light emitting portion 210 , and the second shell wall 270 is a light-transmitting wall.

[0082] The second shell wall 270 is a light-transmitting wall, so as to avoid blocking the light passing through the second light reflecting portion 260 .

[0083] like Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, the second light reflecting portion 260 is disposed on the inner side or the outer side of the second shell wall 270 .

[0084] In some embodiments, the second light reflecting portion 260 is disposed inside the second shell wall 270 , so that the second light reflecting portion 260 is protected by the second shell wall 270 to extend the service life of the second light reflecting portion 260 .

[0085] In some other implementations, the second light reflecting portion 260 is disposed on the outer side of the second shell wall 270 , thereby facilitating the assembly of the second light reflecting portion 260 and the second shell wall 270 .

[0086] Furthermore, the second light reflecting portion 260 is a reflective film, so that the size of the second reflecting portion can be greatly reduced, the occupied space can be reduced, and the structure can be more compact.

[0087] Furthermore, the first light reflecting part 230 and the second light reflecting part 260 are integrally formed, that is, the first light reflecting part 230 and the second light reflecting part constitute an integral reflecting film, so that the installation of the first light reflecting part 230 and the second light reflecting part 260 can be completed by installing one reflecting film, thereby simplifying the installation process.

[0088] Furthermore, if Figure 3 and Figure 5 As shown, a second convex lens 280 is disposed between the light emitting portion 210 and the second light reflecting portion 260 .

[0089] Specifically, the second convex lens 280 is located in the accommodating cavity 2130, so that the housing 290 protects the second convex lens 280 and prevents the second convex lens 280 from being worn by external objects. The emission surface of the second convex lens 280 protrudes toward the direction close to the light emitting unit 210, and the incident surface is a plane.

[0090] The first outgoing light emitted by the light emitting unit 210 is converted into parallel light by the second convex lens 280, thereby reducing the generation of stray light, thereby increasing the intensity of the light entering the first convex lens 250 after being reflected by the surface of the area to be detected or the object, thereby making the light intensity value of the reflected light received by the light receiving unit 220 higher, and making the detection result more accurate.

[0091] Alternatively, if Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, a light isolation portion 2100 is further disposed between the light emitting portion 210 and the light receiving portion 220 .

[0092] The light isolation part 2100 may be a plate-like structure, i.e., a partition. The partition may be rectangular or other irregular shapes. The partition is made of an opaque material to prevent the light emitted from the light emitting part 210 from being directly received by the light receiving part 220 without being reflected by the area to be detected or the object.

[0093] Furthermore, the light-isolating portion 2100 also extends between the first convex lens 250 and the second convex lens 280 , thereby further improving the light-isolating effect.

[0094] In order to facilitate processing and installation, the partition and the shell 290 are formed in one piece; of course, the partition and the shell 290 can also be made separately and then assembled.

[0095] Furthermore, if Figures 2 to 8 As shown, the shell 290 includes a first shell 291 and a second shell 292 connected to the first shell 291, so that the accommodating cavity 2130 is also divided into two chambers, namely, a first chamber 2131 arranged in the first shell 291 and a second chamber 2132 arranged in the second shell 292, the first convex lens 250, the second convex lens 280, the light isolation part 2100, the light receiving part 220 and the light emitting part 210 are located in the first chamber 2131, and the connector 2120 is located in the second chamber 2132, so that each component has a corresponding installation area, thereby making the arrangement of each component more reasonable.

[0096] The first shell 291 and the second shell 292 may be connected in a fixed manner or in a detachable manner, wherein the fixed connection is a connection method such as gluing, and the detachable connection is a connection method such as snaps and bolts.

[0097] Furthermore, if Figures 2 to 8 As shown, the second housing 292 includes a first sub-housing 2921 and a second sub-housing 2922, and the first sub-housing 2921 and the second sub-housing 2922 are buckled together to form a second chamber 2132. The first sub-housing 2921 and the second sub-housing 2922 can be connected in a detachable connection manner, such as snap-fitting, so as to facilitate the installation of the connector 2120 in the second chamber 2132. Of course, the first sub-housing 2921 and the second sub-housing 2922 can also be connected in a fixed connection manner such as gluing.

[0098] In a specific application, the connector 2120 can be disposed in the accommodating cavity 2130 in two ways, as follows:

[0099] The first method: Figure 3 and Figure 4 As shown, the housing 290 is further provided with a first opening 2110 at a position corresponding to the plug-in end of the connector 2120 . The connector 2120 is located at the first opening 2110 , and the outer edge of the connector 2120 is flush with the edge of the first opening 2110 .

[0100] The connector 2120 is located at the first opening 2110, so that after the connecting component of the external device is inserted into the first opening 2110, the connector 2120 can be connected to the connecting component of the external device; or the connecting component of the external device can be pulled out from the first opening 2110, the connecting part of the connector 2120 and the external device can be disconnected, thereby facilitating the use of the cliff sensor 130.

[0101] When the housing 290 is divided into the first housing 291 and the second housing 292 , the first opening 2110 is located on the housing wall of the second housing 292 opposite to the first convex lens 250 and the second convex lens 280 , thereby facilitating the plugging of the connector 2120 with the external device connection component.

[0102] The outer edge of the connector 2120 is flush with the edge of the first opening 2110, that is, the connector 2120 is as close to the edge of the first opening 2110 as possible, so that the connecting part of the connector 2120 and the external device can be fully in contact, thereby improving the stability of the connection and avoiding the problem that the connecting part of the connector 2120 and the external device is small and prone to disconnection failure.

[0103] The second method: Figure 6 and Figure 7 As shown, a connecting wire is provided on the connector 2120 , and a second opening 2150 is provided on the shell 290 at a position corresponding to the connection between the connector 2120 and the connecting wire. The connecting wire passes through the second opening 2150 , and a blocking member 2140 is provided at the second opening 2150 to seal the second opening 2150 .

[0104] When the housing 290 is divided into the first housing 291 and the second housing 292 , the second opening 2150 is located on the housing wall of the second housing 292 opposite to the first convex lens 250 and the second convex lens 280 , thereby facilitating the plugging of the connector 2120 with the external device connection component.

[0105] The plugging member 2140 may be made of a soft rubber material, such as thermoplastic polyurethane elastomer rubber or thermoplastic elastomer. The plugging member 2140 and the first sub-shell 2921 or the second sub-shell 2922 of the second shell 292 may be an integral structure, and the plugging member 2140 and the first sub-shell 2921 or the second sub-shell 2922 of the second shell 292 may be made of different materials, and the plugging member 2140 and the shell 290 may be molded by secondary injection molding. Of course, the plugging member 2140 and the first sub-shell 2921 or the second sub-shell 2922 may also be a split structure, and the sealing member may be separately injection molded and then fixedly connected to the first sub-shell 2921 or the second sub-shell 2922 by, for example, gluing or hot melting, so that when the plugging member 2140 is used for a long time and the sealing performance of the plugging member 2140 is reduced, it is convenient to replace the plugging member 2140.

[0106] The sealing of the second opening 2150 by the blocking member 2140 improves the overall sealing of the cliff sensor 130, thereby preventing dust or moisture from the external environment from entering the cavity 2130, causing the connector 2120 to rust and corrode, thereby reducing the service life of the cliff sensor 130. In order to ensure that the cliff sensor 130 can be smoothly connected to the external component, the connecting wire extends out of the second opening 2150, so that the connector 2120 is connected to the connecting portion of the external device through the connecting wire extending out of the second opening 2150.

[0107] The utility model has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the utility model to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the utility model is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the utility model, and these variations and modifications all fall within the scope of protection claimed by the utility model. The protection scope of the utility model is defined by the attached claims and their equivalents.

Claims

1. An optical sensor, characterized in that: It comprises a light emitting part and a light receiving part, wherein a first light reflecting part is arranged on a receiving light path of the light receiving part; Among them, the light emitting unit is used to emit a first outgoing light to an area or object to be detected, the first outgoing light is emitted through the surface of the area or object to be detected to form a reflected light, and at least part of the reflected light passes through the first light reflecting unit; the first light reflecting unit is used to reflect the second outgoing light emitted by other optical sensing components; the light receiving unit is used to receive the reflected light passing through the first light reflecting unit.

2. The optical sensor according to claim 1, characterized in that The optical sensor comprises a housing, a housing is provided in the housing, and the light emitting part and the light receiving part are both arranged in the housing; The first light reflecting portion is arranged on a first shell wall of the housing corresponding to the light receiving portion, and the first shell wall is a light-transmitting wall.

3. The optical sensor according to claim 2, characterized in that A second light reflecting portion is disposed on the emission light path of the light emitting portion, and the second light reflecting portion is used for reflecting the second emitted light.

4. The optical sensor according to claim 3, characterized in that The second light reflecting portion is arranged on a second shell wall of the housing corresponding to the light emitting portion, and the second shell wall is a light-transmitting wall.

5. The optical sensor according to claim 2, characterized in that The first light reflecting portion is disposed on the inner side or the outer side of the first shell wall.

6. The optical sensor according to claim 4, characterized in that The second light reflecting portion is disposed on the inner side or the outer side of the second shell wall.

7. The optical sensor according to claim 3, characterized in that The first light reflecting portion and the second light reflecting portion are integrally formed.

8. The optical sensor according to claim 3, characterized in that A first convex lens is disposed between the light receiving portion and the first light reflecting portion.

9. The optical sensor according to claim 8, characterized in that A second convex lens is disposed between the light emitting portion and the second light reflecting portion.

10. The optical sensor according to claim 9, characterized in that A light isolation portion is further provided between the light emitting portion and the light receiving portion.

11. The optical sensor according to claim 10, characterized in that The light-isolating portion further extends between the first convex lens and the second convex lens.

12. The optical sensor according to claim 1, characterized in that The first light reflecting portion is a reflecting film.

13. The optical sensor according to claim 3, characterized in that The second light reflecting portion is a reflecting film.

14. A self-propelled device, characterized in that: It comprises a main body; a plurality of optical sensing components are arranged on the main body, and one or more of the plurality of optical sensing components are the optical sensors as described in any one of claims 1-13.

15. The device according to claim 14, characterized in that The optical sensing component is a cliff sensor, a tof distance measuring sensor or an optical mouse sensor.

16. The self-moving device according to claim 15, characterized in that: The tof distance measuring sensor is located on the side wall of the main body, the cliff sensor is located on the edge of the bottom surface of the main body, and the optical mouse sensor is located on the bottom surface of the main body.

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