Ranging module and automatic cleaning assembly

Abstract

The utility model discloses a distance measuring module and an automatic cleaning assembly. The distance measurement module comprises an emitter used for emitting detection light; the receiver is used for receiving an optical signal returned after the detection light irradiates the to-be-detected target; the first optical lens is arranged opposite to the emitter, and a first Fresnel pattern is arranged on one side of the first optical lens; and the second optical lens is arranged opposite to the receiver. The emitter is correspondingly provided with the first optical lens, and the first Fresnel pattern is arranged on the first optical lens, so that the first optical lens has a smaller size when light rays cover the same angle, the size of the automatic cleaning assembly can be reasonably reduced, and miniaturization and lightweight development of the automatic cleaning assembly is facilitated; and the application range of the automatic cleaning assembly is widened.

Description

Technical Field

[0001] The utility model relates to the technical field of distance monitoring, in particular to a distance measuring module and an automatic cleaning component. Background Art

[0002] In the technology of automatic cleaning component obstacle avoidance, reflective distance sensors, such as laser sensors or infrared sensors, are usually used to monitor the position between the automatic cleaning component and the target to be measured. Therefore, the monitoring of the relevant position directly affects the working reliability of the automatic cleaning component. The existing distance sensors are large in size, which is not conducive to the development of automatic cleaning components towards miniaturization and lightweight. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art or related technology.

[0004] In view of this, the utility model provides a ranging module and an automatic cleaning component, wherein in the ranging module, a first optical lens is arranged corresponding to the transmitter, and a first Fresnel pattern is arranged on the first optical lens, so that when the light covers the same angle, the first optical lens can have a smaller size, thereby being able to reasonably reduce the size of the automatic cleaning component, which is conducive to the miniaturization and lightweight development of the automatic cleaning component and improves the scope of application of the automatic cleaning component.

[0005] Specifically, the following technical solutions are included:

[0006] An embodiment of the first aspect of the present utility model provides a distance measurement module, the distance measurement module comprising:

[0007] A transmitter, used for transmitting detection light;

[0008] A receiver, used to receive the optical signal returned after the detection light irradiates the target to be detected;

[0009] a first optical lens, arranged opposite to the emitter, wherein a first Fresnel pattern is provided on one side of the first optical lens;

[0010] The second optical lens is arranged opposite to the receiver.

[0011] Optionally, a second Fresnel fringe is provided on a side of the second optical lens facing toward or away from the receiver.

[0012] Optionally, the first Fresnel fringe and the second Fresnel fringe have the same structure, and the first Fresnel fringe includes a plurality of concentrically arranged circular ring fringe, and the circular ring fringe is more densely distributed as it is farther from the center of the circle.

[0013] Optionally, the first optical lens includes at least two groups of first Fresnel fringes.

[0014] Optionally, the ranging module includes at least two receivers, including a first receiver and a second receiver. The first receiver is configured to receive a first optical signal returned after the detection light irradiates the target to be measured, and the second receiver is configured to receive a second optical signal returned after the detection light irradiates the target to be measured. The first receiver and the second receiver are respectively disposed opposite to one of the second optical lenses.

[0015] Optionally, the transmitter is located on one side of the plurality of receivers; or the transmitter is located between two of the receivers.

[0016] Optionally, the ranging module further includes:

[0017] Light shielding plates, including a first light shielding plate and a second light shielding plate. The first light shielding plate is disposed between the first optical lens and the second optical lens, and the second light shielding plate is disposed between adjacent second optical lenses; or the first light shielding plate extends from between the first optical lens and the second optical lens to between the transmitter and the first receiver, and the second light shielding plate extends from between adjacent second optical lenses to between the first receiver and the second receiver; or the first light shielding plate is located between the transmitter and the first receiver, and the second light shielding plate is located between the first receiver and the second receiver.

[0018] Optionally, when the first light shielding plate is located between the first optical lens and the second optical lens, the first light shielding plate protrudes from a side of the first optical lens facing away from the transmitter; or the first light shielding plate is flush with a side of the first optical lens facing away from the transmitter.

[0019] Optionally, when the second light shielding plate is located between adjacent second optical lenses, the second light shielding plate protrudes from a side of the second optical lens facing away from the receiver; or the second light shielding plate is flush with a side of the second optical lens facing away from the receiver.

[0020] An embodiment of the second aspect of the present utility model provides an automatic cleaning assembly, including the ranging module as described above.

[0021] The ranging module and the automatic cleaning component provided by the embodiment of the present utility model. Among them, the ranging module includes a transmitter for emitting detection light and irradiating the detection light onto the target to be measured, and a receiver for receiving the signal light returned after the detection light irradiates the target to be measured. A first optical lens is correspondingly arranged at the emitting end of the transmitter, and a second optical lens is correspondingly arranged at the receiving end of the receiver. A first Fresnel pattern is provided on one side of the first optical lens. Through the setting of the first Fresnel pattern, the first optical lens can be divided into multiple lenses. Such an optical lens mode, on the one hand, when the light coverage angle is the same, enables the first optical lens to have a smaller size, thereby reasonably reducing the size of the automatic cleaning component, facilitating the development of the automatic cleaning component towards miniaturization and lightweight, and improving the applicable range of the automatic cleaning component; on the other hand, due to the form of multiple lenses, the detection light can effectively overlap, increasing the irradiation intensity of the detection light, extending the monitoring distance of the ranging module, having a good light control effect, and also increasing the intensity of the signal received by the receiver, ensuring the reliability and stability of the ranging module during operation.

[0022] The above description is only an overview of the technical solution of this application. In order to be able to understand the technical means of this application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the following specifically gives the specific implementation manners of this application. Brief Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 An exemplary schematic diagram of a ranging module according to an embodiment of the present utility model;

[0025] Figure 2 An exemplary schematic diagram of a ranging module according to an embodiment of the present utility model;

[0026] Figure 3 An exemplary schematic diagram of a ranging module according to an embodiment of the present utility model;

[0027] Figure 4 An exemplary schematic diagram of a ranging module according to an embodiment of the present utility model;

[0028] Figure 5 An exemplary schematic diagram of a ranging module according to an embodiment of the present utility model;

[0029] Figure 6 An exemplary schematic diagram of a ranging module according to an embodiment of the present utility model;

[0030] Figure 7 A schematic diagram of a first optical lens according to an embodiment of the present utility model;

[0031] Figure 8 A structural schematic diagram of an automatic cleaning component according to an embodiment of the present utility model.

[0032] Among them, Figures 1 to 8 The corresponding relationship between the reference numerals and the component names in the figures is as follows:

[0033] 100 ranging module, 110 transmitter, 120 first receiver, 130 second receiver, 140 first optical lens, 141 circular ring pattern, 150 second optical lens, 160 first light shield, 170 second light shield, 180 receiver, 200 automatic cleaning component, 300 target to be measured. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0035] Before further detailed description of the embodiments of the present utility model, the directional terms involved in the embodiments of the present utility model, such as "upper part", "lower part", and "side part", do not have the meaning of limiting the protection scope of the present utility model.

[0036] To make the technical solutions and advantages of the present utility model clearer, the embodiments of the present utility model will be further described in detail below in conjunction with the accompanying drawings.

[0037] Figure 1 An exemplary schematic diagram of a ranging module according to an embodiment of the present utility model.

[0038] As Figure 1 shown, an embodiment of the present utility model provides a ranging module 100, and the ranging module 100 includes:

[0039] A transmitter 110 for emitting detection light;

[0040] A receiver 180 for receiving the optical signal returned after the detection light irradiates the target 300 to be measured;

[0041] The first optical lens 140 is disposed opposite to the transmitter 110, and a first Fresnel pattern is provided on one side of the first optical lens 140;

[0042] The second optical lens 150 is disposed opposite to the receiver.

[0043] Among them, the ranging module 100 includes a transmitter 110 for detecting light of the transmitter 110, irradiating the detected light onto the target to be measured 300. The receiver 180 receives the signal light returned after the detected light irradiates the target to be measured 300. The first optical lens 140 is correspondingly disposed at the emitting end of the transmitter 110, and the second optical lens 150 is correspondingly disposed at the receiving end of the receiver. A first Fresnel pattern is provided on one side of the first optical lens 140. Through the setting of the first Fresnel pattern, the first optical lens 140 can be divided into multiple lenses. Such an optical lens mode can, on the one hand, make the first optical lens 140 have a smaller size when the light covers the same angle, and then can reasonably reduce the size of the automatic cleaning component 200, which is beneficial to the miniaturization and lightweight development of the automatic cleaning component 200 and improves the applicable range of the automatic cleaning component 200; on the other hand, because of the form of multiple lenses, the detected light can effectively overlap, improving the irradiation intensity of the detected light, being able to extend the monitoring distance of the ranging module 100, having a good light control effect at the same time, and also being able to improve the intensity of the signal received by the receiver, ensuring the reliability and stability of the operation of the ranging module 100.

[0044] Specifically, the detected light emitted by the transmitter 110 irradiates the target to be measured 300, such as a wall, a table leg, and a cabinet. After the detected light emitted by the transmitter 110 is blocked, the detected light is reflected. The reflected detected light is received by the receiver 180. The receiver 180 determines the distance between the ranging module 100 and the target to be measured 300 according to the strength of the received reflected detected light. It can be understood that when the ranging module 100 is closer to the target to be measured 300, the intensity of the detected light irradiating the target to be measured 300 is stronger (the energy is greater), and then the intensity of the detected light reflected back to the receiver 180 is stronger (the energy is greater). On the contrary, when the ranging module 100 is farther from the target to be measured 300, the intensity of the detected light irradiating the target to be measured 300 is weaker (the energy is smaller), and then the intensity of the detected light reflected back to the receiver 180 is weaker (the energy is smaller). Through this principle, according to the strength of the reflected detected light received by the receiver 180, the distance between the ranging module 100 and the target to be measured 300 is judged, and timely obstacle avoidance or wall cleaning is realized according to the light intensity level.

[0045] It should be noted that, by setting a first optical lens 140 at the transmitting end of the transmitter 110, the present application can effectively expand the irradiation range of the transmitter 110, and by setting a second optical lens 150 at the receiving end of the receiver 180, the divergent light can be reduced to facilitate reception by the receiver 180, and at the same time, a first Fresnel pattern is set on the first optical lens 140, so that the first optical lens 140 can be divided into a plurality of small lenses. Such an optical lens pattern, on the one hand, can make the first optical lens 140 have a smaller size when the light covers the same angle, thereby reasonably reducing the size of the automatic cleaning component 200, which is conducive to the miniaturization development of the automatic cleaning component 200 and improves the scope of application of the automatic cleaning component 200; on the other hand, the setting of the first Fresnel pattern enables the first optical lens 140 to have a better optical effect, improves the intensity of the detection light, and can extend the monitoring distance of the ranging module 100. At the same time, it can also improve the intensity of the signal received by the receiver 180, thereby ensuring the reliability and stability of the ranging module 100.

[0046] It is understandable that different materials have different reflective effects, so it is necessary to learn based on the reflective effects of different materials, fit the relationship between the intensity range and the distance, and then directly obtain the distance between the ranging module 100 and the target 300 to be measured based on the intensity of light to achieve timely obstacle avoidance.

[0047] In a feasible implementation manner, the first Fresnel fringe is located on a side of the first optical lens 140 facing toward or away from the emitter 110 .

[0048] There are no excessive restrictions on the orientation of the first Fresnel fringe, that is, the first Fresnel fringe can be arranged on the side of the first optical lens 140 facing the transmitter 110, or on the side of the first optical lens 140 facing away from the transmitter 110. By adjusting the distance between the transmitter 110 and the first optical lens 140, the divergence of the light of the detection light emitted by the transmitter 110 is achieved. Due to the form of multiple convex lenses formed by the first Fresnel fringe, the detection light can be effectively overlapped, the illumination intensity of the detection light is improved, the monitoring distance of the ranging module 100 can be extended, and the intensity of the signal received by the receiver 180 can be improved, so as to ensure the reliability and stability of the ranging module 100. It should be noted that the side of the first optical lens 140 facing away from the first Fresnel fringe is a plane mirror.

[0049] In a possible implementation, a second Fresnel fringe is provided on a side of the second optical lens 150 facing toward or away from the receiver 180 .

[0050] Similarly, a second Fresnel pattern may be provided on the side of the second optical lens 150 facing or away from the receiver 180. The orientation of the second Fresnel pattern is not limited. By adjusting the distance between the receiver 180 and the second optical lens 150, the convergence of the reflected detection light rays is achieved. Since the second optical lens 150 is provided with a plurality of convex lenses formed by the second Fresnel pattern, the convergence intensity (energy) of the reflected detection light is increased, enabling the receiver 180 to receive a relatively stable optical signal, thereby improving the reliability and stability of the operation of the ranging module 100. Among them, the side of the second optical lens 150 facing away from the second Fresnel pattern is a flat mirror.

[0051] It should be noted that the flat mirror sides of the first optical lens 140 and the second optical lens 150 can be aligned, and the flat mirror sides of the first optical lens 140 and the second optical lens 150 both face the side of the target to be measured 300. In this way, the first Fresnel pattern side and the second Fresnel pattern side can be enclosed inside the ranging module 100, avoiding dust accumulation on the surfaces of the first optical lens 140 and the second optical lens 150, and avoiding the absorption of the detection light by the dust accumulation area, which affects the emission and reflection effects of the detection light. The above arrangement of the first optical lens 140 and the second optical lens 150 is just one case. It is also possible to orient the first Fresnel pattern side and the second Fresnel pattern side towards the target to be measured 300. At this time, a relatively thin transparent plate can be provided on the first Fresnel pattern side and the second Fresnel pattern side to avoid dust accumulation while not affecting the propagation of the detection light rays; it is also possible to orient the first Fresnel pattern side towards the emitter 110 and the second Fresnel pattern side towards the target to be measured 300. At this time, a relatively thin transparent plate can be provided on the second Fresnel pattern side to avoid dust accumulation on the second Fresnel pattern side; it is also possible to orient the first Fresnel pattern side towards the target to be measured 300 and the second Fresnel pattern side towards the receiver 180. At this time, a relatively thin transparent plate is provided on the first Fresnel pattern side to avoid dust accumulation on the first Fresnel pattern side. It can be seen that the orientations of the first Fresnel pattern and the second Fresnel pattern are not limited.

[0052] Figure 7 Schematic diagram of a first optical lens according to an embodiment of the present invention.

[0053] In a feasible embodiment, as Figure 7 shown, the structures of the first Fresnel pattern and the second Fresnel pattern are the same. The first Fresnel pattern includes a plurality of concentric circular ring patterns 141, and the circular ring patterns 141 that are farther away from the center of the circle are more densely distributed.

[0054] Among them, when the light rays of the detection light are refracted by the optical lens, it will be found that a part of the thickness in the lens does not contribute to the magnification effect. When the light rays pass through this part of the thickness, the direction will not change. That is to say, canceling this part of the thickness will not affect the magnification and focusing effects of the light rays. Removing the lens of this part of the thickness in turn forms the Fresnel pattern. As Figure 7 shown, from the cross-section view, the central part on the side of the first Fresnel pattern is an elliptical arc, and both sides of the elliptical arc are composed of a series of serrated grooves. Since the sizes of the thickness parts removed in each part are not the same, the angles between adjacent grooves are not the same, that is, the farther away from the center of the circle, the denser the distribution of the ring pattern 141. Each groove formed in this way can be regarded as an independent small lens, which can adjust the light rays of the detection light into divergent or convergent light rays. On the one hand, it makes the light rays have an overlapping effect, improves the intensity of the light rays, and ensures the reflection effect of the light rays. On the other hand, it can also eliminate the spherical aberration of the first optical lens 140 and the second optical lens 150, effectively improving the resolution of the first optical lens 140 and the second optical lens 150, and further improving the reliability of the ranging module 100 in operation.

[0055] It should be noted that, as can be seen from the above principle, on the one hand, the thickness of the lens with the Fresnel pattern is thinner than that of the existing convex lens, and the same effect can also be achieved, that is, the weight of the ranging module 100 can be reduced, and further the weight of the automatic cleaning component 200 with the ranging module 100 can be effectively reduced, realizing the lightweight development of the automatic cleaning component 200 and improving the customer experience; on the other hand, the optical lens with the Fresnel pattern has a good light control effect, improving the ranging stability of the ranging module 100 and making the ranging more accurate.

[0056] It can be understood that due to the structure of the Fresnel pattern set, while allowing the optical lens to maintain quite good optical performance, it greatly reduces the material usage and the overall thickness. That is to say, the traditional convex lens realizes the focusing or dispersion of light through a single thick curved surface, while the present application distributes a plurality of ring patterns 141 (ring grooves) with gradually changing diameters on the non-planar mirror side of the optical lens to achieve the focusing or dispersion of light. At the same time, the distance between the ring patterns 141 and the depth of the ring patterns 141 in the Fresnel pattern are calculated according to needs to simulate the light change effect of a continuous curved surface lens.

[0057] In a feasible implementation manner, the first optical lens 140 includes at least two groups of first Fresnel patterns.

[0058] Among them, when two people stand on both sides of the first optical lens 140 with the first Fresnel pattern respectively, they will find that the images of each other are magnified, indicating that the first optical lens 140 with the first Fresnel pattern has the function of expanding the light angle range. Due to the special structure of the first Fresnel pattern, that is, the central part is an elliptical arc, and both sides of the elliptical arc are composed of a series of zigzag grooves. Each formed groove can be regarded as an independent small lens. The overlapping of the refracted detection light rays of multiple small lenses increases the light intensity, and at the same time avoids the darkening and blurring of the outermost part of the light, thereby being able to expand the refraction angle of the light. On the one hand, it can expand the irradiation range of the detection light and has a good light control effect; on the other hand, it can also increase the light angle reflected back into the receiver 180, improving the working reliability of the ranging module 100. That is to say, for the same required irradiation angle, the size of the first optical lens 140 with the first Fresnel pattern is smaller than that of the existing optical lens, and thus can effectively reduce the size of the ranging module 100, making the size of the automatic cleaning component 200 decrease accordingly, which is beneficial to the miniaturization development of the automatic cleaning component 200 and improves the applicable range of the automatic cleaning component 200.

[0059] It should be noted that in the case of setting two groups of the first Fresnel patterns on the first optical lens 140 in this application, on the one hand, it can further enhance the light control effect of the ranging module 100, increase the light intensity, ensure the light reflection effect, and thus ensure the ranging accuracy of the ranging module. On the other hand, it can reduce the ranging module 100 to 1 / 8 of the size of the traditional distance sensor, effectively reducing the volume and weight of the ranging module 100, which is beneficial to the miniaturization and light-weight development of the automatic cleaning component 200 and expands the applicable range of the ranging module 100.

[0060] In a feasible real-time mode, two groups of the first Fresnel patterns can be set on the first optical lens 140. On the basis of ensuring the set irradiation angle, on the one hand, the size of the first optical lens 140 is reduced, and on the other hand, the irradiation intensity of the detection light is enhanced, avoiding the darkening and blurring of the outermost circle of the light, improving the reflection effect of the detection light, and ensuring the working reliability of the ranging module 100.

[0061] Figure 2 is an exemplary schematic diagram of a ranging module according to an embodiment of the present utility model; Figure 3 is an exemplary schematic diagram of a ranging module according to an embodiment of the present utility model.

[0062] In a feasible implementation manner, such as Figure 2 and Figure 3As shown in the figure, the ranging module 100 includes at least two receivers 180, including a first receiver 120 and a second receiver 130. The first receiver 120 is configured to receive a first optical signal returned after the detection light irradiates the target to be measured 300, and the second receiver 130 receives a second optical signal returned after the detection light irradiates the target to be measured 300. A second optical lens 150 is respectively disposed opposite to the first receiver 120 and the second receiver 130.

[0063] Among them, by setting two receivers 180, that is, the first receiver 120 and the second receiver 130, two optical signals can be received simultaneously, namely the first optical signal and the second optical signal. By the ratio of the first optical signal and the second optical signal, the distance between the ranging module 100 and the target to be measured 300 can be obtained, which can eliminate the influence of different materials on the reflected light, further improve the ranging accuracy of the ranging module 100, reduce the learning intensity of the ranging module 100, lower the production cost of the ranging module 100, and improve the economy of the ranging module 100.

[0064] It should be noted that this embodiment only takes two receivers 180 as an example for illustration. In other examples, the number of receivers 180 can also be more than two, and the number of receivers 180 is not limited. For example, when a third receiver is also provided, three optical signals can be obtained simultaneously. The ratio can be calculated for every two optical signals to obtain three groups of ratios, that is, the distance measurement results, and then the final ranging result can be obtained by taking the average value or other methods such as weight division and feedback to achieve timely obstacle avoidance and wall-following cleaning of the automatic cleaning component 200.

[0065] Among them, sample data can be collected first for fitting calculation to obtain the corresponding relationship between the ratio of the first optical signal and the second optical signal and the distance. Then, after obtaining the actual ratio, the ratio can be brought into the above corresponding relationship to determine the distance between the target to be measured 300 and the ranging module 100; or a relationship comparison table between the ratio of the first optical signal and the second optical signal and the distance can be pre-constructed, and the actual ratio can be matched with the relationship comparison table to determine the distance between the target to be measured 300 and the ranging module 100.

[0066] It should be noted that the ratio of the first optical signal and the second optical signal can be the first optical signal divided by the second optical signal, or the second optical signal divided by the first optical signal, which is not limited herein.

[0067] Figure 3 It is an exemplary schematic diagram of a ranging module according to an embodiment of the present invention; Figure 4 It is an exemplary schematic diagram of a ranging module according to an embodiment of the present invention; Figure 5 It is an exemplary schematic diagram of a ranging module according to an embodiment of the present invention;Figure 6 An exemplary schematic diagram of a distance measurement module according to an embodiment of the present utility model.

[0068] In a feasible implementation manner, the transmitter 110 is located on one side of a plurality of receivers 180; or the transmitter 110 is located between two of the receivers 180.

[0069] Wherein, as Figure 3 shown, the transmitter 110 can be arranged on one side of the first receiver 120 and the second receiver 130, that is, the distance measurement module 100 is arranged with the positions of the transmitter 110, the first receiver 120, and the second receiver 130. Such an arrangement can integrally arrange the two second optical lenses 150 corresponding to the first receiver 120 and the second receiver 130, which can save production costs. As Figures 4 to 6 shown, the transmitter 110 can also be arranged between the first receiver 120 and the second receiver 130, that is, the distance measurement module 100 is arranged with the positions of the first receiver 120, the transmitter 110, and the second receiver 130. It should be noted that at this time, the distance between the first receiver 120 and the transmitter 110 and the distance between the transmitter 110 and the second receiver 130 are not equal, that is, the distance between the transmitter 110 and the first receiver 120 is greater than the distance between the transmitter 110 and the second receiver 130, as Figure 2 in d1 > d2, or the distance between the transmitter 110 and the first receiver 120 is less than the distance between the transmitter 110 and the second receiver 130, as Figure 2 in d1 < d2. In this way, an effective ratio of the first optical signal and the second optical signal can be obtained, avoiding the situation where the ratio of the first optical signal and the second optical signal is 1 due to the equal distance between the transmitter 110 and the first receiver 120 and the second receiver 130. Such an arrangement can increase the amount of detection light received by the second receiver 130 and avoid the situation where no detection light is received due to the relatively long distance between the transmitter 110 and the second receiver 130, ensuring the effectiveness of the ratio of the first optical signal and the second optical signal and improving the distance measurement effectiveness of the distance measurement module 100.

[0070] In a feasible implementation manner, the distance measurement module 100 further includes:

[0071] The light shielding plate includes a first light shielding plate 160 and a second light shielding plate 170. The first light shielding plate 160 is disposed between the first optical lens 140 and the second optical lens 150, and the second light shielding plate 170 is disposed between adjacent second optical lenses 150; or the first light shielding plate 160 extends from between the first optical lens 140 and the second optical lens 150 to between the transmitter 110 and the first receiver 120, and the second light shielding plate 170 extends from between adjacent second optical lenses 150 to between the first receiver 120 and the second receiver 130; or the first light shielding plate 160 is located between the transmitter 110 and the first receiver 120, and the second light shielding plate 170 is located between the first receiver 120 and the second receiver 130.

[0072] Among them, the first light shielding plate 160 can be disposed between the first optical lens 140 and the second optical lens 150, and the second light shielding plate 170 can be disposed between adjacent second optical lenses 150; or the first light shielding plate 160 is located between the transmitter 110 and the first receiver 120, and the second light shielding plate 170 is located between the first receiver 120 and the second receiver 130. At this time, there are certain requirements for the distance between the transmitter 110 and the first optical lens 140 (the receiver 180 and the second optical lens 150) to avoid the large-angle detection light emitted by the transmitter 110 being received by the receiver 180 and ensure the accuracy of the ranging result. This choice can reduce the production cost of the ranging module 100. It is also possible to extend the first light shielding plate 160 from between the first optical lens 140 and the second optical lens 150 to between the transmitter 110 and the first receiver 120, and extend the second light shielding plate 170 from between adjacent second optical lenses 150 to between the first receiver 120 and the second receiver 130. In this way, there is no need to limit the distance between the transmitter 110 and the first optical lens 140 (the receiver 180 and the second optical lens 150), and the large-angle detection light emitted by the transmitter 110 can be avoided from being received by the receiver 180, improving the accuracy of the ranging result. It can be selected according to actual needs and will not be elaborated here. The following takes the first light shielding plate 160 extending from between the first optical lens 140 and the second optical lens 150 to between the transmitter 110 and the first receiver 120, and the second light shielding plate 170 extending from between adjacent second optical lenses 150 to between the first receiver 120 and the second receiver 130 as an example for illustration.

[0073] Specifically, such as Figure 3As shown in the figure, when the ranging module 100 is arranged at the positions of the transmitter 110, the first receiver 120, and the second receiver 130, a first light shield 160 is arranged between the first optical lens 140 corresponding to the transmitter 110 and the second optical lens 150 corresponding to the first receiver 120. Such an arrangement can prevent the large-angle detection light emitted by the transmitter 110 from entering the first receiver 120 and being received by the first receiver 120, thereby improving the ranging accuracy of the ranging module 100.

[0074] It should be noted that as the usage time of the ranging module 100 increases, there is also a possibility of dust accumulation on the light-emitting surface of the first optical lens 140 (the side of the first optical lens 140 facing away from the transmitter 110). At this time, when the detection light emitted by the transmitter 110 irradiates the dust, the Tyndall effect will occur, that is, the scattering phenomenon occurring around the dust, which changes the propagation direction of the detection light. That is, the formed scattered light is easily received by the first receiver 120 and the second receiver 130, resulting in errors and affecting the measurement accuracy. Therefore, a second light shield 170 is arranged between the second optical lens 150 corresponding to the first receiver 120 and the second optical lens 150 corresponding to the second receiver 130, that is, between adjacent second optical lenses 150, which can prevent the scattered light from entering the first receiver 120 and / or the second receiver 130, effectively improving the problem of mirror surface dust accumulation interference caused by the Tyndall effect, and is beneficial to improving the ranging accuracy.

[0075] It can be understood that both the first light shield 160 and the second light shield 170 have a light blocking function and can be made of light-shielding materials. When the planar sides of the first optical lens 140 and the second optical lens 150 are aligned, the first optical lens 140, the second optical lens 150, and multiple second optical lenses 150 can be integrally formed, which can effectively reduce the production cost. There is a socket on the side facing away from the target to be measured 300, which is convenient for inserting the first light shield 160 and / or the second light shield 170, and can effectively prevent the large-angle detection light of the transmitter 110 from being absorbed by the receiver 180 and affecting the ranging accuracy.

[0076] Specifically, as Figures 4 to 6 shown in the figure, when the ranging module 100 is arranged at the positions of the first receiver 120, the transmitter 110, and the second receiver 130, a first light shield 160 is arranged between the first optical lens 140 corresponding to the transmitter 110 and the second optical lens 150 corresponding to the first receiver 120. Such an arrangement can prevent the large-angle detection light emitted by the transmitter 110 from entering the first receiver 120 and being received by the first receiver 120, thereby improving the ranging accuracy of the ranging module 100. The specific principle is as described above and will not be elaborated here.

[0077] In a feasible implementation, when the first light barrier 160 is located between the first optical lens 140 and the second optical lens 150, the first light barrier 160 protrudes from the side of the first optical lens 140 facing away from the emitter 110; or the first light barrier 160 is flush with the side of the first optical lens 140 facing away from the emitter 110.

[0078] Among them, in order to better block the scattering of dust, that is, the interference problem of the Tyndall effect, the first optical lens 140 and the second optical lens 150, and the multiple second optical lenses 150 can be produced separately, and then the first light barrier 160 is installed between the first optical lens 140 and the second optical lens 150. Usually, the first light barrier 160 extends between the emitter 110 and the receiver 180, and / or the first light barrier 160 extends between the emitter 110 and the second receiver 130. On the one hand, it has a supporting effect on the overall ranging module 100 and improves the strength of the ranging module 100. On the other hand, it can prevent the detection light at a large angle of the emitter 110 from being absorbed by the receiver 180, affecting the ranging accuracy.

[0079] It should be noted that the ranging module 100 is described in the way of setting the positions of the first receiver 120, the emitter 110, and the second receiver 130, that is, the case including two first light barriers 160. As Figure 4 shown, the first light barrier 160 can be flush with the side of the first optical lens 140 facing away from the emitter 110; or as Figure 5 shown, the first light barrier 160 protrudes from the side of the first optical lens 140 facing away from the emitter 110, or as Figure 6 shown, at least one first light barrier 160 protrudes from the side of the first optical lens 140 facing away from the emitter 110. It can be understood that the side of the first optical lens 140 facing away from the emitter 110 can be a plane mirror side or a Fresnel pattern side. When the side of the first optical lens 140 facing away from the emitter 110 is the Fresnel pattern side, being flush means that the first light barrier 160 is flush with the highest point of the Fresnel pattern side, and protruding means that the first light barrier 160 protrudes from the highest point of the Fresnel pattern side.

[0080] In a feasible implementation, when the second light barrier 170 is located between adjacent second optical lenses 150, the second light barrier 170 protrudes from the side of the second optical lens 150 facing away from the receiver; or the second light barrier 170 is flush with the side of the second optical lens 150 facing away from the receiver.

[0081] Similarly, when there are multiple receivers 180, a second light shield 170 is disposed between two adjacent second optical lenses 150 corresponding to the two receivers 180. The second light shield 170 is disposed between two adjacent second optical lenses 150 and extends between the adjacent receivers 180 (the first receiver 120 and the second receiver 130). On the one hand, it has a supporting effect on the overall ranging module 100 and improves the strength of the ranging module 100. On the other hand, it can prevent the detection light at a large angle of the transmitter 110 from being absorbed by the receiver, thereby affecting the ranging accuracy.

[0082] Specifically, taking one transmitter 110 and two receivers 180 as an example to illustrate the light shield. When the transmitter 110 is located on one side of the first receiver 120 and the second receiver 130, that is, when the ranging module 100 is arranged with the positions of the transmitter 110, the first receiver 120 and the second receiver 130, a first light shield 160 is disposed between the first optical lens 140 and the second optical lens 150, and a second light shield 170 is disposed between two adjacent second optical lenses 150. The first light shield 160 is flush with or protrudes 0.3 mm to 1 mm from the side of the first optical lens 140 facing away from the transmitter 110. When the Fresnel pattern side of the first optical lens 140 and / or the second optical lens 150 faces the target to be measured 300, the highest point of the first light shield 160 is flush with or protrudes from the Fresnel pattern side of the first optical lens 140 (the second optical lens 150); similarly, the second light shield 170 is flush with or protrudes 0.3 mm to 1 mm from the side of the second optical lens 150 facing away from the first receiver 120 (the second receiver 130). When the Fresnel pattern side of the second optical lens 150 faces the target to be measured 300, the highest point of the second light shield 170 is flush with or protrudes from the Fresnel pattern sides of the two adjacent second optical lenses 150. It can be understood that when the first light shield 160 and the second light shield 170 protrude too little (less than 0.3 mm), the generation of the Tyndall effect may not be avoided, and when they protrude too much (more than 1 mm), the size of the entire ranging module 100 may be increased.

[0083] Among them, as Figure 3As shown, the first light shield 160 can be flush with the side of the first optical lens 140 facing away from the emitter 110, while the second light shield 170 is flush with the side of the second optical lens 150 facing away from the first receiver 120; or the first light shield 160 can protrude relative to the side of the first optical lens 140 facing away from the emitter 110, and the second light shield 170 is flush with the side of the second optical lens 150 facing away from the first receiver 120; or the first light shield 160 can be flush with the side of the first optical lens 140 facing away from the emitter 110, while the second light shield 170 protrudes relative to the side of the second optical lens 150 facing away from the first receiver 120; or the first light shield 160 protrudes relative to the side of the first optical lens 140 facing away from the emitter 110, and at the same time the second light shield 170 protrudes relative to the side of the second optical lens 150 facing away from the first receiver 120. There is no limitation here.

[0084] Similarly, when the emitter 110 is located between the first receiver 120 and the second receiver 130, that is, when the ranging module 100 is arranged with the positions of the first receiver 120, the emitter 110, and the second receiver 130, a first light shield 160 is arranged between the second optical lens 150 corresponding to the first receiver 120 and the first optical lens 140, and also between the second optical lens 150 corresponding to the second receiver 130 and the first optical lens 140. The first light shield 160 is flush with or protrudes 0.3 mm to 1 mm from the side of the first optical lens 140 (the second optical lens 150) facing away from the emitter 110 (the first receiver 120 or the second receiver 130). When the Fresnel pattern side of the first optical lens 140 and / or the second optical lens 150 faces the target to be measured 300, the first light shield 160 is flush with or protrudes from the highest point of the Fresnel pattern side of the first optical lens 140 (the second optical lens 150).

[0085] Among them, as Figure 4 shown, both first light shields 160 can be flush with the side of the first optical lens 140 facing away from the emitter 110; or as Figure 5 shown, both first light shields 160 can protrude relative to the side of the first optical lens 140 facing away from the emitter 110; or as Figure 6 shown, one of the first light shields 160 protrudes relative to the side of the first optical lens 140 facing away from the emitter 110, and the other first light shield 160 is flush with the side of the first optical lens 140 facing away from the emitter 110. There is no limitation here.

[0086] Figure 8 It is a schematic structural diagram of an automatic cleaning component according to an embodiment of the present invention.

[0087] As Figure 8An embodiment of the present utility model provides an automatic cleaning assembly 200, which includes the ranging module 100 as described above.

[0088] As Figure 8 shown, generally, a plurality of ranging modules 100 are arranged at the wall-following part of the automatic cleaning assembly 200. The plurality of ranging modules 100 work together to better achieve the wall-following working effect of the automatic cleaning assembly 200. At the same time, a plurality of ranging modules 100 can be arranged at the front part of the automatic cleaning assembly 200, that is, on the side facing the traveling direction, to achieve timely obstacle avoidance of the automatic cleaning assembly 200 and ensure the working reliability and flexibility of the automatic cleaning assembly 200.

[0089] It should be noted that since the automatic cleaning assembly 200 includes the ranging module 100 as described above, it has all the advantages of the ranging module 100, which will not be elaborated here.

[0090] In the present utility model, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The term "plurality" means two or more, unless otherwise clearly defined.

[0091] After considering the specification and practicing the present utility model disclosed herein, those skilled in the art will readily conceive of other embodiments of the present utility model. The present utility model is intended to cover any variations, uses, or adaptations of the present utility model, which follow the general principles of the present utility model and include the common general knowledge or conventional technical means in the technical field not disclosed in the present utility model. The specification and embodiments are only regarded as exemplary.

[0092] The above is only the preferred embodiment of the present utility model, and it is not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A ranging module, characterized in that, The ranging module comprises: A transmitter, used for transmitting detection light; A receiver, used to receive the optical signal returned after the detection light irradiates the target to be detected; a first optical lens, arranged opposite to the emitter, wherein a first Fresnel pattern is provided on one side of the first optical lens; The second optical lens is arranged opposite to the receiver.

2. The ranging module according to claim 1, wherein A second Fresnel fringe is provided on a side of the second optical lens facing toward or away from the receiver.

3. The ranging module according to claim 2, wherein The first Fresnel fringe and the second Fresnel fringe have the same structure. The first Fresnel fringe includes a plurality of concentrically arranged circular ring fringe. The farther the circular ring fringe is from the center of the circle, the denser the distribution is.

4. The ranging module according to claim 1, wherein The first optical lens includes at least two groups of first Fresnel fringes.

5. The ranging module according to claim 1, wherein The ranging module includes at least two receivers, including a first receiver and a second receiver. The first receiver is used to receive a first light signal returned after the detection light is irradiated to the target to be measured, and the second receiver is used to receive a second light signal returned after the detection light is irradiated to the target to be measured. The first receiver and the second receiver are respectively arranged opposite to one of the second optical lenses.

6. The ranging module according to claim 5, wherein, The transmitter is located at one side of the plurality of receivers; or the transmitter is located between two of the receivers.

7. The ranging module according to claim 6, wherein The ranging module also includes: The light-isolating plate comprises a first light-isolating plate and a second light-isolating plate, wherein the first light-isolating plate is arranged between the first optical lens and the second optical lens, and the second light-isolating plate is arranged between adjacent second optical lenses; or the first light-isolating plate extends from between the first optical lens and the second optical lens to between the transmitter and the first receiver, and the second light-isolating plate extends from between adjacent second optical lenses to between the first receiver and the second receiver; or the first light-isolating plate is located between the transmitter and the first receiver, and the second light-isolating plate is located between the first receiver and the second receiver.

8. The ranging module according to claim 7, wherein When the first light isolation plate is located between the first optical lens and the second optical lens, the first light isolation plate protrudes from the side of the first optical lens facing away from the emitter; or the first light isolation plate is flush with the side of the first optical lens facing away from the emitter.

9. The ranging module according to claim 7, characterized in that, When the second light isolation plate is located between adjacent second optical lenses, the second light isolation plate protrudes from the side of the second optical lens facing away from the receiver; or the second light isolation plate is flush with the side of the second optical lens facing away from the receiver.

10. An automatic cleaning component, characterized in that, It comprises a ranging module as claimed in any one of claims 1 to 9.

Images