Photoelectric switch and underwater robot
By setting light emitting components of different wavelength ranges in the photoelectric switch and optimizing the light propagation path, the problem of photoelectric switch detecting light attenuation in the underwater environment is solved, and the stability and reliability of accurately detecting the target object in the underwater environment is achieved.
Patent Information
- Application Number
- CN202422353335.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-25
- Publication Date
- 2025-07-11
- Estimated Expiration
- 2034-09-25
AI Technical Summary
Due to the absorption and scattering of water in the underwater environment, the photoelectric switch detects the light attenuation severely, resulting in limited ability to detect target objects.
At least two light emitting components in different wavelength ranges are provided, including the first light emitting component and the second light emitting component, which emit detecting light in the range of 600 nm to 700 nm and 700 nm to 1000 nm, respectively, and combine the reflected light receiving component to optimize the light propagation path and reception method.
It improves the detection stability and reliability of photoelectric switches in underwater environments, and can accurately detect target objects in complex underwater environments, reducing the impact of water absorption and scattering on light.
Smart Images
Figure CN223093763U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the technical field of sensors, and particularly relates to an optoelectronic switch and an underwater robot. Background Art
[0002] In the continuous development of modern technology, optoelectronic switches, as important detection devices, play a crucial role in many fields. Traditional optoelectronic switches mainly work based on the principle of light propagation and reflection in the air. In the air, the propagation of light is relatively stable and less affected by environmental factors. However, when an optoelectronic switch is applied to an underwater environment, water has a strong absorption and scattering effect on light, which causes the detection light emitted by the optoelectronic switch to rapidly attenuate in water, greatly reducing the propagation distance and intensity of the light. Even in relatively clear water, the light will be significantly weakened within a short distance, resulting in the optoelectronic switch being unable to effectively emit and receive detection light, making it difficult to accurately detect target objects, and severely restricting the application of optoelectronic switches in fields such as underwater detection and underwater robots. Summary of the Utility Model
[0003] Therefore, the technical problem to be solved by this application is to provide an optoelectronic switch and an underwater robot. By setting at least two light-emitting components in different wavelength ranges, the diversity of detection light is increased, thereby reducing the absorption and scattering effects of water on light, ensuring that the optoelectronic switch can effectively emit and receive detection light underwater to accurately detect target objects.
[0004] To solve the above problems, one aspect of this application provides an optoelectronic switch, including:
[0005] A housing, within which a planar main board is provided, and a light-emitting component and a reflected light receiving component are provided on the planar main board;
[0006] Among them, at least two light-emitting components are provided, and at least two light-emitting components are used to emit detection light in different wavelength ranges.
[0007] Optionally, at least two light-emitting components include a first light-emitting component and a second light-emitting component. The first light-emitting component is used to emit the detection light with a wavelength in the range of 600nm - 700nm, and the second light-emitting component is used to emit the detection light with a wavelength in the range of 700nm - 1000nm.
[0008] Optionally, the first light-emitting component, the second light-emitting component, and the reflected light receiving component are on the same straight line, and the first light-emitting component and the second light-emitting component are on the same side of the reflected light receiving component.
[0009] Optionally, the first light-emitting component, the second light-emitting component, and the reflected light receiving component are located on the same straight line, and the first light-emitting component and the second light-emitting component are located in different directions of the reflected light receiving component.
[0010] Optionally, the housing includes a bottom surface, the planar main board is arranged parallel to and close to the bottom surface, and the first light-emitting component and the second light-emitting component are fixed on one side of the planar main board relative to the bottom surface;
[0011] At positions on the bottom surface corresponding to the first light-emitting component and the second light-emitting component, a first opening and a second opening are respectively provided, and a first lens and a second lens are respectively arranged in the first opening and the second opening.
[0012] Optionally, the reflected light receiving component is also arranged on one side of the planar main board relative to the bottom surface;
[0013] At a position on the bottom surface corresponding to the reflected light receiving component, a third opening is further provided, and a third lens is arranged in the third opening.
[0014] Optionally, first grooves, second grooves, and third grooves are respectively provided on the pore walls of the first opening, the second opening, and the third opening. The first groove is used to embed the outer edge part of the first lens, the second groove is used to embed the outer edge part of the second lens, and the third groove is used to embed the outer edge part of the third lens.
[0015] Optionally, the first opening and the second opening have the same shape, and the third opening has a different shape from the first opening and the second opening.
[0016] Optionally, the photoelectric switch further includes:
[0017] A connector, the connector is electrically connected to the planar main board.
[0018] On the other hand, the present application provides an underwater robot, including the photoelectric switch described in any one of the above.
[0019] Beneficial effects
[0020] Embodiments of the present utility model provide a photoelectric switch and an underwater robot. By providing at least two light-emitting components in different wavelength ranges, the photoelectric switch increases the diversity of detection light, thereby reducing the absorption and scattering effects of water on light. Even in a complex underwater environment, when light of a certain specific wavelength is greatly interfered with, light of other wavelengths may still work properly, and further ensure that the photoelectric switch can effectively emit and receive detection light underwater to accurately detect the target object, improving the detection stability and reliability of the photoelectric switch. Brief Description of the Drawings
[0021] Figure 1 Schematic structural diagram of the photoelectric switch according to an optional embodiment of the present application;
[0022] Figure 2 Schematic structural diagram of the light-emitting component according to an optional embodiment of the present application;
[0023] Figure 3 Schematic structural diagram of the light-emitting component according to another optional embodiment of the present application;
[0024] Figure 4 is Figure 1 Cross-sectional view at the first opening in the illustrated embodiment.
[0025] The reference numerals are shown as:
[0026] 1. Housing; 11. Bottom surface; 111. First opening; 112. Second opening; 113. Third opening; 2. Planar main board; 3. Light-emitting component; 31. First light-emitting component; 32. Second light-emitting component; 4. Reflected light receiving component; 5. First lens; 6. Second lens; 7. Third lens; 8. Connector. Detailed Embodiments
[0027] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model.
[0028] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality of" means two or more, unless otherwise specifically defined.
[0029] In this application, unless otherwise clearly specified and defined, terms such as "installed", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.
[0030] The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present utility model, and are not used to limit the present utility model.
[0031] Referring to Figures 1 to 4 As shown, in the first aspect of the embodiment of the present application, an optoelectronic switch is provided, including: a housing 1, a planar main board 2 is arranged inside the housing 1, and a light-emitting component 3 and a reflected-light receiving component 4 are arranged on the planar main board 2; wherein, at least two light-emitting components 3 are arranged, and the at least two light-emitting components 3 are used for emitting detection light rays in different wavelength ranges.
[0032] By arranging at least two light-emitting components 3 in different wavelength ranges, the diversity of the detection light rays is increased, thereby reducing the absorption and scattering effects of water on the light rays. Even in a complex underwater environment, when the light rays of a certain specific wavelength are greatly interfered, the light rays of other wavelengths may still work normally. Furthermore, it can ensure that the optoelectronic switch effectively emits and receives detection light rays underwater to accurately detect the target object, improving the detection stability and reliability of the optoelectronic switch.
[0033] Among them, the housing 1 can be strip-shaped, disc-shaped, etc., and the present application does not limit this. The housing 1 is used to protect the internal precision components such as the planar main board 2, the light-emitting component 3 and the reflected-light receiving component 4 from external physical damage, such as collision, scratching, etc. At the same time, it can also prevent impurities such as dust and moisture from entering the interior and affecting the normal operation of the optoelectronic switch.
[0034] Taking the optoelectronic switch used in an underwater robot as an example, the optoelectronic switch can be installed at the head or the front end of the underwater robot. At this time, the detection light emitted by the light-emitting component 3 will propagate along the forward direction of the underwater robot. When encountering a target object in the forward direction, the detection light will be reflected in the opposite direction of the forward direction. The reflected light receiving component 4 is used to receive the reflected light from the target object and transmit the intensity signal of the reflected light to the planar main board 2. The planar main board 2 judges the distance from the target object according to the strong and weak signal of the reflected light fed back by the reflected light receiving component 4. It can be understood that the planar main board 2 can specifically be a circuit board; the light-emitting component 3 can be a light-emitting diode (LED), a laser diode, etc.; the reflected light receiving component 4 can be a photodiode (APD), a photomultiplier tube (PMT), etc.; the target object can be an underwater facility, an underwater creature, etc.
[0035] Specifically, in this embodiment, at least two light-emitting components 3 are provided, and the at least two light-emitting components 3 can emit detection light rays in different wavelength ranges. Since the attenuation degrees of detection light rays with different wavelengths in water are different, by selecting a suitable wavelength combination, the absorption and scattering effects of water on the detection light rays can be reduced, the adaptability of the optoelectronic switch in the underwater environment can be improved, enabling it to more effectively emit and receive detection light rays underwater, and thus accurately detecting the target object. In addition, in a complex environment, the detection light rays of a single wavelength may be restricted by various factors, while the detection light rays of different wavelengths can complement each other, improving the adaptability of the optoelectronic switch to different environments. For example, in an environment with smoke, dust or other interfering substances, the light rays of different wavelengths may have different penetration abilities, thereby increasing the possibility of the optoelectronic switch detecting the target object. It should be noted that the at least two light-emitting components 3 can work simultaneously or work in a time-sharing manner according to different environmental conditions and detection requirements, and this application does not limit this. When working simultaneously, multiple detection light rays of different wavelengths can instantaneously cover a wider area, quickly obtaining information about the target object and improving the detection efficiency. In the time-sharing working mode, by precisely controlling the working time of each light-emitting component 3, the energy consumption can be reduced and the working duration of the optoelectronic switch can be extended. At the same time, time-sharing working can also avoid interference between light rays of different wavelengths, improving the clarity and accuracy of the signal. It can be understood that the optoelectronic switch can also be equipped with an intelligent control system, which automatically adjusts the working mode and wavelength combination of the light-emitting component 3 according to the underwater environmental parameters monitored in real time. For example, when it is detected that the water quality is relatively turbid, the system can automatically select those wavelengths with less attenuation in turbid water for operation; when encountering an area with special interfering substances, the system can switch to a wavelength combination with stronger penetration ability. Such an intelligent control function further improves the adaptability and reliability of the optoelectronic switch in various complex underwater environments. In practical applications, the optoelectronic switch can also be combined with other sensors and devices to form a multi-functional underwater detection system. For example, it can be used in cooperation with sonar, pressure sensors, etc. to achieve multi-dimensional detection and positioning of the target object. At the same time, by performing data interaction with the control system of the underwater robot, the optoelectronic switch can provide more comprehensive environmental perception information for the underwater robot, helping the underwater robot better complete various tasks, such as obstacle avoidance, target tracking, resource exploration, etc.
[0036] In some possible embodiments disclosed in this application, the at least two light-emitting components 3 include a first light-emitting component 31 and a second light-emitting component 32. The first light-emitting component 31 is used to emit detection light rays with wavelengths in the range of 600 nm to 700 nm, and the second light-emitting component 32 is used to emit detection light rays with wavelengths in the range of 700 nm to 1000 nm.
[0037] Among them, the detection light rays emitted by the first light-emitting component 31 with wavelengths in the range of 600 nm to 700 nm are close to the red light band. In water, red light has a certain penetration ability relative to light of other colors, and can penetrate relatively shallow waters to a certain extent to preliminarily detect target objects within a relatively short range. The detection light rays emitted by the second light-emitting component 32 with wavelengths in the range of 700 nm to 1000 nm belong to the near-infrared light band. The attenuation of near-infrared light in water is relatively small, and it can penetrate deeper waters to detect target objects at relatively long distances. The combination of the two can achieve a comprehensive detection of target objects at different distances, improving the accuracy of underwater target detection.
[0038] In some specific examples, at least two light-emitting components 3 can be the above two, or can be multiple, aiming to increase the diversity of detection light rays, thereby reducing the absorption and scattering effects of water on the detection light rays. When there are two light-emitting components 3, there can also be various setting methods, such as:
[0039] See Figure 2 As shown, the first light-emitting component 31, the second light-emitting component 32, and the reflected light receiving component 4 are located on the same straight line, and the first light-emitting component 31 and the second light-emitting component 32 are located on the same side of the reflected light receiving component 4.
[0040] Among them, the first light-emitting component 31, the second light-emitting component 32, and the reflected light receiving component 4 arranged in a straight line can greatly reduce the area occupied by the bottom surface 11. The housing 1 of the optoelectronic switch can be made into a long strip shape, and the volume can be reduced to the minimum, which can be used for micro underwater robots. In addition, placing the first light-emitting component 31, the second light-emitting component 32, and the reflected light receiving component 4 on the same straight line makes the paths of the emitted detection light rays and the received reflected light more direct and clear. This can reduce the scattering and deviation of the detection light rays during propagation, improving the intensity and accuracy of the reflected light received by the reflected light receiving component 4. When the detection light rays encounter a target object, the reflected light can return to the reflected light receiving component 4 along a relatively direct path, reducing signal loss and errors caused by the complex light propagation path.
[0041] Specifically, the first light-emitting component 31 and the second light-emitting component 32 being located on the same side of the reflected light receiving component 4 can ensure the consistency of the propagation direction of the emitted detection light rays. When the target object reflects the detection light rays, the reflected light receiving component 4 can more concentratedly receive the reflected light from the same direction, avoiding the reduction of the detection accuracy due to the interference of light rays from different directions. At the same time, the same-side setting also facilitates the overall layout and adjustment of the light-emitting component 3 and the reflected light receiving component 4, improving the structural compactness and stability of the optoelectronic switch.
[0042] In addition, the light-emitting component 3 can also have the following setting methods:
[0043] See Figure 3 As shown, the first light-emitting component 31, the second light-emitting component 32 and the reflected light receiving component 4 are on the same straight line, and the first light-emitting component 31 and the second light-emitting component 32 are in different directions with respect to the reflected light receiving component 4.
[0044] Specifically, since the first light-emitting component 31 and the second light-emitting component 32 are in different directions with respect to the reflected light receiving component 4, detection light rays can be emitted from different angles. This can cover a wider spatial range and increase the detection probability of the optoelectronic switch for the target object. For example, in an underwater environment, the light-emitting components 3 in different directions can detect target objects from different angles, avoiding missed detections caused by the position or direction limitations of the target object. Further, after the detection light rays emitted by the light-emitting components 3 in different directions encounter the target object, the paths and characteristics of the reflected light will be different. The reflected light receiving component 4 can obtain more accurate target object information by comparing and analyzing the reflected light from different directions. For example, based on parameters such as the intensity and time difference of the reflected light, characteristics such as the position, distance, and shape of the target object can be determined. This multi-directional detection method can reduce the error of single-direction detection and improve the detection accuracy. In addition, the reflected light receiving component 4 simultaneously receives the reflected light from the light-emitting components 3 in different directions, thereby being able to obtain more information about the target object. Whether the target object is in the front, side, or rear, there is a greater possibility of being detected, improving the adaptability and reliability of the optoelectronic switch in a complex underwater environment.
[0045] In some possible implementation embodiments disclosed in the present application, see Figure 1 As shown, the housing 1 includes a bottom surface 11, the planar main board 2 is arranged parallel to and close to the bottom surface 11, and the first light-emitting component 31 and the second light-emitting component 32 are fixed on one side of the planar main board 2 relative to the bottom surface 11; first openings 111 and second openings 112 are respectively arranged at positions on the bottom surface 11 corresponding to the first light-emitting component 31 and the second light-emitting component 32, and a first lens 5 and a second lens 6 are respectively arranged in the first openings 111 and the second openings 112.
[0046] By placing the first light-emitting component 31 and the second light-emitting component 32 inside the housing 1 and integrating them on the planar main board 2, the first light-emitting component 31 and the second light-emitting component 32 propagate light through the first lens 5 and the second lens 6 respectively. The first lens 5 and the second lens 6 play a role in protecting the first light-emitting component 31 and the second light-emitting component, and also play a role in adjusting the light emitted by the first light-emitting component 31 and the second light-emitting component. Specifically, the first lens 5 and the second lens 6 are used to convert the light emitted by the first light-emitting component 31 and the second light-emitting component into parallel light. The parallel light irradiates perpendicular to the bottom surface 11, avoiding the influence of uneven light emission or inclined light of the first light-emitting component 31 and the second light-emitting component on the intensity of the light received by the reflected light receiving component 4, and converging the light through the first lens 5 and the second lens 6, so that the light of the first light-emitting component 31 and the second light-emitting component is fully utilized.
[0047] Among them, the first light-emitting component 31 and the second light-emitting component 32 are specifically LED light sources, and the first lens 5 and the second lens 6 are epoxy resin lenses.
[0048] Specifically, first openings 111 and second openings 112 are respectively provided at positions on the bottom surface 11 corresponding to the first light-emitting component 31 and the second light-emitting component 32, so that a first light-shielding portion surrounding the first light-emitting component 31 and the second light-emitting component 32 is formed between the bottom surface 11 and the planar main board 2, ensuring that the light of the first light-emitting component 31 and the second light-emitting component 32 propagates towards the first lens 5 and the second lens 6, and avoiding the light of the first light-emitting component 31 and the second light-emitting component 32 from propagating between the bottom surface 11 and the planar main board 2, which affects the accuracy of the reflected light receiving component 4 receiving the reflected light.
[0049] In some possible implementation embodiments disclosed in the present application, as shown in Figure 1 shown, the reflected light receiving component 4 is also provided on the side of the planar main board 2 opposite to the bottom surface 11; a third opening 113 is further provided at a position on the bottom surface 11 corresponding to the reflected light receiving component 4, and a third lens 7 is provided in the third opening 113.
[0050] Among them, the third lens 7 can also be an epoxy resin lens. The third lens 7 is used to converge the reflected light into parallel light, and the reflected light receiving component 4 receives the parallel light, and the obtained reflected light intensity value is more accurate, ensuring that even in the case where the reflected light is relatively weak in the underwater environment, it can be effectively captured, thereby improving the detection sensitivity of the optoelectronic switch to the target object.
[0051] Specifically, a third opening 113 is also provided at a position on the bottom surface 11 relative to the reflected light receiving component 4, so that a second light shielding portion surrounding the reflected light receiving component 4 is formed between the bottom surface 11 and the planar main board 2, ensuring that the reflected light receiving component 4 only receives the parallel light rays converged by the third lens 7, avoiding the interference of surrounding stray light, and improving the accuracy and reliability of detection. At the same time, the second light shielding portion also further enhances the stability of the internal structure of the photoelectric switch, prevents light from propagating and scattering in unnecessary directions, enables the photoelectric switch to work more precisely in the complex underwater environment, and provides a more reliable target detection and environmental perception function for devices such as underwater robots.
[0052] In some possible implementation embodiments disclosed in the present application, referring to Figure 4 As shown, first grooves, second grooves, and third grooves are respectively provided on the hole walls of the first opening 111, the second opening 112, and the third opening 113. The first groove is used to embed the outer edge portion of the first lens 5, the second groove is used to embed the outer edge portion of the second lens 6, and the third groove is used to embed the outer edge portion of the third lens 7. Thereby, the positions of the first lens 5, the second lens 6, and the third lens 7 can be stably fixed, ensuring that the first lens 5, the second lens 6, and the third lens 7 do not displace or loosen when the photoelectric switch is affected by water flow impact, vibration, etc., thus ensuring the normal propagation and reception of the detection light rays. At the same time, by respectively embedding the first lens 5, the second lens 6, and the third lens 7 into the first groove, the second groove, and the third groove, a sealed structure can be formed to prevent water and impurities from entering the interior of the photoelectric switch, protect key components such as the first light emitting component 31, the second light emitting component 32, the reflected light receiving component 4, and the planar main board 2, and extend the service life of the photoelectric switch.
[0053] Among them, the first groove, the second groove, and the third groove can all be annular grooves, etc., as long as they can adapt to the shapes of the first lens 5, the second lens 6, and the third lens 7, and the present application does not limit this.
[0054] Specifically, the outer edge portions of the first lens 5, the second lens 6, and the third lens 7 are the peripheral edge regions of the first lens 5, the second lens 6, and the third lens 7. In practical applications, after the outer edge portions of the first lens 5, the second lens 6, and the third lens 7 are respectively embedded into the first groove, the second groove, and the third groove, sealant can be filled.
[0055] In some possible implementation embodiments disclosed in the present application, referring to Figure 1As shown, the first opening 111 and the second opening 112 have the same shape, and the third opening 113 has a different shape from the first opening 111 and the second opening 112. Thus, the positions of the light-emitting component 3 and the reflected light receiving component 4 can be better distinguished, making the light propagation path clearer and more definite. This helps to improve the light emission and reception efficiency and reduce the scattering and interference of light during propagation.
[0056] Among them, the cross-sectional shapes of the first opening 111 and the second opening 112 can be regular polygons. The cross-sectional shape of the third opening 113 can be circular.
[0057] In some possible embodiments disclosed in the present application, refer to Figure 1 As shown, the photoelectric switch further includes: a connector 8, and the connector 8 is electrically connected to the planar main board 2.
[0058] By providing the connector 8 and electrically connecting the connector 8 to the planar main board 2, the detection result of the photoelectric switch can be externally transmitted, so that the underwater robot applying the above photoelectric switch can accurately select the walking mode corresponding to the target object.
[0059] In a second aspect of the embodiments of the present application, there is provided an underwater robot including the photoelectric switch as described in any one of the above.
[0060] Specifically, the underwater robot includes at least two photoelectric switches, and the at least two photoelectric switches can be respectively installed at different positions, such as the head, side, bottom, etc., so as to detect the surrounding environment from multiple angles. In this way, no matter in which direction the target object is located relative to the underwater robot, there is a high probability that it will be detected by at least one photoelectric switch, greatly improving the detection range and accuracy of the underwater robot for the target object.
[0061] Those skilled in the art can easily understand that, on the premise of no conflict, the above advantageous ways can be freely combined and superimposed.
[0062] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above is only the preferred implementation manner of the present application. It should be noted that for those of ordinary skill in the art in the technical field of the present application, without departing from the technical principle of the present application, several improvements and modifications can still be made, and these improvements and modifications should also be regarded as the protection scope of the present application.
Claims
1. An optoelectronic switch, characterized in that, Comprising: A housing (1), within which a planar main board (2) is provided, and on which a light-emitting component (3) and a reflected light receiving component (4) are arranged; Among them, at least two light-emitting components (3) are provided, and at least two light-emitting components (3) are used to emit detection light rays in different wavelength ranges.
2. The photoelectric switch according to claim 1, wherein, At least two light-emitting components (3) include a first light-emitting component (31) and a second light-emitting component (32). The first light-emitting component (31) is used to emit the detection light rays with wavelengths in the range of 600nm - 700nm, and the second light-emitting component (32) is used to emit the detection light rays with wavelengths in the range of 700nm - 1000nm.
3. The optoelectronic switch according to claim 2, wherein The first light-emitting component (31), the second light-emitting component (32), and the reflected light receiving component (4) are located on the same straight line, and the first light-emitting component (31) and the second light-emitting component (32) are located on the same side of the reflected light receiving component (4).
4. The optoelectronic switch according to claim 2, characterized in that The first light-emitting component (31), the second light-emitting component (32), and the reflected light receiving component (4) are located on the same straight line, and the first light-emitting component (31) and the second light-emitting component (32) are located in different directions with respect to the reflected light receiving component (4).
5. The optoelectronic switch according to claim 2, wherein The housing (1) includes a bottom surface (11), the planar main board (2) is arranged parallel to and close to the bottom surface (11), and the first light-emitting component (31) and the second light-emitting component (32) are fixed on the side of the planar main board (2) relative to the bottom surface (11); At positions on the bottom surface (11) corresponding to the first light-emitting component (31) and the second light-emitting component (32), a first opening (111) and a second opening (112) are respectively provided, and a first lens (5) and a second lens (6) are respectively arranged in the first opening (111) and the second opening (112).
6. The optoelectronic switch according to claim 5, characterized in that, The reflected light receiving component (4) is also arranged on the side of the planar main board (2) relative to the bottom surface (11); At a position on the bottom surface (11) corresponding to the reflected light receiving component (4), a third opening (113) is further provided, and a third lens (7) is arranged in the third opening (113).
7. The optoelectronic switch according to claim 6, characterized in that, On the pore walls of the first opening (111), the second opening (112), and the third opening (113), a first groove, a second groove, and a third groove are respectively provided. The first groove is used to embed the outer edge part of the first lens (5), the second groove is used to embed the outer edge part of the second lens (6), and the third groove is used to embed the outer edge part of the third lens (7).
8. The photoelectric switch according to claim 6, wherein, The first opening (111) has the same shape as the second opening (112), and the third opening (113) has a different shape from the first opening (111) and the second opening (112).
9. The optoelectronic switch according to claim 1, characterized in that, Further comprising: A connector (8), which is electrically connected to the planar main board (2).
10. An underwater robot, characterized in that, Including the optoelectronic switch according to any one of claims 1 - 9.