Cliff sensing device and mobile robot

Abstract

The utility model discloses a cliff sensing device and a mobile robot, and relates to the technical field of mobile robots, the cliff sensing device comprises a housing, a light barrier, a PCBA board, a signal assembly and a sealing structure, the housing comprises an upper housing and a lower housing which are in nested connection; the PCBA board is inserted into the first mounting cavity through the first opening, and one end of the PCBA board is clamped on the upper shell body; the signal assembly is installed on the PCBA board and located in the upper shell body. The light barrier is connected between the PCBA board and the upper shell body; one end, close to the first opening, of the upper shell is suitable for being inserted into the second mounting cavity of the lower shell from the second opening of the lower shell; the signal assembly is used for transmitting a detection signal and receiving a feedback signal; the sealing structure is arranged between the upper shell and the lower shell. According to the utility model, through the cooperation of the upper housing and the lower housing, the upper housing is used as an installation support of the PCBA board, and the sealing structure is arranged between the upper housing and the lower housing and is used for preventing water, so that the number of parts is reduced, and sealing protection can be realized at the same time.

Description

TECHNICAL FIELD

[0001] The utility model relates to mobile robot technical field especially relates to a cliff sensing device and mobile robot. BACKGROUND

[0002] Photoelectric cliff sensor is a kind of sensor to detect whether there is cliff (step) in front of machine, is widely applied in floor cleaning robot, transport robot and some self-moving equipment.For example, the robot usually in the running process, often meets some cliffs (steps, stairs, threshold), to prevent falling, need to install cliff sensor on machine to identify cliff, to avoid falling.

[0003] At present, general ordinary photoelectric cliff sensor has no waterproof structure, in some floor cleaning robots or other water self-moving equipment, water droplets or water vapor enter the inside of sensor during long time use, cause circuit short circuit or light source pollution sensor failure phenomenon. UTILITY MODEL CONTENT

[0004] The utility model provides a kind of cliff sensing device and mobile robot, to solve the technical problem that photoelectric cliff sensor in prior art fails due to no waterproof structure.

[0005] To solve the above problems, the first purpose of the utility model is to provide a kind of cliff sensing device, comprising:

[0006] Shell includes mutually nested connection upper shell body and lower shell body, the upper shell body includes upper shell body, the first installation cavity is equipped in the upper shell body and is opened with the first opening that is communicated with the first installation cavity, and annular groove is also opened on the outer circumference of the upper shell body;

[0007] The lower shell body includes lower shell body, the second installation cavity is equipped in the lower shell body and is also opened with the second opening that is communicated with the second installation cavity;

[0008] PCBA board is inserted into the first installation cavity by the first opening, and one end of the PCBA board is clamped on the upper shell body;

[0009] Signal assembly is installed on the PCBA board, and located in the upper shell body;

[0010] Light barrier is connected between the PCBA board and the upper shell body, and the light barrier is suitable for separating the emission light and receiving light of the signal assembly;

[0011] An end of the upper shell body near the first opening is adapted to be inserted into a second mounting cavity of the lower shell body from a second opening of the lower shell body; a signal penetration surface is formed on a side of the lower shell body away from the upper shell body, and the signal assembly is used for emitting a detection signal and receiving a feedback signal formed by the detection signal reflected by an obstacle, and the signal penetration surface is located on a transmission path of the detection signal and the feedback signal;

[0012] A sealing structure is arranged between the upper shell body and the lower shell body to waterproof the PCBA board and the signal assembly

[0013] Preferably, the sealing structure is a rubber ring accommodated in the annular groove, and an outer ring of the rubber ring is located outside the annular groove and is pressed on an inner wall of the lower shell body.

[0014] Preferably, an end of the upper shell body near the lower shell body is provided with a glue dispensing groove, and the sealing structure is sealing glue filled in the glue dispensing groove, and the sealing glue is used for sealing and connecting the upper shell body and the lower shell body.

[0015] Preferably, a buckling part is arranged on an outer wall of the upper shell body, a buckling groove is arranged on a side wall of the lower shell body, and the buckling part is adapted to be clamped in the buckling groove.

[0016] Preferably, first shoulder grooves are arranged on both sides of an end of the upper shell body near the first opening, and shelves are arranged on both ends of a side of the PCBA board, and the shelves are adapted to be accommodated in the first shoulder grooves.

[0017] Preferably, the light shielding plate comprises first and second support plates connected perpendicularly at one end, the second support plate is respectively provided with first and second shoulders adapted to abut on the PCBA board, second shoulder grooves are arranged on the other two sides of the end of the upper shell body near the first opening, and the second shoulders are adapted to abut in the second shoulder grooves; a first clamping groove is arranged on the first support plate opposite to an edge of the shelf, and the first clamping groove is adapted to be clamped on the shelf; and a light transmission hole is arranged on the first support plate opposite to the signal assembly.

[0018] Preferably, the signal assembly comprises an infrared emitter and an infrared receiver mounted on both sides of a surface of the PCBA board, the second support plate is located between the infrared emitter and the infrared receiver, penetration holes are arranged on the signal penetration surface opposite to the infrared emitter and the infrared receiver, and convex lenses are mounted on the penetration holes.

[0019] Preferably, the PCBA board further comprises an electronic wire and an interface, one end of the electronic wire is electrically connected with the PCBA board, and the other end is connected with the interface; the upper shell body is provided with a wire passing hole suitable for the electronic wire to pass through on the side away from the first opening.

[0020] Preferably, the upper shell body is outwardly extended around the one end away from the first opening to form a rim cover plate suitable for covering the end of the lower shell.

[0021] The second purpose of the utility model lies in a mobile robot comprising the cliff sensing device as described above.

[0022] Compared with the prior art, the utility model has remarkable advantages and beneficial effects, which are embodied in the following aspects:

[0023] 1、The cliff sensing device in the utility model is composed of a shell, a light barrier, a PCBA board, a signal assembly and a sealing structure, wherein the shell is composed of an upper shell and a lower shell which are connected by nesting, which not only increases the stability of the overall structure, but also facilitates assembly and disassembly. When the PCBA board or the signal assembly inside needs to be maintained or replaced, the upper shell and the lower shell can be separated, which reduces the difficulty and cost of maintenance. The PCBA board is inserted into the first installation cavity through the first opening and is clamped at one end on the upper shell body. This installation method not only ensures the stability of the PCBA board, but also avoids using too many screws and other fasteners, simplifies the assembly process and improves the production efficiency. During the cliff sensing process, the signal assembly needs to accurately emit a detection signal and receive a feedback signal. The existence of the light barrier avoids the mutual interference between the emitted light and the received light, improves the accuracy of signal transmission, and enables the device to more accurately perceive the information of obstacles such as cliffs. The signal penetration surface is located on the transmission path of the detection signal and the feedback signal, so that the signal can directly pass through the signal penetration surface during transmission, reducing the reflection and refraction of the signal in the shell, reducing signal loss, ensuring the strength and integrity of the signal, and further improving the accuracy of signal transmission. In complex environments such as cliffs, rain, humidity and other harsh conditions may be encountered. The sealing structure can effectively prevent water from entering the inside of the device, avoiding damage or short circuit of the PCBA board and the signal assembly due to moisture, and improving the reliability and service life of the device. The PCBA board and the signal assembly are respectively installed in the corresponding installation cavities. This design fully utilizes the space inside the shell, so that the layout of each component is reasonable, compact and not crowded, which not only ensures that the overall size of the device is small and is convenient to install in limited space such as cliffs, but also facilitates the connection and management of internal lines. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1Three-dimensional structure schematic view of the cliff sensing device in the embodiment of the utility model;

[0025] Figure 2 Exploded structure schematic view of the cliff sensing device in the embodiment of the utility model;

[0026] Figure 3 Sealing structure schematic view in another embodiment of the utility model;

[0027] Figure 4 Structure schematic view of the lower shell in the embodiment of the utility model;

[0028] Figure 5 Structure schematic view of the upper shell in the embodiment of the utility model;

[0029] Figure 6 Assembly structure schematic view of the light barrier, PCBA and signal assembly in the embodiment of the utility model;

[0030] Figure 7 Three-dimensional structure schematic view of the light barrier in the embodiment of the utility model;

[0031] Figure 8 Sectional structure schematic view of the cliff sensing device in the embodiment of the utility model;

[0032] Figure 9 Principle schematic view of the cliff sensing device in the embodiment of the utility model for use in a mobile robot.

[0033] Explanation of reference signs

[0034] 1 - shell;

[0035] 11 - upper shell; 111 - upper shell body; 1111 - first mounting cavity; 1112 - first opening; 1113 - threading hole; 1114 - first shoulder groove; 1115 - second shoulder groove; 1116 - buckling part; 1117 - annular groove; 1118 - edge cover plate; 1119 - dispensing groove;

[0036] 12 - lower shell; 121 - lower shell body; 1211 - signal penetration surface; 12111 - penetration hole; 1212 - second mounting cavity; 1213 - second opening; 1214 - buckling groove;

[0037] 2 - light barrier; 21 - first support plate; 211 - light transmission hole; 212 - first clamping groove; 22 - second support plate; 221 - first shoulder; 222 - second shoulder;

[0038] 3 - PCBA board; 31 - shelf; 32 - electronic wire; 33 - interface;

[0039] 4 - signal assembly; 41 - infrared emitter device; 42 - infrared receiver device;

[0040] 5 - rubber ring;

[0041] 6 - convex lens. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model will be described in detail below with reference to the drawings.

[0043] To solve the above problems, as Figures 1-8 shown, the embodiment of the utility model provides a cliff sensing device, the cliff sensing device includes shell 1, light barrier 2, PCBA board 3, signal assembly 4 and sealing structure, wherein:

[0044] The shell is divided into two parts, namely the shell 1 includes the upper shell body 11 and the lower shell body 12 connected with each other, and the shell is convenient to disassemble and maintain.The upper shell body 11 includes the upper shell body 111, the first installation cavity 1111 is arranged in the upper shell body 111, and the first opening 1112 is arranged in the upper shell body 111 and is communicated with the first installation cavity 1111, and the annular groove 1117 is also arranged on the outer circumference of the upper shell body 111;The lower shell body 12 includes the lower shell body 121, the second installation cavity 1212 is arranged in the lower shell body 121, and the second opening 1213 is also arranged in the lower shell body 121 and is communicated with the second installation cavity 1212.

[0045] The PCBA board 3 is inserted into the first installation cavity 1111 through the first opening 1112, and one end of the PCBA board 3 is clamped on the upper shell body 111;The signal assembly 4 is installed on the PCBA board 3 and located in the upper shell body 111;The light barrier 2 is connected between the PCBA board 3 and the upper shell body 111, and the light barrier 2 is suitable for separating the emitted light and the received light of the signal assembly 4;The end of the upper shell body 11 close to the first opening 1112 is suitable for being inserted into the second installation cavity 1212 of the lower shell body 12 from the second opening 1213 of the lower shell body 12;The side of the lower shell body 121 away from the upper shell body 11 forms the signal penetration surface 1211, the signal assembly 4 is used for emitting the detection signal and receiving the feedback signal formed by the detection signal reflected by the obstacle, and the signal penetration surface 1211 is located on the transmission path of the detection signal and the feedback signal.

[0046] The sealing structure is arranged between the upper shell body 11 and the lower shell body 12 to waterproof the PCBA board 3 and the signal assembly 4.

[0047] Specific to the technical solutions of the embodiment, the shell 1 is composed of the upper shell 11 and the lower shell 12 connected with each other in a nested manner, which increases the stability of the overall structure and makes the device less likely to be damaged by external forces in a complex cliff environment. On the other hand, the nested structure facilitates assembly and disassembly. When maintenance or replacement of the PCBA board 3 or the signal assembly 4 inside is required, the upper shell 11 and the lower shell 12 only need to be separated, which reduces the difficulty and cost of maintenance. The PCBA board 3 is inserted into the first mounting cavity 1111 through the first opening 1112 and is clamped at one end on the upper shell body 111. This mounting method not only ensures the stability of the PCBA board 3, but also avoids the use of too many screws and other fasteners, simplifies the assembly process, and improves the production efficiency. During the cliff sensing process, the signal assembly 4 needs to accurately emit a detection signal and receive a feedback signal. The presence of the light barrier 2 avoids mutual interference between the emitted light and the received light, improves the accuracy of signal transmission, and enables the device to more accurately perceive information about obstacles such as cliffs. The signal penetration surface 1211 is located on the transmission path of the detection signal and the feedback signal, so that the signal can directly pass through the signal penetration surface 1211 during transmission, reducing signal reflection and refraction inside the shell, reducing signal loss, ensuring signal strength and integrity, and further improving signal transmission accuracy. In complex environments such as cliffs, rain, humidity, and other harsh conditions may be encountered. The sealing structure can effectively prevent water from entering the inside of the device, avoiding damage or short circuit failure of the PCBA board 3 and the signal assembly 4 due to moisture, and improving the reliability and service life of the device. The PCBA board 3 and the signal assembly 4 are respectively installed in the corresponding mounting cavities. This design fully utilizes the space inside the shell, making the layout of each component reasonable and compact without crowding, ensuring that the overall size of the device is small, facilitating installation in limited space such as cliffs, and facilitating connection and management of internal circuits.

[0048] Specifically, referring to Figure 2 As shown in the figure, the sealing structure is a rubber ring 5 accommodated in the annular groove 1117, and the outer ring of the rubber ring 5 is located outside the annular groove 1117 and is pressed against the inner wall of the lower shell 12. Due to the good elasticity and flexibility of the rubber ring 5, it can well fill the small gap between the upper shell 11 and the lower shell 12, thereby effectively preventing external substances such as water and dust from entering the inside of the cliff sensing device, providing good protection for the PCBA board 3 and the signal assembly 4, and improving the waterproof performance and reliability of the device.

[0049] In the prior art, the plastic parts for fixing the PCBA board 3 on the market generally have two parts. In the embodiment, the upper shell 11 is used as a support bracket for the PCBA board 3, and a rubber ring 5 is placed in the annular groove 1117 on the upper shell 11. By means of the rubber ring 5 and glue injection at the wire inlet, the sensor can be waterproofed.

[0050] Specifically, as shown in Figure 4 , 5 The outer wall of the upper shell body 111 is provided with a buckling part 1116, and the side wall of the lower shell body 121 is provided with a buckling groove 1214, and the buckling part 1116 is adapted to be clamped in the buckling groove 1214.

[0051] Therefore, the cooperation of the buckling part 1116 and the buckling groove 1214 enables the upper shell body 111 and the lower shell body 121 to be tightly connected. When the buckling part 1116 is clamped in the buckling groove 1214, a certain friction and mechanical resistance are generated between the two, preventing the shell from being easily loosened or separated due to external force during use, thereby ensuring the stability of the overall structure of the cliff sensor device and facilitating the normal operation of the device in various complex environments and working conditions.

[0052] In the embodiment, if the sealing structure is sealing glue, the rubber ring 5 can be cancelled, and the buckling part 1116 on the upper shell body 111 can also be cancelled, and a circle of glue injection grooves 1119 is opened below the upper shell body 111 to fix the upper shell 11 and the lower shell 12 by glue injection, while achieving waterproofing.

[0053] Specifically, as shown in Figure 3 The upper shell body 111 is provided with a glue injection groove 1119 near one end of the lower shell body 121. The sealing structure is sealing glue filled in the glue injection groove 1119, and the sealing glue is used to seal and connect the upper shell 11 and the lower shell 12.

[0054] Therefore, the sealing glue is filled in the glue injection groove 1119, which can sufficiently fill the gap between the upper shell 11 and the lower shell 12. Since the sealing glue has good fluidity and adhesion, it can penetrate into tiny gaps during the filling process, forming a continuous and uniform sealing layer, thereby effectively preventing external substances such as water, dust, and gas from entering the inside of the cliff sensor device, providing good protection for the PCBA board 3 and the signal assembly 4, and improving the sealing performance of the device such as waterproofing and dustproofing.

[0055] Specifically, as shown in Figure 4 , 5As shown, the upper shell body 111 is provided with a first shoulder groove 1114 at both sides of the end of the first opening 1112, and the PCBA board 3 is provided with a shelf 31 at both ends of one side, which is adapted to be accommodated in the first shoulder groove 1114. In this way, the structure of the first shoulder groove 1114 can limit the shelf 31 to a certain extent, preventing the PCBA board 3 from falling out of the upper shell body 111 due to impact or vibration during use. The connection between the PCBA board 3 and the upper shell body 111 is tightened, improving the reliability of the entire device, especially in some harsh working environments or long-term operation, which can effectively avoid the failure caused by the loosening of the PCBA board 3.

[0056] Specifically, referring to Figure 4 , 5 As shown, the light barrier 2 includes a first support plate 21 and a second support plate 22 connected perpendicularly at one end, and the second support plate 22 is provided with a first shoulder 221 and a second shoulder 222 adapted to abut on the PCBA board 3, respectively. The upper shell body 111 is provided with a second shoulder groove 1115 at the other two sides of the end of the first opening 1112, and the second shoulder 222 is adapted to abut in the second shoulder groove 1115; the first support plate 21 is provided with a first clamping groove 212 opposite the edge of the shelf 31, and the first clamping groove 212 is adapted to be clamped on the shelf 31; the first support plate 21 is provided with a light transmission hole 211 opposite the signal assembly 4.

[0057] Specifically, in the technical solution of the embodiment, the structure of the light barrier 2 is relatively simple to install, and only the first shoulder 221 is abutted on the PCBA board 3, the second shoulder 222 is abutted in the second shoulder groove 1115, and the first clamping groove 212 is clamped on the shelf 31 to complete the installation. This installation method does not require the use of a large number of screws, rivets and other fasteners, nor does it require complex tools and equipment, thereby reducing the installation difficulty and time cost and improving the production efficiency.

[0058] In addition, the structural design of the light barrier 2 enables it to be tightly installed inside the cliff sensing device, fully utilizing the space inside the shell. The structural arrangement of the first support plate 21 and the second support plate 22 enables the light barrier 2 to be stably installed and effectively functional in a limited space, avoiding the occupation of too much space due to the installation of the light barrier 2, so that the structure of the entire cliff sensing device is more compact, which is conducive to reducing the volume and size of the device and facilitating installation and use in various limited spaces.

[0059] Specifically, referring to Figure 2 , 8As shown, the signal assembly 4 includes an infrared emitter 41 and an infrared receiver 42 mounted on both sides of a surface of the PCBA board 3, and the second support plate 22 is located between the infrared emitter 41 and the infrared receiver 42, which can effectively separate the light paths of emission and reception, and avoid mutual interference between them. The signal penetration surface 1211 is provided with a penetration hole 12111 opposite the infrared emitter 41 and the infrared receiver 42, and a convex lens 6 is mounted on the penetration hole 12111, so that the light emitted by the infrared emitter 41 and the light received by the infrared receiver 42 can be accurately transmitted through the convex lens 6, ensuring the accuracy and stability of signal transmission. The convex lens 6 has the function of focusing light. For the light emitted by the infrared emitter 41, the convex lens 6 can focus it, so that the light is more concentrated and emitted outward, improving the strength and transmission distance of the signal. For the light received by the infrared receiver 42, the convex lens 6 can focus the light reflected from the outside to the infrared receiver 42, improving the reception efficiency and accuracy of the signal, and further improving the detection performance of the cliff sensing device

[0060] It should be particularly pointed out that the convex lens 6 is used for light focusing and light intensity enhancement to avoid the situation that the signal is too low to walk on some low-reflectivity ground, and the cliff height and safety distance can be adjusted according to the angle and position of the infrared emitter 41 and the infrared receiver 42.

[0061] Specifically, please refer to Figure 1 , 2 As shown, the PCBA board 3 further includes an electronic wire 32 and an interface 33, one end of the electronic wire 32 is electrically connected with the PCBA board 3, and the other end is connected with the interface 33; the upper shell body 111 is provided with a wire hole 1113 suitable for the electronic wire 32 to pass through on the side away from the first opening 1112. The electronic elements on the PCBA board 3 can be electrically connected with external devices or other circuit systems through the electronic wire 32, realizing the transmission of signals and power. The interface 33 as an interface connected with the outside can be conveniently connected with other devices, improving the compatibility and expansibility of the cliff sensing device.

[0062] Specifically, please refer to Figure 2 , 5 As shown, the upper shell body 111 extends outwardly at the outer periphery of one end away from the first opening 1112 to form a rim cover plate 1118, and the rim cover plate 1118 is suitable for covering the end of the lower shell 12.

[0063] Therefore, the edge cover plate 1118 provides additional coverage and connection area between the upper shell 11 and the lower shell 12, so that the connection between the two shells is more tight and firm, can better withstand external impact, vibration and other forces, reduce the risk of shell deformation or damage caused by external force, thereby improving the stability and reliability of the overall structure of the cliff sensing device.

[0064] Please refer to Figure 9 Another embodiment of the utility model also provides a mobile robot, the mobile robot includes the cliff sensing device.

[0065] The specific working process of the cliff sensing device in the utility model is as follows:

[0066] The cliff sensing device is generally installed at the bottom of the mobile robot, the infrared emitter 41 emits an infrared light with a certain divergence angle, which is collimated and focused by the convex lens 6 and hits the ground at a certain angle; when the sensor is within a safe distance from the ground, the infrared light will hit the field of view of the receiving lens, so as to be received by the infrared receiver 42 and output a signal value; if the sensor is too far from the ground and exceeds the height that the robot can cross, the infrared light will hit outside the field of view of the receiving lens, and no signal value will be output at this time. There is a light barrier 2 between the infrared emitter 41 and the infrared receiver 42 in the sensor to prevent infrared light crosstalk.

[0067] Since the mobile robot adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here. Among them, the cliff sensing device is installed in the robot main body.

[0068] Although the present disclosure is as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the utility model.

Claims

1. A cliff sensing apparatus, characterized by, include: The outer shell (1) includes an upper shell (11) and a lower shell (12) that are nested together. The upper shell (11) includes an upper shell body (111). The upper shell body (111) has a first mounting cavity (1111) and a first opening (1112) that communicates with the first mounting cavity (1111). An annular groove (1117) is also provided on the outer circumference of the upper shell body (111). The lower housing (12) includes a lower housing body (121), the lower housing body (121) is provided with a second mounting cavity (1212) and also has a second opening (1213) communicating with the second mounting cavity (1212); PCBA board (3) is inserted into the first mounting cavity (1111) through the first opening (1112), and one end of the PCBA board (3) is snapped onto the upper shell body (111). The signal component (4) is mounted on the PCBA board (3) and located inside the upper shell body (111); A light-blocking plate (2) is connected between the PCBA board (3) and the upper shell body (111), and the light-blocking plate (2) is adapted to separate the emitted light and received light of the signal component (4); The end of the upper housing (11) near the first opening (1112) is adapted to be inserted into the second mounting cavity (1212) of the lower housing (12) through the second opening (1213); a signal penetrating surface (1211) is formed on the side of the lower housing body (121) away from the upper housing (11); the signal component (4) is used to transmit a detection signal and receive a feedback signal formed by the detection signal after being reflected by an obstacle; the signal penetrating surface (1211) is located on the transmission path of the detection signal and the feedback signal. A sealing structure is provided between the upper housing (11) and the lower housing (12) to waterproof the PCBA board (3) and the signal assembly (4).

2. The cliff sensor apparatus of claim 1, wherein, The sealing structure is a rubber ring (5) housed in the annular groove (1117), and the outer ring of the rubber ring (5) is located outside the annular groove (1117) and is pressed against the inner wall of the lower housing (12).

3. The cliff sensor apparatus of claim 1, wherein, The upper shell body (111) has a dispensing groove (1119) at one end near the lower shell body (121). The sealing structure is a sealant filled in the dispensing groove (1119). The sealant is used to seal the connection between the upper shell (11) and the lower shell (12).

4. The cliff sensor apparatus of claim 2, wherein, The upper shell body (111) has a fastening part (1116) on its outer wall, and the lower shell body (121) has a fastening groove (1214) on its side wall, and the fastening part (1116) is adapted to be engaged in the fastening groove (1214).

5. The cliff sensor apparatus of claim 1, wherein, The upper shell body (111) is provided with a first shoulder groove (1114) on both sides of the end of the first opening (1112), and one side of the PCBA board (3) is provided with a shelf (31) adapted to be accommodated in the first shoulder groove (1114).

6. The cliff sensor apparatus of claim 5, wherein, The light blocking plate (2) comprises a first support plate (21) and a second support plate (22) connected perpendicularly at one end, the second support plate (22) is provided with a first shoulder (221) and a second shoulder (222) adapted to abut on the PCBA board (3) respectively, the upper shell body (111) is provided with a second shoulder groove (1115) on the other two sides of the end of the first opening (1112), and the second shoulder (222) is adapted to abut in the second shoulder groove (1115); the first support plate (21) is provided with a first clamping groove (212) opposite the edge of the shelf (31), and the first clamping groove (212) is adapted to be clamped on the shelf (31); the first support plate (21) is provided with a light transmission hole (211) opposite the signal assembly (4).

7. The cliff sensor apparatus of claim 6, wherein, The signal assembly (4) comprises an infrared emitter (41) and an infrared receiver (42) mounted on both sides of one surface of the PCBA board (3), and the second support plate (22) is located between the infrared emitter (41) and the infrared receiver (42), the signal penetration surface (1211) is provided with a penetration hole (12111) opposite the infrared emitter (41) and the infrared receiver (42) respectively, and the penetration hole (12111) is provided with a convex lens (6).

8. The cliff sensor apparatus of claim 4, wherein, The PCBA board (3) further comprises an electronic wire (32) and an interface (33), one end of the electronic wire (32) is electrically connected with the PCBA board (3), and the other end is connected with the interface (33); the upper shell body (111) is provided with a wire hole (1113) adapted for the electronic wire (32) to pass through on the side away from the first opening (1112).

9. The cliff sensor apparatus of claim 2, wherein, The upper shell body (111) extends outwardly from the outer periphery of one end away from the first opening (1112) to form an edge cover plate (1118), and the edge cover plate (1118) is adapted to cover the end of the lower shell (12).

10. A mobile robot, characterized by A cliff sensing device as claimed in any one of claims 1 to 9. A cliff sensing device as claimed in any one of claims 1 to 9.

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