Optical module and cleaning device

Abstract

An optical module (100) and a cleaning device (200). The optical module (100) comprises: a light source assembly (140), a receiving assembly (150), and a field-of-view folding assembly (110). The light source assembly (140) is used for transmitting a detection signal to detect a target object. The receiving assembly (150) is used for receiving an echo signal reflected by the target object, and the receiving assembly (150) at least forms a receiving field of view in the vertical direction. The field-of-view folding assembly (110) is configured to fold a portion of the receiving field of view to form a first receiving field of view (101), and the unfolded receiving field of view forms a second receiving field of view (102). The direction in which the first receiving field of view (101) receives an echo signal is different from the direction in which the second receiving field of view (102) receives an echo signal.

Description

Optical modules and cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311597711.7 filed on November 27, 2023. The contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as part of this application. Technical Field

[0003] The present disclosure relates to the technical field of cleaning equipment, and in particular to an optical module and cleaning equipment. Background Art

[0004] With technological advancements, autonomous mobile devices, such as service robots and cleaning robots, have become widely used in industrial sites, commercial spaces, and residential homes. These devices must proactively identify and avoid obstacles in complex environments. To ensure that these devices can effectively understand their surroundings in real time and avoid obstructions caused by nearby objects, detection or optical modules can be installed within the devices to facilitate navigation and obstacle avoidance. However, existing detection or optical modules are complex or numerous, impacting the design and layout of these devices and increasing their cost. Summary of the Invention

[0005] The purpose of this disclosure is to provide an optical module and cleaning equipment to address the technical problems in the related art. The specific solution is as follows:

[0006] A first aspect of an embodiment of the present disclosure provides an optical module, comprising: a light source component for emitting a detection signal to detect a target object; a receiving component for receiving an echo signal reflected by the target object, the receiving component forming at least a receiving field of view along a vertical direction; and a field of view folding component, configured to fold a portion of the receiving field of view to form a first receiving field of view, and the unfolded receiving field of view forms a second receiving field of view, wherein the direction in which the first receiving field of view receives the echo signal is different from the direction in which the second receiving field of view receives the echo signal.

[0007] In some embodiments, the first receiving field of view is approximately above a horizontal plane where a center line of the receiving field of view is located.

[0008] In some embodiments, a direction in which the first receiving field of view receives the echo signal is opposite to a direction in which the second receiving field of view receives the echo signal.

[0009] In some embodiments, the field of view folding component is configured as a reflector having a reflective surface for reflecting the detection signal.

[0010] In some embodiments, the reflective surface of the field of view folding assembly is substantially perpendicular to the interface between the first receiving field of view and the second receiving field of view.

[0011] In some embodiments, the light source assembly includes a first light source and a second light source, wherein the first light source and the second light source are configured to emit detection signals along the first receiving field of view and / or the second receiving field of view.

[0012] In some embodiments, the first light source and the second light source are configured to transmit detection signals along the first receiving field of view and / or the second receiving field of view in a time-sharing or simultaneous manner.

[0013] In some embodiments, the first light source and the second light source emit different wavelengths.

[0014] In some embodiments, the light source assembly further includes: a shaping assembly configured to shape the detection signal into a surface emission signal.

[0015] In some embodiments, the shaping component includes at least one of the following: a single lens, a lens assembly, or a diffuser.

[0016] In some embodiments, the receiving component includes: a sensor for receiving the echo signal; and a lens component for converging the echo signal onto the sensor.

[0017] In some embodiments, the receiving component further includes: a filter for filtering out stray light.

[0018] A second aspect of the embodiments of the present disclosure provides a cleaning device, comprising the optical module provided in the first aspect of the embodiments of the present disclosure.

[0019] The optical module provided by the present invention includes a field of view folding component, which can fold a part of the original receiving field of view on the basis of the original field of view to form a first receiving field of view and a second receiving field of view with a different direction from the first receiving field of view. The receiving component can receive the echo signals of the first receiving field of view and the second receiving field of view, and judge the surrounding target objects through the echo signals in different directions, thereby achieving the effect of completing multi-directional detection by setting up a single optical module.

[0020] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0022] FIG1 is a schematic structural diagram of a cleaning device according to a related art.

[0023] FIG2 is a schematic structural diagram of a cleaning device according to some embodiments.

[0024] FIG3 is a schematic structural diagram of an optical module according to some embodiments.

[0025] FIG4 is a schematic diagram showing a field of view structure of an optical module according to some embodiments.

[0026] Reference numerals:

[0027] Detection module 100';

[0028] Optical module 100, first receiving field of view 101, second receiving field of view 102, field of view folding component 110, circuit board 120, lens assembly 130, light source assembly 140, light source 141, shaping component 142, receiving component 150, sensor 151, focusing component 152, lens mount 160, cleaning device 200. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the present disclosure will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present disclosure, rather than all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort are intended to fall within the scope of protection of the present disclosure.

[0030] The terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms "a," "the," and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "A variety of" generally includes at least two, and other quantifiers are similar.

[0031] It should be understood that although the terms "first," "second," "third," etc. may be used to describe in the present disclosure, these descriptions should not be limited to these terms. These terms are only used to distinguish the objects being described. For example, without departing from the scope of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. In addition, the terms "first," "second," "third," etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0032] It should be understood that the term "and / or" as used herein is merely a description of an association between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " as used herein generally indicates that the associated objects are in an "or" relationship. The singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0033] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or device comprising the element.

[0034] In the related art, in order to enable the cleaning equipment to automatically navigate and avoid obstacles during the automatic cleaning process, a detection module 100' is placed at the front and rear ends of the cleaning equipment. As shown in Figure 1, the front field of view and the rear field of view of the moving direction of the cleaning equipment are respectively obtained by two detection modules 100'. Furthermore, obstacle detection is performed in the front field of view and the rear field of view respectively, thereby realizing obstacle detection and navigation avoidance in front of and behind the cleaning equipment. On the one hand, the provision of the two detection modules 100' occupies the internal space of the cleaning equipment and increases the power consumption of the equipment. On the other hand, after the two detection modules 100' are installed in the cleaning equipment, they need to be calibrated with external parameters separately, which increases the volume and complexity of the jig and reduces production efficiency. It not only affects the arrangement of other functional components, but also greatly increases the cost of the cleaning equipment.

[0035] Based on this, the present disclosure provides an optical module, including: a light source component for emitting a detection signal to detect a target object; a receiving component for receiving an echo signal reflected by the target object, the receiving component at least forming a receiving field of view along the vertical direction; and a field of view folding component, configured to fold a portion of the receiving field of view to form a first receiving field of view, and the unfolded receiving field of view forms a second receiving field of view, wherein the direction in which the first receiving field of view receives the echo signal is different from the direction in which the second receiving field of view receives the echo signal.

[0036] The optical module provided by the present invention can fold a part of the original receiving field of view on the basis of the original field of view to form a first receiving field of view and a second receiving field of view with a different direction from the first receiving field of view. The receiving component can receive the echo signals of the first receiving field of view and the second receiving field of view, and judge the surrounding target objects through the echo signals in different directions, thereby achieving the effect of completing multi-directional detection by setting up a single optical module.

[0037] Optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0038] Figure 2 is a schematic diagram of the three-dimensional structure of a cleaning device according to some embodiments, wherein the receiving field of view is a receiving field of view in a vertical plane. As shown in Figure 2, an embodiment of the present disclosure provides an optical module 100 and a cleaning device 200 equipped with the optical module 100. The optical module 100 is arranged on one side of the cleaning device 200 for environmental detection, for example, it is arranged at the front end or rear end of the cleaning device 200, or it can be arranged on any side of the cleaning device 200, without limitation. The following description will be made using the example of being arranged at the front end of the cleaning device 200. The optical module 100 forms a folded first field of view 101 and an unfolded second field of view 102. The first field of view 101 and the second field of view 102 are respectively used to detect different directions of the cleaning device 200.

[0039] In some embodiments, the optical module 100 can be based on a 3dToF ​​module with a folded field of view. 3dToF ​​refers to the use of the ToF (Time of Flight) measurement principle based on the lens module to determine the distance between the lens module and objects in the surrounding environment, and generate 3D depth information through measurement points. The ToF measurement principle is that the emitted detection light is reflected after encountering an object during flight. When the device receives the reflected information, the information collection is completed once. The sensor calculates the distance of the photographed object by calculating the time difference or phase difference between the emission and reflection of the light.

[0040] FIG3 is a schematic diagram of the structure of an optical module in a vertical plane according to some embodiments. In some embodiments, as shown in FIG3 , the optical module 100 includes: a light source assembly 140, a receiving assembly 150, and a field of view folding assembly 110. The light source assembly 140 is used to transmit a detection signal to detect the environment around the cleaning device 200, and the receiving assembly 150 is used to receive the echo signal reflected by the target object, wherein the field of view folding assembly 110 is used to fold the receiving field of view in a single direction to form a receiving field of view in different directions, so that by setting an optical module in the cleaning device, environmental detection in at least two directions of the field of view can be achieved. For example, the cleaning device can simultaneously perform environmental detection on the front field of view and the rear field of view in the moving direction of the cleaning device through the one optical module.

[0041] Specifically, a circuit board 120 and a lens mount 160 are provided within the optical module 100. At least a portion of the light source assembly 140 and the receiving assembly 150 are provided on the circuit board 120. For example, the light source assembly 140 includes a light source 141 and a shaping assembly 142, and the receiving assembly 150 includes a sensor 151 and a focusing assembly 152. The light source 141 and the sensor 151 are both provided on the circuit board 120, while the shaping assembly 142 and the focusing assembly 152 are provided on the lens mount 160. The light source assembly 140 transmits a detection signal to detect information such as the direction, position, and size of a target object. After being reflected by the target object, the detection signal forms an echo signal that enters the receiving field of view of the receiving assembly 150 and is received by the receiving assembly 150. The environmental state surrounding the cleaning device is determined by calculation and analysis by other peripheral devices in the optical module 100.

[0042] In some embodiments, the light source assembly 140 includes at least one light source 141, for example, one laser light source, two laser light sources, or three laser light sources, etc. There is no strict limit on the number and it can be within a reasonable range.

[0043] It should be noted that the present disclosure does not limit the type of the laser, and the laser includes but is not limited to an edge-emitting laser (EEL) with horizontal resonance and horizontal light emission or a vertical-cavity surface-emitting laser (VCSEL) with vertical resonance and vertical light emission.

[0044] Furthermore, the present disclosure does not limit the wavelength of the laser light emitted by the laser, which can be visible light or invisible light. Invisible light is, for example, infrared laser light, with wavelengths including but not limited to 808 nm, 850 nm, 905 nm, 920 nm, and 940 nm.

[0045] In some embodiments, the light source assembly 140 further includes a shaping assembly 142. Optionally, the shaping assembly 142 can be one or a combination of a single lens, a lens group, or a diffuser, and the lens material includes but is not limited to glass, PC, and PMMA. The shaping assembly 142 is used to shape the detection signal emitted by at least one light source 141 into a surface emission signal, and the surface emission signal forms a roughly conical detection beam that is emitted around the cleaning device 200, so that the echo signal can enter the receiving field of view. The wider the conical detection beam in the horizontal direction, the better. For example, it can detect a range of 150-180 degrees in the horizontal direction to cover a wider detection range as much as possible. Limited by the light source structure, in the vertical direction, the light source can usually cover a range of 60-90 degrees.

[0046] In some embodiments, the receiving component 150 includes at least one sensor 151, for example, it may include a surface receiving sensor formed by one sensor, two sensors or multiple sensors. There is no strict limit on the number of sensors, and the required receiving field of view can be formed within a reasonable range, including but not limited to iToF (indirect Time-of-Flight) sensors and dToF (direct Time-of-Flight, direct measurement of flight time) sensors.

[0047] In some embodiments, the receiving component 150 further includes a focusing component 152. Optionally, the focusing component 152 can be the lens, a single lens, or a lens assembly consisting of multiple lenses. Lens materials include, but are not limited to, glass, PC, and PMMA. The focusing component 152 is configured to receive echo signals and converge them onto the sensor 151.

[0048] In some embodiments, the receiving assembly 150 forms a roughly conical receiving field of view centered on the receiving assembly 150. Generally, all echo signals within the receiving field of view are received by the receiving assembly 150. The wider the conical receiving field of view horizontally, the better. For example, it can detect signals within a range of 100-180 degrees horizontally to maximize the detection range. Due to the limitations of the detection signal of the detection light source, the vertical receiving field of view typically covers a range of 60-120 degrees. Embodiments aim to expand the detection direction by folding a local vertical field of view.

[0049] In some embodiments, a field of view folding assembly 110 is disposed within the receiving field of view. The field of view folding assembly 110 folds a portion of the receiving field of view, enabling the folded portion of the field of view to receive echo signals in a direction different from the original field of view. The folded receiving field of view forms a first receiving field of view 101, while the unfolded receiving field of view maintains its original receiving field of view direction, forming a second receiving field of view 102. It should be noted that due to the provision of the field of view folding assembly 110, the conical detection signal formed by the light source assembly 140 is also folded, thereby enabling the folded detection beam to be received through the folded first receiving field of view 101, and the unfolded detection beam to be received through the unfolded second receiving field of view 102, thereby completing detection in at least two directions.

[0050] It is understandable that the field of view folding component 110 can also form a detection beam and a folded field of view that are folded in multiple directions, thereby forming synchronous detection in multiple directions, and there is no specific limitation on this.

[0051] Specifically, the receiving field of view forms a substantially conical receiving field of view in space with an axis OM, and the receiving field of view forms the same divergence angle a from the axis OM in the vertical plane, as shown in Figure 3. The first receiving field of view 101 is substantially above the horizontal plane where the axis OM is located.

[0052] Furthermore, the first receiving field of view 101 only receives echo signals of target objects within the first receiving field of view 101, and the second receiving field of view 102 only receives echo signals of target objects within the second receiving field of view 102. Due to the configuration of the field of view folding component 110, the first receiving field of view 101 and the second receiving field of view 102 transmit signals in different directions. Therefore, the direction in which the first receiving field of view 101 receives the echo signals is different from the direction in which the second receiving field of view 102 receives the echo signals. The receiving component 150 can achieve navigation and obstacle avoidance in both directions by receiving echo signals within the first receiving field of view 101 and the second receiving field of view 102.

[0053] FIG4 is a schematic diagram of a field of view angle structure in a vertical plane of an optical module according to some embodiments. In some embodiments, as shown in FIG4 , the reflective surface on which the field of view folding component 110 is located is approximately perpendicular to the interface ON between the first receiving field of view 101 and the second receiving field of view 102. When the field of view folding component 110 is approximately perpendicular to the interface ON, the detection signal in the first receiving field of view 101 can be reflected by the reflective surface of the field of view folding component 110 in a direction different from that of the second receiving field of view 102, such as the opposite direction or other directions. At this time, the first receiving field of view 101 and the second receiving field of view 102 have different field of view directions. Furthermore, the direction of the echo signal received by the first receiving field of view 101 is different from the direction of the echo signal received by the second receiving field of view 102.

[0054] In some embodiments, the field of view folding component 110 can be a single reflector, or a reflector group or a lens group. The lens material includes but is not limited to glass, PC, PMMA, etc. The field of view folding component 110 can fold the first receiving field of view 101 to one or more directions as needed. At this time, one or more reflective surfaces are provided on the side of the field of view folding component 110 facing the light source.

[0055] As shown in Figure 4, the lower edge of the folded second receiving field of view 102 forms an angle b with the horizontal plane. The greater the elevation angle between the field of view folding assembly 110 and the lower edge of the second receiving field of view 102, the greater the angle b. Furthermore, the position of the boundary between the first receiving field of view 101 and the second receiving field of view 102 can be changed by controlling the pitch of the field of view folding assembly 110, thereby adjusting the angle c between the first receiving field of view 101 and the angle d between the second receiving field of view 102. The field of view folding assembly 110 maintains 2a = c + d during elevation adjustment, thereby controlling the angle b so that the lower edge of the first receiving field of view 101 is not obstructed by the optical module. Furthermore, to ensure that the lower edge of the first receiving field of view 101 is not obstructed by the cleaning equipment, a transparent housing can be used in the optical path.

[0056] In some embodiments, the light source 141 includes a first light source and a second light source, and the first light source and the second light source are configured to transmit detection signals along the first receiving field of view 101 and / or the second receiving field of view 102. The first light source and the second light source transmit detection signals of different wavelengths to avoid interference. For example, the first light source is visible light and the second light source is infrared light, or both the first light source and the second light source are infrared light of different wavelengths.

[0057] In some embodiments, the first light source can transmit a detection signal along the first receiving field of view 101 and the second receiving field of view 102. When the first light source transmits the detection signal along the first receiving field of view 101, the first light source is reflected by a target object within the first receiving field of view 101, forming an echo signal to detect the target object within the first receiving field of view 101. When the first light source transmits the detection signal along the second receiving field of view 102, the first light source is reflected by a target object within the second receiving field of view 102, forming an echo signal to detect the target object within the second receiving field of view 102.

[0058] Similarly, the second light source may also transmit detection signals along the first receiving field of view 101 and the second receiving field of view 102. When the second light source transmits detection signals along the first receiving field of view 101, the second light source is reflected by target objects within the first receiving field of view 101, forming an echo signal to detect target objects within the first receiving field of view 101. When the second light source transmits detection signals along the second receiving field of view 102, the second light source is reflected by target objects within the second receiving field of view 102, forming an echo signal to detect target objects within the second receiving field of view 102.

[0059] In other embodiments, the first light source and the second light source can simultaneously transmit detection signals toward the first receiving field of view 101. When the first light source and the second light source simultaneously transmit detection signals toward the first receiving field of view 101, the receiving component 150 will receive echo signals formed by the first light source and the second light source within the first receiving field of view 101. Further, the echo signals received within the first receiving field of view 101 are analyzed to determine the position and size of the target object within the first receiving field of view 101.

[0060] Similarly, when the first light source and the second light source simultaneously transmit detection signals toward the second receiving field of view 102, the receiving component 150 will receive the echo signals formed by the first light source and the second light source within the second receiving field of view 102, and further analyze the echo signals received within the second receiving field of view 102 to determine the position and size of the target object within the second receiving field of view 102.

[0061] In some embodiments, the first light source and the second light source may transmit detection signals along the first receiving field of view 101 and the second receiving field of view 102 in a time-sharing manner.

[0062] Specifically, at a certain moment, the first light source transmits detection signals to the first receiving field of view 101 and the second receiving field of view 102, respectively, to detect target objects within the first receiving field of view 101 and the second receiving field of view 102, respectively. When the first light source transmits detection signals to the first receiving field of view 101 and the second receiving field of view 102, respectively, the first light source contacts the target objects within the first receiving field of view 101 and the second receiving field of view 102, respectively, to generate echo signals. Furthermore, the echo signals feed back optical information to the receiving component 150, which receives and analyzes the echo signals within the first receiving field of view 101 and the second receiving field of view 102, and determines the position or size of the target objects within the first receiving field of view 101 and the second receiving field of view 102 based on the echo signals.

[0063] At the next moment, the second light source transmits a detection signal to the second receiving field of view 102 and the first receiving field of view 101 to detect target objects within the second receiving field of view 102 and the first receiving field of view 101, respectively. When the second light source transmits the detection signal to the second receiving field of view 102 and the first receiving field of view 101, respectively, the second light source contacts the target objects within the second receiving field of view 102 and the first receiving field of view 101, respectively, to generate echo signals. Furthermore, the echo signals feed back optical information to the receiving component 150. The receiving component 150 receives and analyzes the echo signals within the second receiving field of view 102 and the first receiving field of view 101, and determines the position or size of the target objects within the second receiving field of view 102 and the first receiving field of view 101 based on the echo signals.

[0064] In some other embodiments, the first light source and the second light source are configured to transmit detection signals to the first receiving field of view 101 and the second receiving field of view 102 respectively at the same time to determine the target object in the second field of view.

[0065] Specifically, the first light source and the second light source can respectively transmit detection signals to the first receiving field of view 101 and the second receiving field of view 102 at the same time. For example, the first light source transmits a detection signal to the first receiving field of view 101, and the second light source transmits a detection signal to the second receiving field of view 102. The first light source contacts the target object in the first receiving field of view 101 and forms a first light echo which is transmitted back to the receiving component 150; the second light source contacts the target object in the second receiving field of view 102 and forms a second light echo which is transmitted back to the receiving component 150. The receiving component 150 simultaneously receives the first light echo and the second light echo, and forms an optical analysis of the target objects in the first receiving field of view 101 and the second receiving field of view 102 based on the first light echo and the second light echo. Thus, the effect of one optical module 100 receiving data in two fields of view at the same time is achieved, which improves the analysis efficiency while saving the production cost, thereby improving the user experience.

[0066] When the first light source transmits a detection signal to the second receiving field of view 102 and the second light source transmits a detection signal to the first receiving field of view 101 , the principle is the same as above and will not be repeated here.

[0067] In some embodiments, the receiving component 150 also includes a filter, which is used to filter out stray light, making the echo signal easier to be recognized and judged by the receiving component 150, avoiding the influence of stray light and causing deviations in the analysis results of the target object.

[0068] The second aspect of the present disclosure provides a cleaning device 200, comprising the optical module 100 as described in any of the above embodiments. As shown in FIG2 , the optical module 100 is disposed on one side of the cleaning device 200 for obstacle detection, for example, at the front or rear end of the cleaning device 200.

[0069] In some embodiments, the portion of the top of the cleaning device 200 that contacts the optical module 100 can be configured as a transparent window to prevent the cleaning device 200 from blocking the light path. The light source folded by the field of view folding component 110 can emit a detection signal through the transparent window to detect the target object within the first receiving field of view 101.

[0070] Furthermore, the transparent window may extend to the side of the cleaning device 200 . The increased area of ​​the transparent window facilitates the light source in the first receiving field of view 101 to be emitted through the transparent window to receive and detect the target object in the first receiving field of view 101 .

[0071] The optical module 100 used in the cleaning device 200 can meet the navigation and obstacle avoidance needs of the cleaning device 200. Since the cleaning device 200 generally does not require a large vertical field of view during operation, a field of view folding component 110 is added. Through the field of view folding component 110's reflection method, the top portion of the vertical field of view is folded to different directions, which can enhance the cleaning device's obstacle detection in other directions. For example, after the first receiving field of view 101 is folded to the upper and rearward position, it can be used for backward navigation of the cleaning device 200, while the remaining second receiving field of view 102 can still meet the cleaning device 200's forward navigation and obstacle avoidance needs.

[0072] In the cleaning equipment involved in the present disclosure, only one optical module is needed to complete the forward navigation and obstacle avoidance and backward navigation functions of the cleaning equipment, which simplifies the external parameter calibration in the manufacturing process of the cleaning equipment, reduces the size and complexity of the fixture, improves production efficiency, and reduces production costs.

[0073] The specific structure, working principle, and beneficial effects of the optical module 100 and the cleaning device 200 provided in the embodiments of the present disclosure can refer to the optical module 100 and the existing cleaning device 200 described in any of the above embodiments, and will not be repeated here.

[0074] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. References to the common and similar parts between the various embodiments will be sufficient. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, their descriptions are relatively simple; for relevant details, refer to the descriptions of the methods.

[0075] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. An optical module, comprising: a light source assembly configured to emit a detection signal to detect a target object; A receiving component, configured to receive an echo signal reflected by the target object, wherein the receiving component at least forms a receiving field of view along a vertical direction; as well as a field of view folding component, configured to fold a portion of the receiving field of view to form a first receiving field of view, and the unfolded receiving field of view forms a second receiving field of view, A first direction in which the first receiving field of view receives the echo signal is different from a second direction in which the second receiving field of view receives the echo signal.

2. The optical module according to claim 1, wherein: The first receiving field of view is substantially above a horizontal plane where a center line of the receiving field of view is located.

3. The optical module according to claim 1, wherein: The first direction is opposite to the second direction.

4. The optical module according to claim 1, wherein: The field of view folding component is constructed as a reflector having a reflective surface for reflecting the detection signal.

5. The optical module according to claim 4, wherein: The reflective surface of the field of view folding assembly is substantially perpendicular to the interface between the first receiving field of view and the second receiving field of view.

6. The optical module according to claim 1, wherein: The light source assembly includes a first light source and a second light source configured to transmit a detection signal along at least one of the first receiving field of view or the second receiving field of view.

7. The optical module according to claim 6, wherein: The first light source and the second light source are configured to transmit detection signals along at least one of the first receiving field of view or the second receiving field of view in a time-sharing manner or simultaneously.

8. The optical module according to claim 6, wherein: The first light source and the second light source emit different wavelengths.

9. The optical module according to claim 1, wherein: The light source assembly further comprises: A shaping component is configured to shape the detection signal into a surface transmission signal.

10. The optical module according to claim 9, wherein: The shaping component includes at least one of the following: a single lens, a lens group or a diffuser.

11. The optical module according to claim 1, wherein: The receiving component comprises: a sensor configured to receive the echo signal; and The lens assembly is configured to converge the echo signal onto the sensor.

12. The optical module according to claim 11, wherein: The receiving component also includes: A filter is configured to filter out stray light.

13. A cleaning device comprising: An optical module according to any one of claims 1-12.

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