Optical sensor and self-moving device

Abstract

An optical sensor (200) and a self-moving device (100). The optical sensor (200) comprises a light emitting portion (210) and a light receiving portion (220). A first light reflecting portion (230) is provided on an optical receiving path of the light receiving portion (220), and the first light reflecting portion (230) is used to reflect second exit light emitted from other optical sensing components.

Description

Optical sensor and self-moving device CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on March 20, 2024, with application number 202420548561.4, and invention name “An Optical Sensor and Self-Moving Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of sensor technology, and in particular to an optical sensor and a self-propelled device. Background Art

[0003] Currently, self-mobile devices have been widely used in users' homes. Self-mobile devices can provide one or more cleaning services such as sweeping, mopping or washing the floor, for example, sweeping robots, mopping robots, etc.

[0004] Multiple optical sensors are installed on the mobile device to detect the surrounding environment, thereby ensuring that the mobile device can smoothly perform tasks.

[0005] The Abstract section introduces a series of simplified concepts that will be further described in the Detailed Description section. The Abstract section of this application is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] In a first aspect, an embodiment of the present application provides an optical sensor, comprising a light emitting unit and a light receiving unit, wherein a first light reflecting unit is provided on a receiving light path of the light receiving unit;

[0007] In which, the light emitting part is used to emit a first outgoing light to the area or object to be detected, and the first outgoing light is emitted through the surface of the area or object to be detected to form a reflected light, and at least part of the reflected light passes through the first light reflecting part; the first light reflecting part is used to reflect the second outgoing light emitted by other optical sensing components; the light receiving part is used to receive the reflected light passing through the first light reflecting part.

[0008] Optionally, the optical sensor includes a housing, a housing is provided in the housing, and the light emitting part and the light receiving part are both provided in the housing;

[0009] The first light reflecting portion is arranged on a first shell wall of the housing corresponding to the light receiving portion, and the first shell wall is a light-transmitting wall.

[0010] Optionally, a second light reflecting portion is provided on the emission light path of the light emitting portion, and the second light reflecting portion is used to reflect the second emitted light.

[0011] Optionally, the second light reflecting portion is provided on a second shell wall of the housing corresponding to the light emitting portion, and the second shell wall is a light-transmitting wall.

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

[0013] Optionally, the second light reflecting portion is arranged on the inner side or the outer side of the second shell wall.

[0014] Optionally, the first light reflecting portion and the second light reflecting portion are integrally formed.

[0015] Optionally, a first convex lens is provided between the light receiving part and the first light reflecting part.

[0016] Optionally, a second convex lens is provided between the light emitting portion and the second light reflecting portion.

[0017] Optionally, a light isolation portion is provided between the light emitting portion and the light receiving portion.

[0018] Optionally, the light-isolating portion further extends between the first convex lens and the second convex lens.

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

[0020] Optionally, the second light reflecting portion is a reflective film.

[0021] In a second aspect, an embodiment of the present application provides a self-moving device, comprising a main body; a plurality of optical sensing components are provided on the main body, and one or more of the plurality of optical sensing components are the above-mentioned optical sensors.

[0022] Optionally, the optical sensing component is a cliff sensor, a tof ranging sensor or an optical mouse sensor.

[0023] Optionally, the TOF distance measuring sensor is located on the side wall of the main body, the cliff sensor is located on the edge of the bottom surface of the main body, and the optical mouse sensor is located on the bottom surface of the main body. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0025] In the attached figure:

[0026] FIG1 is a structural diagram of a self-moving device according to an optional embodiment of the present application;

[0027] FIG2 is an overall structural diagram of an optical sensor according to an optional embodiment of the present application;

[0028] FIG3 is a cross-sectional view of an optical sensor according to an alternative embodiment of the present application;

[0029] FIG4 is a cross-sectional view of an optical sensor according to another optional embodiment of the present application;

[0030] FIG5 is a partial exploded view of an optical sensor according to an alternative embodiment of the present application;

[0031] FIG6 is a cross-sectional view of an optical sensor according to yet another alternative embodiment of the present application;

[0032] FIG7 is a cross-sectional view of an optical sensor according to yet another alternative embodiment of the present application;

[0033] FIG8 is a partial exploded view of an optical sensor according to another alternative embodiment of the present application;

[0034] FIG9 is a reflectivity curve diagram of the first light reflecting portion according to an optional embodiment of the present application.

[0035] Description of reference numerals:

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

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

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

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

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

[0041] As shown in Figures 1 and 2, the self-propelled device 100 may include a main body 110, a sensing system, a control module, a drive system 150, a cleaning system 160, an energy system, and a human-computer interaction system. As shown in Figure 1, the main body 110 includes a front portion and a rear portion, and has a substantially circular shape (both front and rear are circular). Other shapes are also possible, including but not limited to a substantially D-shaped shape with a front and rear circular shape, and a rectangular or square shape with both front and rear portions.

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

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

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

[0045] As shown in Figure 1, the drive system 150 can steer the main body 110 across a terrain based on drive commands containing distance and angle information, such as x, y, and θ components. The drive system 150 includes a drive wheel module 151, which can simultaneously control both the left and right wheels. To more precisely control the movement of the machine, the drive wheel module 151 preferably includes a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are arranged along a transverse axis defined by the main body 110. To enable more stable movement or enhanced mobility of the self-propelled device 100 on the ground, the self-propelled device 100 may include one or more driven wheels 152, including but not limited to universal wheels. The drive wheel module 151 includes running wheels and a drive motor, as well as control circuitry for controlling the drive motor. The drive wheel module 151 may also be connected to circuitry for measuring drive current and an odometer. The drive wheels may have a biased drop-down suspension system, movably secured, for example, rotatably attached, to the main body 110 and spring-biased downward and away from the main body 110. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning elements 153 of the self-moving device 100 also contact the ground with a certain pressure.

[0046] The energy system includes rechargeable batteries, such as nickel-metal hydride and lithium-ion batteries. These batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to the microcontroller control circuit. The host computer is charged via charging electrodes located on the side or bottom of the device, connecting to the base station.

[0047] The human-machine interaction system includes buttons on the main unit panel for users to select functions; a display screen and / or indicator lights and / or a speaker to display the current machine status or function options to the user; and a mobile client program. For route-guidance self-mobile devices 100, the mobile client can display a map of the device's environment and the device's location, providing users with a richer and more user-friendly set of functions.

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

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

[0050] The wet cleaning system may include a cleaning assembly, a water delivery mechanism, and a liquid storage tank. The cleaning assembly may be positioned below the liquid storage tank, with the cleaning liquid within the liquid storage tank being delivered to the cleaning assembly via the water delivery mechanism, allowing the cleaning assembly to wet clean the surface to be cleaned. In other embodiments of the present application, the cleaning liquid within the liquid storage tank may be sprayed directly onto the surface to be cleaned, with the cleaning assembly evenly applying the cleaning liquid to the surface.

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

[0052] As shown in Figure 1 , cleaning element 163 is located at the rear of dry cleaning system 151 in the forward direction of autonomous vehicle 100. Cleaning element 163 can typically be a flexible, absorbent material such as fabric or sponge. In this embodiment, cleaning element 163 can be at least one rotating turntable. Water from the autonomous robot's liquid tank is directed to cleaning element 163, which then rotates to remove dirt from the floor.

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

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

[0055] In a specific application, the main body 110 of the mobile device 100 is further provided with a plurality of optical sensing components, one or more of which are the optical sensors 200 provided in the embodiment of the present application. That is, all optical sensing components can use the optical sensors 200 provided in the present application, or a portion can use the optical sensors 200 provided in the present application, while the other optical sensing components are existing optical sensors 200. The specific configuration can be made by the staff, and this embodiment does not impose a strict limitation. In some implementations, the optical sensing components that are closer to each other are set to the optical sensors 200 provided in the embodiment of the present application to avoid mutual interference between the optical sensing components, while the other optical sensors 200 that are farther away use existing optical sensors 200 to reduce costs.

[0056] Specifically, the optical sensing component is the cliff sensor 130, the TOF ranging sensor 120, or the optical mouse sensor 140. In other words, some or all of the cliff sensor 130, the TOF ranging sensor 120, and the optical mouse sensor 140 may employ the optical sensor 200 provided in the embodiments of the present application. For example, in some embodiments, only the cliff sensor 130 may employ the optical sensor 200 provided in the embodiments of the present application. In other embodiments, the cliff sensor 130, the TOF ranging sensor 120, and the optical mouse sensor 140 may all employ the optical sensor 200 provided in the embodiments of the present application.

[0057] Furthermore, the number of cliff sensors 130, TOF distance measurement sensors 120 or optical mouse sensors 140 can be set by the staff according to actual needs, and this embodiment does not impose a strict limit.

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

[0059] When the self-mobile device is operating, the control module uses a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM), based on the obstacle information fed back by the TOF ranging sensor 120 to draw a real-time map of the environment in which the self-mobile device is located. Furthermore, the control module uses the distance and speed information fed back by the sensors provided on the buffer 122, the magnetometer, the accelerometer, the gyroscope, the cliff sensor 130, the optical mouse sensor 140, the odometer, and other sensing devices to comprehensively determine the current working state and location of the self-mobile device, as well as the current posture of the self-mobile device, such as crossing a threshold, stepping onto a carpet, being stuck on a cliff, or being stuck above or below. Furthermore, the control module provides specific next-step action strategies for different situations, thereby improving the operating performance and user experience of the self-mobile device.

[0060] The optical sensor 200 provided in the embodiment of the present application is described in detail below. Specifically, as shown in Figures 3, 4, 6, and 7, the optical sensor 200 includes a light emitting unit 210 and a light receiving unit 220. A first light reflecting unit 230 is provided on the receiving light path of the light receiving unit 220. The light emitting unit 210 is configured to emit a first outgoing light toward an area or object to be detected. The first outgoing light is emitted from the surface of the area or object to be detected to form reflected light, and at least a portion of the reflected light passes through the first light reflecting unit 230. The first light reflecting unit 230 is configured to reflect a second outgoing light emitted by other optical sensing components. The light receiving unit 220 is configured to receive the reflected light that passes through the first light reflecting unit 230.

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

[0062] The first light reflecting portion 230 is disposed on the receiving optical path of the light receiving portion 220. The first light reflecting portion 230 is capable of reflecting the second outgoing light emitted by other optical sensing components, thereby significantly reducing the intensity of the second outgoing light received by the light receiving portion 220. This reduces interference with the optical light sensor by other optical sensing components and improves the accuracy of the detection results of the optical sensor 200. It is noteworthy that the first light reflecting portion 230 can reflect a large amount, or even all, of the second outgoing light emitted by other optical sensing components, while only reflecting a very small amount, or even no reflection, of the reflected light formed by the first outgoing light reflecting off the surface of the area to be detected or the object.

[0063] To ensure that the first light reflecting portion 230 reflects a large amount of the second outgoing light emitted by other optical sensing components, the first light reflecting portion 230 is configured to have a high reflectivity corresponding to the wavelength of the second outgoing light. Furthermore, to ensure that the first light reflecting portion 230 reflects very little of the reflected light formed by the first outgoing light reflecting off the surface of the to-be-detected area or object, the first light reflecting portion 230 is further configured to have a low reflectivity corresponding to the wavelength of this reflected light. Furthermore, the wavelength corresponding to this reflected light is different from the wavelength of the second outgoing light. In other words, the wavelength of the first outgoing light is different from the wavelength of the second outgoing light.

[0064] For example, the cliff sensor 130 on the mobile device is the optical sensor 200 provided in the embodiment of the present application, and the TOF ranging sensor 120 and the photoelectric mouse sensor on the mobile device are other optical sensing components for the cliff sensor 130. If the wavelength of the first outgoing light emitted by the cliff sensor 130 is 850 nm, the wavelength of the second outgoing light emitted by the TOF ranging sensor 120 is 940 nm, and the wavelength of the second outgoing light emitted by the photoelectric mouse sensor is 800 nm, then as shown in FIG9 , the first light reflecting portion 230 of the cliff sensor 130 is configured to have a higher reflectivity for light with wavelengths of 940 nm and 800 nm, and a lower reflectivity for light with a wavelength of 850 nm. As a result, the first light reflecting portion 230 of the cliff sensor 130 can reflect light of 940 nm and 800 nm. In other words, a large amount of the second outgoing light emitted by the TOF distance measuring sensor 120 and the photoelectric mouse sensor is reflected. As a result, the light receiving portion 220 of the cliff sensor 130 cannot receive or receives very little of the second outgoing light emitted by the TOF distance measuring sensor 120 and the photoelectric mouse sensor. On the other hand, light of 850 nm in wavelength, that is, the first outgoing light emitted by the light emitting portion 210 of the cliff sensor 130 and formed by reflection from the surface of the to-be-detected area or object, is very rarely reflected by the first light reflecting portion 230. As a result, the light intensity of the reflected light received by the light receiving portion 220 is hardly affected.

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

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

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

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

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

[0070] The shape of the housing 290 can be any shape, such as a cube or cylinder, and is not strictly limited in this embodiment. The housing 290 protects the light emitting unit 210 and the light receiving unit 220, thereby increasing the service life of the optical sensor 200. Furthermore, the first housing wall 240 is a light-transmitting wall to avoid obstructing the first light emitted from the first light reflecting unit 230. The remaining portions of the housing 290 can be light-transmitting or non-light-transmitting. The light-transmitting wall can be made of a transparent or translucent material, such as transparent plastic.

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

[0072] Specifically, in some implementations, the first light reflecting portion 230 is disposed inside the first shell wall 240 , so that the first shell wall 240 is used to protect the first light reflecting portion 230 , thereby extending the service life of the first light reflecting portion 230 .

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

[0074] Furthermore, the first light reflecting portion 230 is a reflective film, which can greatly reduce the size of the first reflecting portion, reduce the occupied space, and make the structure more compact.

[0075] Furthermore, as shown in FIG. 3 and FIG. 5 , a first convex lens 250 is provided between the light receiving portion 220 and the first light reflecting portion 230 .

[0076] The first convex lens 250 is also located within the accommodating cavity 2130, so that the housing 290 protects the first convex lens 250 and the second convex lens 280, preventing external objects from abrading the first convex lens 250 and the second convex lens 280. The incident surface of the first convex lens 250 is convex toward the direction of the light receiving unit 220, and the emitting surface is flat.

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

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

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

[0080] To ensure that the second light reflecting portion 260 reflects a large amount of the second outgoing light emitted by the other optical sensing components, the second light reflecting portion 260 is configured to have a high reflectivity corresponding to the wavelength of the second outgoing light. To ensure that the second light reflecting portion 260 reflects very little of the first outgoing light, the second light reflecting portion 260 is further configured to have a low reflectivity corresponding to the wavelength of the first outgoing light, and the wavelength of the first outgoing light is different from the wavelength of the second outgoing light.

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

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

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

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

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

[0086] Furthermore, the second light reflecting portion 260 is a reflective film, which can greatly reduce the size of the second reflecting portion, reduce the occupied space, and make the structure more compact.

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

[0088] Furthermore, as shown in FIG. 3 and FIG. 5 , a second convex lens 280 is provided between the light emitting portion 210 and the second light reflecting portion 260 .

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

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

[0091] Optionally, as shown in FIG3 , FIG4 , FIG6 and FIG7 , a light isolation portion 2100 is further provided between the light emitting portion 210 and the light receiving portion 220 .

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

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

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

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

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

[0097] 2 to 8 , the second housing 292 includes a first sub-housing 2921 and a second sub-housing 2922. The first sub-housing 2921 and the second sub-housing 2922 are engaged with each other to form a second chamber 2132. The first sub-housing 2921 and the second sub-housing 2922 can be connected in a detachable manner, such as a snap-fit ​​connection, to facilitate installation of the connector 2120 in the second chamber 2132. Alternatively, the first sub-housing 2921 and the second sub-housing 2922 can be connected in a fixed manner, such as gluing.

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

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

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

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

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

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

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

[0105] The sealing member 2140 can be made of a soft rubber material, such as thermoplastic polyurethane rubber or thermoplastic elastomer. The sealing member 2140 and the first sub-housing 2921 or the second sub-housing 2922 of the second housing 292 can be integrally formed, with the sealing member 2140 and the first sub-housing 2921 or the second sub-housing 2922 being made of different materials. The sealing member 2140 and the housing 290 are then injection molded over a second injection molding process. Alternatively, the sealing member 2140 and the first sub-housing 2921 or the second sub-housing 2922 can be separate structures, with the sealing member being injection molded separately and then fixedly connected to the first sub-housing 2921 or the second sub-housing 2922 by, for example, gluing or hot-melt bonding. This facilitates replacement of the sealing member 2140 if its sealing performance degrades after prolonged use.

[0106] The sealing of second opening 2150 by blocking member 2140 improves the overall sealing performance of cliff sensor 130, thereby preventing dust or moisture from the external environment from entering cavity 2130, which could cause rust and corrosion on connector 2120 and reduce the service life of cliff sensor 130. To ensure smooth connection between cliff sensor 130 and external components, a connecting wire extends through second opening 2150, thereby connecting connector 2120 to the connecting portion of the external component.

[0107] According to an optical sensor 200 and a self-mobile device 100 provided in an embodiment of the present application, the optical sensor 200 includes a light emitting unit 210 and a light receiving unit 220; a first light reflecting unit 230 is provided on the receiving light path of the light receiving unit 220, and the first light reflecting unit 230 can reflect the second outgoing light emitted by other optical sensing components to greatly reduce the light intensity value of the second outgoing light received by the light receiving unit, thereby reducing the interference of other optical sensing components on the optical photosensor and improving the accuracy of the optical sensor detection results.

[0108] The present application has been described through the above-described embodiments, but it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. In addition, it will be understood by those skilled in the art that the present application is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present application, all of which fall within the scope of protection claimed in the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. An optical sensor, wherein: It includes a light emitting part and a light receiving part, wherein a first light reflecting part is provided on the receiving light path of the light receiving part; In which, the light emitting part is used to emit a first outgoing light to the area or object to be detected, and the first outgoing light is emitted through the surface of the area or object to be detected to form a reflected light, and at least part of the reflected light passes through the first light reflecting part; the first light reflecting part is used to reflect the second outgoing light emitted by other optical sensing components; the light receiving part is used to receive the reflected light passing through the first light reflecting part.

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

3. The optical sensor according to claim 2, wherein A second light reflecting portion is provided on the emission light path of the light emitting portion, and the second light reflecting portion is used to reflect the second emitted light.

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

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

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

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

8. The optical sensor according to claim 3, wherein A first convex lens is provided between the light receiving portion and the first light reflecting portion.

9. The optical sensor according to claim 8, wherein A second convex lens is provided between the light emitting portion and the second light reflecting portion.

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

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

12. The optical sensor according to claim 1, wherein The first light reflecting portion is a reflective film.

13. The optical sensor according to claim 3, wherein The second light reflecting portion is a reflective film.

14. A self-propelled device, wherein: It comprises a main body; a plurality of optical sensing components are provided on the main body, and one or more of the plurality of optical sensing components are the optical sensors according to any one of claims 1-13.

15. The apparatus according to claim 14, wherein The optical sensing component is a cliff sensor, a tof distance measuring sensor or an optical mouse sensor.

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

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