Detection device and self-walking equipment

Abstract

The embodiment of the utility model discloses a detection device and self-walking equipment. The detection device comprises a bearing assembly; the first laser assembly is fixed on the bearing assembly; the first laser assembly is used for emitting line laser to at least two different areas. Wherein the first laser assembly comprises a light source; the first acquisition assembly is arranged on the bearing assembly and corresponds to the first laser assembly in position; the first acquisition assembly is used for acquiring environment images, corresponding to the line laser emitted by the first laser assembly, of at least two different areas; and the processor is used for determining the distance between the objects in the at least two different areas based on the environment images of the at least two different areas acquired by the first acquisition assembly.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a detection device and a self-propelled device. Background Art

[0002] Detection devices are commonly used in equipment such as self-propelled robots and cleaning robots. In related art, detection structures typically use different laser structures to scan different areas. For example, a detection structure typically includes a first laser structure and a second laser structure positioned at different locations. The first laser structure scans one area, while the second laser structure scans another area. Detection structures in related art are relatively large. Utility Model Content

[0003] In view of this, embodiments of the present application hope to provide a detection device and a self-propelled device.

[0004] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0005] The present invention provides a detection device, including:

[0006] load-bearing components;

[0007] A first laser assembly is fixed to the carrier assembly; the first laser assembly is used to emit line lasers to at least two different areas respectively; wherein the first laser assembly includes a light source;

[0008] a first acquisition component, disposed on the carrier component and corresponding to the position of the first laser component; the first acquisition component is used to acquire environmental images corresponding to at least two different areas and the line laser emitted by the first laser component;

[0009] The processor is configured to determine distances between objects in at least two different areas based on the environment images of the at least two different areas acquired by the first acquisition component.

[0010] In some optional implementations,

[0011] The first laser assembly is configured to emit a first line of laser light to the first area, a second line of laser light to the second area, and a third line of laser light to the third area;

[0012] The first acquisition component is used to acquire environmental images corresponding to the first area and the first line laser, the second area and the second line laser, and the third area and the third line laser;

[0013] The processor is used to determine the object distance of the first area based on the first partial image corresponding to the first area in the environmental image collected by the first acquisition component, to determine the object distance of the second area based on the second partial image corresponding to the second area in the environmental image collected by the first acquisition component, and to determine the object distance of the third area based on the third partial image corresponding to the third area in the environmental image collected by the first acquisition component.

[0014] In some optional implementations, the first laser line and the second laser line are parallel, and the third laser line is perpendicular to the first laser line and the second laser line respectively; the first area is adjacent to the second area, and the third area is adjacent to or intersects the first area and the second area respectively;

[0015] Wherein, the first line laser is distributed along a first direction.

[0016] In some optional implementations, the first laser assembly includes:

[0017] A first substrate is provided on the supporting assembly;

[0018] a first light source, disposed on the first substrate;

[0019] The first optical component is disposed on a side of the first light source facing away from the first substrate, and is used to form the laser light emitted by the first light source into the first line laser, the second line laser, and the third line laser.

[0020] In some optional implementations, the first laser assembly further includes:

[0021] a shielding member disposed on a side of the first optical component facing away from the first substrate; the shielding member comprises a first wall, and a first inclined wall and a second inclined wall located on opposite sides of the first wall;

[0022] The first inclined wall is provided with a first opening, the second inclined wall is provided with a second opening, and the first wall is provided with a third opening;

[0023] The first optical component is used to emit the first line laser from the first opening; the first optical component is used to emit the second line laser from the second opening; and the first optical component is used to emit the third line laser from the third opening.

[0024] In some optional implementations, the first optical component is used to make the third line laser form a first depression angle or a first elevation angle with the first plane, wherein the first depression angle is less than or equal to 30 degrees, and the first elevation angle is less than or equal to 30 degrees; or,

[0025] The first optical component is used to make the third laser line parallel to the first plane.

[0026] In some optional implementations, the first laser assembly has a first positioning surface parallel to the first plane;

[0027] Wherein, the first positioning surface is located on at least one of the first substrate and the first optical component.

[0028] In some optional implementations, the first optical component is used to make the first line laser form a first deflection angle with the second plane;

[0029] The first optical component is configured to make the second line laser form a second deflection angle with the second plane, wherein the first line laser and the second line laser are deflected in opposite directions relative to the second plane.

[0030] In some optional implementations, the first laser assembly has a second positioning surface parallel to the second plane;

[0031] Wherein, the second positioning surface is located on at least one of the first substrate and the first optical component.

[0032] In some optional implementations, the value of the second deflection angle is the same as or different from the value of the first deflection angle;

[0033] The first deflection angle ranges from 25 degrees to 50 degrees, and the second deflection angle ranges from 25 degrees to 50 degrees.

[0034] In some optional implementations, the first optical component is further configured to cause the first line laser to form a third deflection angle with the first plane;

[0035] The first optical component is further configured to cause the second laser line to form a fourth deflection angle with the first plane;

[0036] The first plane and the second plane are perpendicular.

[0037] In some optional implementations, a value of the third deflection angle is the same as or different from a value of the fourth deflection angle;

[0038] The third deflection angle ranges from 0 degrees to 20 degrees, and the fourth deflection angle ranges from 0 degrees to 20 degrees.

[0039] In some optional implementations, the first line laser is distributed along a first direction, and the second line laser is parallel to the first line laser; the third line laser is distributed along a second direction, and the first direction is perpendicular to the second direction;

[0040] The first collecting component and the first laser component have a first distance in the first direction, and the first collecting component and the first laser component have a second distance in the second direction.

[0041] In some optional implementations,

[0042] The first laser assembly is configured to emit a first line of laser light toward the first area and a second line of laser light toward the second area;

[0043] The first acquisition component is used to acquire an environmental image corresponding to the first laser line in the first area and the second laser line in the second area;

[0044] The processor is used to determine the object distance of the first area based on the first partial image corresponding to the first area in the environmental image collected by the first acquisition component, and is also used to determine the object distance of the second area based on the second partial image corresponding to the second area in the environmental image collected by the first acquisition component.

[0045] In some optional implementations, the first line laser and the second line laser are parallel; the first partial image and the second partial image are adjacent; or,

[0046] The first line laser and the second line laser are perpendicular to each other, and the first partial image and the second partial image are adjacent to or intersecting with each other.

[0047] In some optional implementations, the method further includes:

[0048] a second laser assembly, disposed on the carrier assembly; the second laser assembly is used to emit a third line of laser light to a third area;

[0049] The first acquisition component is further used to acquire an environmental image of the third area;

[0050] The processor is further configured to determine the distance of the object in the third area based on the environmental image corresponding to the third area in the environmental image acquired by the first acquisition component;

[0051] The first line laser and the second line laser are parallel, and the third line laser is perpendicular to the first line laser and the second line laser respectively.

[0052] In some optional implementations, the method further includes:

[0053] A second acquisition component is provided on the carrying component; the second acquisition component is used to acquire an environmental image of a fourth area;

[0054] The processor is further configured to identify objects in the fourth area based on the environment image corresponding to the fourth area acquired by the second acquisition component;

[0055] The fourth area includes at least part of the at least two areas.

[0056] In some optional implementations, the method further includes:

[0057] a fill light component, disposed on the carrying component; the fill light component is spaced apart from the second collecting component, and the fill light component is used to provide light to the fourth area;

[0058] The carrying component has a shielding protrusion located on the peripheral side of the fill light component.

[0059] In some optional implementations, the second acquisition component has a second depression angle or a second elevation angle relative to the first plane; wherein the second depression angle ranges from 0 degrees to 10 degrees, and the second elevation angle ranges from 0 degrees to 10 degrees.

[0060] In some optional implementations, the carrier assembly has a mounting groove, and at least a portion of the first laser assembly is disposed in the mounting groove; the first laser assembly and the wall surrounding the mounting groove have an installation gap, and the installation gap is used to adjust the position of the first laser assembly relative to the carrier assembly during the installation process.

[0061] An embodiment of the present application further provides a self-propelled device, comprising: a main body and the detection device of the embodiment of the present application; the detection device is arranged on the main body.

[0062] In some optional implementations, the self-propelled device is used to travel on a carrying surface, and the first laser assembly is used to emit a first line of laser to a first area, and the first line of laser is distributed along a first direction, and the first direction is perpendicular to the carrying surface.

[0063] In some optional implementations, the first collecting component and the second plane have a first angle, and the first angle ranges from 0 degrees to 20 degrees;

[0064] The second plane is the plane where the self-propelled device moves in the forward direction.

[0065] In some optional implementations, it further includes: a cleaning component, which is arranged on the bottom side of the main body. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a schematic diagram of an optional working scenario of the detection device or self-propelled device in the embodiment of the present application;

[0067] Figure 2 This is a schematic diagram of another optional working scenario of the detection device or self-propelled device in the embodiment of the present application;

[0068] Figure 3 This is a schematic diagram of another optional working scenario of the detection device or self-propelled device in the embodiment of the present application;

[0069] Figure 4 This is a schematic diagram of an optional relative position structure of the first laser component and the first collection component in the embodiment of the present application;

[0070] Figure 5 This is another optional schematic diagram of the relative position structure of the first laser component and the first collection component in the embodiment of the present application;

[0071] Figure 6 Schematic diagram of another optional relative position structure of the first laser assembly and the first collection assembly in the embodiment of the present application;

[0072] Figure 7 This is a schematic diagram of an optional structure of the first laser assembly in the embodiment of the present application;

[0073] Figure 8 This is another optional structural diagram of the first laser assembly in the embodiment of the present application;

[0074] Figure 9 for Figure 8 An optional working scenario diagram;

[0075] Figure 10 This is another optional structural diagram of the first laser assembly in the embodiment of the present application;

[0076] Figure 11 This is another optional structural diagram of the first laser assembly in the embodiment of the present application;

[0077] Figure 12 This is a schematic diagram of an optional structure of a detection device or a self-propelled device in an embodiment of the present application;

[0078] Figure 13 This is another optional structural diagram of the detection device or self-propelled device in the embodiment of the present application;

[0079] Figure 14 for Figure 13 A structural diagram of another method;

[0080] Figure 15 This is a schematic diagram of an optional relative position structure of the second acquisition component and the fill light component in the embodiment of the present application;

[0081] Figure 16This is another optional schematic diagram of the relative position structure of the second acquisition component and the fill light component in the embodiment of the present application;

[0082] Figure 17 This is another optional relative position structure diagram of the second acquisition component and the fill light component in the embodiment of the present application.

[0083] Figure markings: 100, carrying component; 110, mounting groove; 120, shielding protrusion; 200, first laser component; 211, first line laser; 212, second line laser; 213, third line laser; 220, first substrate; 230, first light source; 240, first optical component; 250, shielding member; 251, first wall; 2511, third opening; 252, first inclined wall; 2521, first opening; 253, second inclined wall; 2531, second opening; 261, first positioning surface; 262, second positioning surface; 300, first collection component; 400, main body; 511, first area; 512, second area; 513, third area; 520, carrying surface; 600, second collection component; 700, fill light component; 800, second laser component. DETAILED DESCRIPTION

[0084] The technical solution of the present application is further elaborated in detail below with reference to the accompanying drawings and specific embodiments.

[0085] In the description of the embodiments of this application, it should be noted that, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meaning of the above terms can be understood according to the specific circumstances.

[0086] It should be noted that the terms "first, second, and third" in the embodiments of the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the terms "first, second, and third" can be interchanged to represent a specific order or precedence where permitted. It should be understood that the objects distinguished by "first, second, and third" can be interchanged where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0087] The following combination Figures 1 to 17 The detection device and self-propelled equipment described in the embodiments of the present application are described in detail.

[0088] In the related art, the detection structure generally uses different laser structures to scan different areas. For example, the detection structure generally includes a first laser structure and a second laser structure arranged at different positions. The first laser structure is used to scan one area, and the second laser structure is used to scan another area. By setting two laser structures, different areas can be scanned separately. Since the detection structure needs to independently set up two laser structures, the volume of the detection structure is relatively large. As an example, the detection structure is set in a cleaning device, and the cleaning device generally sets up different obstacle avoidance laser structures to determine the distance of objects in different areas; since the cleaning device needs to independently set up obstacle avoidance laser structures to scan different areas, the volume of the cleaning device is relatively large. At the same time, since the cleaning device needs to independently set up different obstacle avoidance laser structures to scan different areas, the cost of the cleaning device is relatively high.

[0089] The present application describes an embodiment of a detection device, comprising: a carrier assembly 100, a first laser assembly 200, a first acquisition assembly 300, and a processor. The first laser assembly 200 is disposed on the carrier assembly 100 and is configured to emit a line laser beam toward at least two different areas. The first laser assembly 200 includes a first light source 230. The first acquisition assembly 300 is disposed on the carrier assembly 100 and corresponds to the position of the first laser assembly 200. The first acquisition assembly 300 is configured to capture environmental images corresponding to the line laser beam emitted by the first laser assembly 200 at at least two different areas. The processor is configured to determine the distances of objects in the at least two different areas based on the environmental images of the at least two different areas captured by the first acquisition assembly 300. The first laser assembly 200 is capable of emitting the line laser beam toward at least two different areas, significantly simplifying the structure and reducing the size of the detection device. Furthermore, since the first laser assembly 200 only includes a single light source, the size of the first laser assembly 200 can be even smaller. In addition, the first acquisition component 300 can also acquire environmental images of at least two different areas, and the processor can also determine the distances of objects in at least two different areas based on the environmental images of at least two different areas acquired by the first acquisition component 300; thus, the distances of objects in at least two different areas can be detected by combining the first laser component 200 with the first acquisition component 300 and the processor, thereby greatly reducing the manufacturing cost of the detection device.

[0090] The present application also describes a self-propelled device, which includes a main body 400 and a detection device according to the present application; the detection device is disposed on the main body 400. The self-propelled device can determine a walking route by determining the distance between objects in at least two different areas through a processor, thereby achieving obstacle avoidance. Because the detection device can be set to a relatively small size, the self-propelled device can be miniaturized and lightweight through the small detection device. At the same time, the self-propelled device can also reduce manufacturing costs through the low-cost detection device.

[0091] In an embodiment of the present application, the processor may determine the walking route based on the determined distances between objects in at least two different areas. In this case, the self-propelled device and the detection device may share a processor.

[0092] Here, the structure of the processor is not limited. For example, the processor may be a central processing unit (CPU).

[0093] Here, the location of the processor is not limited. For example, the processor can be set on the carrier component 100. For another example, the processor can also be set on the main body 400.

[0094] Of course, the autonomous vehicle and the detection device may not share a common processor. In this case, the autonomous vehicle may include a processing structure that can determine a travel route based on the distances between objects in at least two different regions determined by the processor. The form of the processing structure is not limited. For example, the processing structure may be a CPU.

[0095] In the embodiments of the present application, the structure of the self-propelled device is not limited. For example, the self-propelled device can be a delivery robot, an unmanned vehicle, or a sweeping robot.

[0096] This application primarily describes the detection device and self-propelled device of this application using a robot vacuum cleaner as a scenario. However, this does not mean that the self-propelled device of this application can only be a robot vacuum cleaner, nor does it mean that the detection device of this application can only be used with self-propelled devices. For example, the detection device can also be used with non-propelled devices.

[0097] As an example, the self-propelled device may further include a cleaning assembly, which is disposed on the bottom side of the main body 400 so as to clean floors, roads, etc. by the self-propelled device. Here, the structure of the cleaning assembly is not limited. For example, the cleaning assembly may include a cleaning brush.

[0098] In the embodiment of the present application, the structure of the main body 400 is not limited. For example, the main body 400 can be a housing of a self-propelled device or a frame of the self-propelled device. Here, the supporting assembly 100 can be arranged on the main body 400 by a threaded structure, a clamping structure, a welding structure, etc.

[0099] In the embodiments of this application, Figure 1 、 Figure 2 and Figure 3 As shown, the self-propelled device is used to travel on the bearing surface 520, and the first laser component 200 can be used to emit a first line laser 211 to the first area 511. The first line laser 211 can be distributed along a first direction, and the first direction is perpendicular to the bearing surface 520. That is, the first line laser 211 is generally a vertical line laser. By setting the first line laser 211 along the vertical direction, the distance at which the first laser component 200 emits the first line laser 211 to the first area 511 can be increased; thereby realizing the long-distance measurement of the distance of the object by the detection device and the self-propelled device.

[0100] In the embodiment of the present application, the bearing surface refers to the surface that bears the self-propelled device. For example, the bearing surface can be a road surface or the ground.

[0101] In the embodiment of the present application, the supporting assembly 100 is used to support the first laser assembly 200 and the first collection assembly 300. The structure of the supporting assembly 100 is not limited. For example, the supporting assembly 100 can be a plate-like structure or a frame-like structure.

[0102] In the embodiment of the present application, the first laser assembly 200 can be fixed to the carrier assembly 100 via a threaded structure, a welded structure, or a clamping structure. Of course, the first laser assembly 200 can also be movably mounted on the carrier assembly 100 to adjust the position of the first laser assembly 200 relative to the carrier assembly 100. As one example, the first laser assembly 200 can be rotatably mounted on the carrier assembly 100. As another example, the first laser assembly 200 can be translationally mounted on the carrier assembly 100.

[0103] The number of laser lines emitted by the first laser assembly 200 is not limited. Figure 1 As shown, the first laser assembly 200 can emit three laser beams to three different areas. Figure 2 and Figure 3 As shown, the first laser assembly 200 can emit two laser lines to two different areas.

[0104] The first laser assembly 200 includes a light source. The implementation manner in which the first laser assembly 200 is configured to emit line lasers to at least two different areas through the light source is not limited.

[0105] For example, the first laser assembly 200 includes a first substrate 220, a first light source 230, and a first optical assembly 240. The first substrate 220 can be attached to the carrier assembly 100 using a snap-fit ​​structure, an adhesive structure, a threaded structure, or the like. The first light source 230 can be attached to the first substrate 220 using adhesive, bonding, snap-fitting, or the like. The first optical assembly 240 is disposed on the side of the first light source 230 facing away from the first substrate 220. The first optical assembly 240 is configured to form the laser light emitted by the first light source 230 into at least two line laser beams, each of which is emitted toward at least two different regions.

[0106] The structure of the first optical assembly 240 is not limited, as long as the first optical assembly 240 can convert the laser light emitted by the first light source 230 into at least two laser lines. For example, the first optical assembly 240 may include a DOE grating. In another example, the first optical assembly 240 may include a multi-spot laser.

[0107] In the embodiment of the present application, the structure of the first acquisition component 300 is not limited. For example, the first acquisition component 300 may include an infrared lens. As an example, the first acquisition component 300 may include an IR camera.

[0108] The setting position of the first collection component 300 is not limited. For example, the first collection component 300 has a first angle with the second plane, wherein the second plane is the plane of the forward direction of the self-propelled device; at this time, the first collection component 300 is located on one side of the self-propelled device.

[0109] The value of the first angle is not limited. For example, the first angle may range from 0 degrees to 20 degrees.

[0110] Of course, the first collecting component 300 and the second plane may not be set with the first angle. In this case, the first collecting component 300 is located on the second plane, and the first collecting component 300 can be located directly in front of the self-propelled device.

[0111] The relative positions of the first acquisition component 300 and the first laser assembly 200 are not limited, as long as the first acquisition component 300 can capture images of the environment in at least two different areas corresponding to the line laser emitted by the first laser assembly 200. For example, the line lasers emitted by the first acquisition component 300 and the first laser assembly 200 can both form a triangulation model. When the line laser strikes an object, the distance to the object can be calculated, thereby enabling obstacle avoidance. In other words, the first acquisition component 300 cannot be positioned in the distribution direction of the line laser emitted by the first laser assembly 200.

[0112] As an example, the first acquisition component 300 may include an IR camera, and the IR camera's angle can cover at least two different areas. In this case, the IR camera's angle can cover the range of the linear laser emitted by the first laser component 200.

[0113] Here, the first laser component 200 is used to simultaneously emit a line laser to at least two different areas, and the first acquisition component 300 is used to simultaneously acquire environmental images of at least two different areas; thereby greatly reducing the time taken by the detection device to determine the distance between objects in at least two different areas and improving the detection efficiency of the detection device.

[0114] In the embodiment of the present application, the processor and the first acquisition component 300 can be electrically connected in a wired manner or a wireless manner.

[0115] There is no limitation on the implementation method of the processor for determining the distances of objects in at least two different areas based on the environment images of at least two different areas captured by the first acquisition component 300. For example, the processor can relatively simply determine the distances of objects in at least two different areas by triangulation.

[0116] Since the environmental images of at least two different areas are located on one image, the processor can store the relative position relationship of at least two different areas at this time, and determine the partial environmental image corresponding to at least two different areas in one environmental image based on the relative position relationship of at least two different areas, and then determine the distance of objects in at least two different areas more simply through triangulation based on the partial environmental image corresponding to at least two different areas; at this time, the processor can simultaneously determine the distance of objects in at least two different areas, greatly improving the detection efficiency of the detection device.

[0117] In some optional implementations of the embodiments of the present application, the first laser assembly 200 is used to emit a first line laser 211 to the first area 511, emit a second line laser 212 to the second area 512, and emit a third line laser 213 to the third area 513; the first acquisition assembly 300 is used to acquire an environmental image corresponding to the first area 511 and the first line laser 211, the second area 512 and the second line laser 212, and the third area 513 and the third line laser 213; the processor is used to acquire an environmental image corresponding to the first area 511 in the environmental image acquired by the first acquisition assembly 300. The first partial image is used to determine the distance of an object in the first area 511, and is used to determine the distance of an object in the second area 512 based on the second partial image corresponding to the second area 512 in the environmental image captured by the first acquisition component 300, and is also used to determine the distance of an object in the third area 513 based on the third partial image corresponding to the third area 513 in the environmental image captured by the first acquisition component 300; so that the distances of objects in three different areas can be determined simultaneously through the cooperation of a first laser component 200 structure with the first acquisition component 300 and the processor, thereby greatly improving the detection efficiency of the detection device.

[0118] In this implementation, the arrangement of the first laser line 211, the second laser line 212, and the third laser line 213 is not limited. For example, the first laser line 211 and the second laser line 212 are parallel, and the third laser line 213 is perpendicular to the first laser line 211 and the second laser line 212 respectively; Figure 1 As shown, the first region 511 and the second region 512 are adjacent, and the third region 513 can be adjacent to the first region 511 and the second region 512, respectively. In this case, the first partial image and the second partial image are adjacent, and the third partial image is adjacent to the first partial image and the second partial image, respectively. Of course, the third region 513 can also intersect the first region 511 and the second region 512, respectively. In this case, the first partial image and the second partial image are adjacent, and the third partial image intersects the first partial image and the second partial image, respectively. For another example, the first laser line 211, the second laser line 212, and the third laser line 213 are parallel. Here, the first region 511, the second region 512, and the third region 513 can be adjacent to each other in sequence, and the first partial image, the second partial image, and the third partial image can be adjacent to each other in sequence. For another example, the first line laser 211 is perpendicular to the second line laser 212 and the third line laser 213, respectively, and the second line laser 212 and the third line laser 213 are parallel. Here, the second area 512 and the third area 513 can be adjacent to each other, the first area 511 can be adjacent to or intersect with the second area 512 and the third area 513, respectively, the second partial image and the third partial image can be adjacent to each other, and the first partial image can be adjacent to or intersect with the second partial image and the third partial image, respectively.

[0119] In this implementation, the setting directions of the first laser line 211, the second laser line 212, and the third laser line 213 are not limited. For example, the first laser line 211 can be distributed along the first direction. Here, the first direction is not limited. As an example, the self-propelled device is used to travel on the carrying surface 520, and the first direction is perpendicular to the carrying surface 520, that is, the first laser line 211 is generally distributed along the vertical direction. In one application, such as Figure 1 As shown, the first line laser 211 is distributed along a first direction, which is perpendicular to the bearing surface 520, the second line laser 212 is parallel to the first line laser 211, and the third line laser 213 is perpendicular to the first line laser 211. At this time, the first line laser 211 and the second line laser 212 are generally distributed along the vertical direction, and the third line laser 213 is generally distributed along the horizontal direction. The third line laser 213 can realize obstacle avoidance for the detection device and the self-propelled equipment at a relatively close distance, and the first line laser 211 and the second line laser 212 can realize obstacle avoidance for the detection device and the self-propelled equipment at a relatively long distance, thereby greatly improving the detection range of the detection device and the self-propelled equipment and realizing a wider obstacle avoidance range.

[0120] In this implementation, the angles of the first laser line 211, the second laser line 212, and the third laser line 213 are not limited. For example, the angle of the third laser line 213 can range from 90 degrees to 150 degrees. As an example, the third laser line 213 can be parallel to the support surface 520. The third laser line 213 can be arranged symmetrically or asymmetrically with respect to the second plane. In one application, the third laser line 213 can be located to the left or right of the second plane.

[0121] In this implementation, the first acquisition component 300 can form a triangulated distance measurement model with the first laser line 211, the second laser line 212, and the third laser line 213. As an example, the first laser line 211 is distributed along a first direction, the second laser line 212 is parallel to the first laser line 211, and the third laser line 213 is distributed along a second direction, with the first and second directions perpendicular. The first acquisition component 300 is at a first distance from the first laser assembly 200 in the first direction, and a second distance from the first laser assembly 200 in the second direction. This allows the first acquisition component 300 to form a triangulated distance measurement model with the first laser line 211, the second laser line 212, and the third laser line 213. The values ​​of the first and second distances are not limited. For example, the first distance can range from 3 mm to 20 cm, and the second distance can range from 3 mm to 20 cm. In one application, the first line laser 211 is distributed along a first direction F1, the second line laser 212 is parallel to the first line laser 211; the third line laser 213 is distributed along a second direction F2, and the first direction F1 and the second direction F2 are perpendicular; Figure 4As shown, the first collection component 300 can be located at the lower left corner of the carrying component 100 or the main body 400, and the first laser component 200 can be located at the upper right corner of the carrying component 100 or the main body 400; Figure 5 As shown, the first collection component 300 can be located at the upper left corner of the carrying component 100 or the main body 400, and the first laser component 200 can be located at the lower right corner of the carrying component 100 or the main body 400; Figure 6 As shown, the first acquisition component 300 can be located at the upper right corner of the supporting component 100 or the main body 400, and the first laser component 200 can be located at the lower left corner of the supporting component 100 or the main body 400; here, up and down are based on the detection device and the self-propelled device being located on the supporting surface 520 as a reference, up refers to the side away from the supporting surface 520, and down refers to the side close to the supporting surface 520; left and right can be based on the plane where the detection device and the self-propelled device are located in the forward direction as a reference.

[0122] In this implementation, if Figure 7 As shown, the first laser assembly 200 may include a first substrate 220, a first light source 230 and a first optical assembly 240. The first optical assembly 240 is used to form the laser light emitted by the first light source 230 into a first laser line 211, a second laser line 212 and a third laser line 213.

[0123] In this implementation, if Figure 8 and Figure 9 As shown, the first laser assembly 200 may also include: a shielding member 250, which is arranged on the side of the first optical assembly 240 facing away from the first substrate 220; the shielding member 250 has a first wall 251, and a first inclined wall 252 and a second inclined wall 253 located on opposite sides of the first wall 251; the first inclined wall 252 is provided with a first opening 2521, the second inclined wall 253 is provided with a second opening 2531, and the first wall 251 is provided with a third opening 2511; the first optical assembly 240 is used to enable the first line laser 211 to be emitted from the first opening 2521; the first optical assembly 240 is used to enable the second line laser 212 to be emitted from the second opening 2531; the first optical assembly 240 is used to enable the third line laser 213 to be emitted from the third opening 2511; thereby, the shielding member 250 is used to prevent the first line laser 211, the second line laser 212 and the third line laser 213 from interfering with each other near the first laser assembly 200.

[0124] The material of shielding member 250 is not limited, as long as it can prevent first laser line 211, second laser line 212, and third laser line 213 from interfering with each other near first laser assembly 200. For example, shielding member 250 can be made of an opaque material. As one example, shielding member 250 can be made of opaque plastic. As another example, shielding member 250 can be made of opaque metal.

[0125] In this implementation, the first optical component 240 can be used to make the third laser line 213 form a first depression angle with the first plane; or, the first optical component 240 can be used to make the third laser line 213 form a first elevation angle with the first plane.

[0126] Here, by setting the first depression angle or the first elevation angle of the third line laser 213 with the first plane, the third line laser 213 and the first acquisition component 300 can form a triangulation ranging model, and the third line laser 213 can be hit within a suitable range of the bearing surface 520. Therefore, when the line laser hits a nearby object to be measured, the distance between the line laser and the object to be measured can be accurately calculated, thereby performing precise obstacle avoidance.

[0127] Here, the value of the first depression angle is not limited. For example, the first depression angle can be less than or equal to 30 degrees. Here, the value of the first elevation angle is not limited. For example, the first elevation angle can be less than or equal to 30 degrees.

[0128] Here, the first plane can be a reference plane for the third laser line 213. The first plane can be parallel to the supporting surface 520 or non-parallel to the supporting surface 520. When the first optical component 240 is capable of causing the third laser line 213 to form a first depression angle or a first elevation angle with the first plane, the first plane can be parallel to the supporting surface 520. In this case, the first optical component 240 also causes the third laser line 213 to form a first depression angle or a first elevation angle with the supporting surface 520, thereby enabling the third laser line 213 to be projected within a suitable range of the supporting surface 520. Of course, the first optical component 240 can also be used to cause the third laser line 213 to be parallel to the first plane. In this case, in order for the third laser line 213 to be projected within a suitable range of the supporting surface 520, the third laser line 213 needs to form a first depression angle or a first elevation angle with the first plane and the supporting surface 520.

[0129] The manner in which the first optical assembly 240 forms the third laser line 213 at the first depression angle or the first elevation angle is not limited. For example, the first optical assembly 240 may further include a first deflecting member, which is used to form the third laser line 213 at the first depression angle or the first elevation angle relative to the first plane. The structure of the first deflecting member is not limited. For example, the first deflecting member may include a free-form surface lens; in this case, the free-form surface lens can be used to form the laser light emitted by the first light source 230 at the first depression angle or the first elevation angle relative to the first plane.

[0130] Here, the first laser assembly 200 may have a first positioning surface 261 parallel to the first plane; the first positioning surface 261 is used for mounting and positioning the first laser assembly 200. When the third laser line 213 forms a first depression angle or a first elevation angle with the first plane, when the first laser assembly 200 is mounted and positioned, it is sufficient to set the first positioning surface 261 substantially parallel to the support surface 520. When the third laser line 213 is parallel to the first plane, the first positioning surface 261 and the support surface 520 need to be set at a depression angle or an elevation angle. Of course, the first optical assembly 240 and the first laser assembly 200 can also be used to achieve the first depression angle or the first elevation angle between the third laser line 213 and the support surface 520.

[0131] The location of the first positioning surface 261 is not limited. For example, the first positioning surface 261 can be located on at least one of the first substrate 220 and the first optical component 240. As an example, the first positioning surface 261 is located on both the first substrate 220 and the first optical component 240.

[0132] In this implementation, the first optical component 240 can be used to make the first line laser 211 form a first deflection angle with the second plane; the first optical component 240 is used to make the second line laser 212 form a second deflection angle with the second plane, wherein the first line laser 211 and the second line laser 212 are deflected in opposite directions relative to the second plane.

[0133] Here, by setting the first deflection angle between the first line laser 211 and the second plane, the first line laser 211 and the first acquisition component 300 can form a triangulated ranging model, and the first line laser 211 can be shot within a suitable range. Therefore, when the line laser hits the object to be measured, the distance between the line laser and the object to be measured can be accurately calculated, thereby performing precise obstacle avoidance.

[0134] Here, by setting a second deflection angle between the second line laser 212 and the second plane, the second line laser 212 and the first acquisition component 300 can form a triangulated ranging model, and the second line laser 212 can be hit within a suitable range. Therefore, when the line laser hits the object to be measured, the distance between the line laser and the object to be measured can be accurately calculated, thereby performing precise obstacle avoidance.

[0135] The manner in which the first optical component 240 is used to cause the first line laser 211 to form a first deflection angle or the second line laser 212 to form a second deflection angle is not limited. For example, the first optical component 240 may further include a first sub-bending member and a second sub-bending member, wherein the first sub-bending member is used to cause the first line laser 211 to form a first deflection angle, and the second sub-bending member is used to cause the second line laser 212 to form a second deflection angle. The structure of the first sub-bending member is not limited. For example, the first sub-bending member may include a free-form surface lens; in this case, the free-form surface lens may be used to cause the first line laser 211 to form a first deflection angle. The structure of the second sub-bending member is not limited. For example, the second sub-bending member may include a free-form surface lens; in this case, the free-form surface lens may be used to cause the second line laser 212 to form a second deflection angle.

[0136] Here, the value of the first deflection angle is not limited. For example, the first deflection angle can range from 25 degrees to 50 degrees. Here, the value of the second deflection angle is not limited. For example, the second deflection angle can range from 25 degrees to 50 degrees. When the first deflection angle ranges from 25 degrees to 50 degrees and the second deflection angle ranges from 25 degrees to 50 degrees, the first laser line 211 and the second laser line 212 form two parallel laser beams with a deflection angle range of 50 degrees to 100 degrees.

[0137] Here, the value of the second deflection angle may be the same as the value of the first deflection angle. Of course, the value of the second deflection angle may also be different from the value of the first deflection angle.

[0138] Here, the first laser line 211 and the second laser line 212 can be symmetrically arranged with respect to the second plane, or can be asymmetrically arranged with respect to the second plane. As an example, the first laser line 211 and the second laser line 212 can both be located on the left or right side of the second plane.

[0139] Here, the second plane can be a reference plane for the first laser line 211 and the second laser line 212. The second plane can be parallel to the plane in which the self-propelled device is traveling. When the first optical component 240 is capable of causing the first laser line 211 and the second laser line 212 to form a first deflection angle and a second deflection angle with the second plane, the second plane can be parallel to the plane in which the self-propelled device is traveling. At this time, the first optical component 240 also causes the first laser line 211 and the second laser line 212 to form a first deflection angle and a second deflection angle with the plane in which the self-propelled device is traveling, thereby enabling the first laser line 211 and the second laser line 212 to be projected within an appropriate range.

[0140] Here, the second laser assembly 800 may have a second positioning surface 262 parallel to the second plane; the second positioning surface 262 is used for mounting and positioning the first laser assembly 200. When mounting and positioning the first laser assembly 200, it is sufficient to set the second positioning surface 262 substantially parallel to the plane in which the self-propelled device moves.

[0141] The second positioning surface 262 may be located on at least one of the first substrate 220 and the first optical assembly 240. As an example, the second positioning surface 262 may be located on the first substrate 220.

[0142] Here, the first optical component 240 can also be used to make the first line laser 211 form a third deflection angle with the first plane; the first optical component 240 can also be used to make the second line laser 212 form a fourth deflection angle with the first plane; wherein the first plane and the second plane are perpendicular, so that the first line laser 211 and the second line laser 212 are within a suitable range.

[0143] The value of the third deflection angle is not limited. For example, the third deflection angle can range from 0 degrees to 20 degrees, so that the first laser line 211 hits the support surface 520, thereby increasing the ranging range of the first laser line 211. The value of the fourth deflection angle is not limited. For example, the fourth deflection angle can range from 0 degrees to 20 degrees, so that the second laser line 212 hits the support surface 520, thereby increasing the ranging range of the second laser line 212.

[0144] The value of the third deflection angle and the value of the fourth deflection angle may be the same or different.

[0145] In one application, the first optical component 240 may include a beam splitter, a shaping section, and a deflecting section. The first optical component 240 may use the beam splitter to split the laser light from the first light source 230 into three molecular lasers. The first optical component 240 may use the shaping section to transform the three molecular lasers into a first laser line 211, a second laser line 212, and a third laser line 213. The first optical component 240 may use the deflecting section to impart a certain deflection angle to the first laser line 211, the second laser line 212, and the third laser line 213. The structure of the beam splitter is not limited. For example, the beam splitter may include a DOE grating or a multi-line spot laser to separate the laser light from the first light source 230 into three molecular lasers. The structure of the shaping section is not limited. For example, the shaping section may include at least one of a wave mirror, a cylindrical lens, and a DOE lens to shape the three molecular lasers into a linear distribution. The structure of the deflecting section is not limited. For example, the folding portion may include at least one of a cylindrical lens sheet and a free-form lens, so that the first line laser 211, the second line laser 212 and the third line laser 213 have a certain deflection angle through at least one of the cylindrical lens sheet and the free-form lens.

[0146] In this implementation, the first acquisition component 300 can capture an environmental image corresponding to the first area 511 and the first laser line 211, the second area 512 and the second laser line 212, and the third area 513 and the third laser line 213. In this case, the environmental image captured by the first acquisition component 300 includes a first partial image corresponding to the first area 511, a second partial image corresponding to the second area 512, and a third partial image corresponding to the third area 513. The first, second, and third partial images are within a single environmental image. Due to the relative positions of the first, second, and third laser line 211, 212, and 213, the first, second, and third areas 511, 512, and 513 have a corresponding positional relationship, and the first, second, and third partial images have a corresponding positional relationship.

[0147] In this implementation, the processor can determine the environmental image and the first, second, and third partial images corresponding to the first, second, and third laser lines 211, 212, and 213, respectively, based on the relative positional relationships among the first, second, and third laser lines 211, 212, and 213. At least two of the first, second, and third partial images may include overlapping portions; for example, portions of the first partial image may also be located within the third partial image. For example, when the third region 513 intersects the first and second regions 511, 512, respectively, portions of the first and second partial images may also be located within the third partial image.

[0148] Of course, the first partial image, the second partial image, and the third partial image may all contain no repeated portions. For example, the first partial image, the second partial image, and the third partial image constitute a single environmental image. In this case, the processor only needs to split the single environmental image into the first partial image, the second partial image, and the third partial image corresponding to the first laser line 211, the second laser line 212, and the third laser line 213, respectively, based on the relative positional relationship between the first laser line 211, the second laser line 212, and the third laser line 213.

[0149] In some optional implementations of the embodiments of the present application, the first laser assembly 200 is used to emit a first line laser 211 to the first area 511, and to emit a second line laser 212 to the second area 512; the first acquisition assembly 300 is used to acquire environmental images corresponding to the first area 511 and the first line laser 211, and corresponding to the second area 512 and the second line laser 212; the processor is used to determine the object distance of the first area 511 based on a first partial image corresponding to the first area 511 in the environmental image acquired by the first acquisition assembly 300, and is also used to determine the object distance of the second area 512 based on a second partial image corresponding to the second area 512 in the environmental image acquired by the first acquisition assembly 300.

[0150] In this implementation, the first laser assembly 200 , the first acquisition assembly 300 and the processor have been described in the above embodiment, and will not be repeated here.

[0151] In this implementation, the first laser assembly 200 emits two laser line beams, a first laser line 211 and a second laser line 212 . The first laser line 211 and the second laser line 212 are similar to those in the above embodiment.

[0152] In this implementation, the positional relationship between the first laser line 211 and the second laser line 212 is not limited.

[0153] For example, Figure 10As shown, the first laser line 211 and the second laser line 212 are parallel; at this time, the first partial image and the second partial image are adjacent. Figure 2 As shown, the first laser line 211 may be distributed along a first direction, which is perpendicular to the carrying surface 520 , and the first laser line 211 and the second laser line 212 are substantially spaced apart along the vertical direction.

[0154] Of course, the first laser line 211 and the second laser line 212 may also be perpendicular, or the first laser line 211 and the second laser line 212 may intersect but not be perpendicular.

[0155] Of course, in other implementations, the first laser assembly 200 can also be used to emit a first line laser 211 to the first area 511, and to emit a third line laser 213 to the third area 513; the first acquisition assembly 300 can be used to acquire environmental images corresponding to the first area 511 and the first line laser 211, and corresponding to the third area 513 and the third line laser 213; the processor is used to determine the object distance of the first area 511 based on the first partial image corresponding to the first area 511 in the environmental image acquired by the first acquisition assembly 300, and is also used to determine the object distance of the second area 512 based on the third partial image corresponding to the third area 513 in the environmental image acquired by the first acquisition assembly 300. The above embodiment has already described the first line laser 211 and the third line laser 213, which will not be repeated here. As an example, Figure 11 As shown, the first laser line 211 and the second laser line 212 are perpendicular. In this case, the first partial image and the second partial image may be adjacent, or the first partial image and the second partial image may cross. Figure 3 As shown, the first laser line 211 can be distributed along a first direction, which is perpendicular to the carrying surface 520 . The first laser line 211 is generally arranged along a vertical direction, and the third laser line 213 is generally arranged along a horizontal direction.

[0156] In this implementation, if Figure 12 As shown, the detection device may further include a second laser assembly 800, which may be mounted on the carrier assembly 100 via a snap-fit ​​structure, a threaded structure, an adhesive structure, or the like. The second laser assembly 800 is configured to emit a third laser line 213 toward the third area 513. The first acquisition assembly 300 is further configured to acquire an environmental image of the third area 513. The processor is further configured to determine the distance to an object in the third area 513 based on the environmental image corresponding to the third area 513 in the environmental image acquired by the first acquisition assembly 300.

[0157] Here, the detection device emits a first line laser 211 and a second line laser 212 through the first laser component 200, and emits a third line laser 213 through the second laser component 800; at this time, the detection device emits line lasers to three areas through two laser structures, compared with a structure in which three laser structures emit line lasers to three areas; the detection device of the present application has a simpler structure and a smaller size.

[0158] Here, the second laser assembly 800 and the third line laser 213 are similar to the first laser assembly 200 and the third line laser 213 described above, and are not described again herein.

[0159] Here, the relative position relationship between the third laser line 213 and the first laser line 211 and the second laser line 212 is not limited. For example, the first laser line 211 and the second laser line 212 can be parallel, and the third laser line 213 can be perpendicular to the first laser line 211 and the second laser line 212 respectively.

[0160] Here, the second laser assembly 800 may include a second substrate, a second light source, and a second optical assembly. The second substrate may be mounted on the carrier assembly 100 using a snap-fit ​​structure, a threaded structure, an adhesive structure, or the like. The second light source may be mounted on the second substrate using an adhesive structure, a welded structure, a snap-fit ​​structure, or the like. The second optical assembly may be positioned on a side of the second light source facing away from the second substrate to cause the laser light emitted by the second light source to form the third laser line 213.

[0161] The manner in which the second optical assembly forms the third line laser 213 from the laser light emitted by the second light source is not limited. For example, the second optical assembly may include a wave mirror capable of expanding the point light source of the second light source into a linear distribution. For another example, the second optical assembly may include a cylindrical lens capable of expanding the point light source of the second light source into a linear distribution. For another example, the second optical assembly may also include a DOE lens capable of expanding the point light source of the second light source into a linear distribution.

[0162] The second optical component can also be used to make the third line laser 213 form a first depression angle with the first plane, or the second optical component can also be used to make the third line laser 213 form a first elevation angle with the first plane, wherein the first depression angle can be less than or equal to 30 degrees, and the first elevation angle can be less than or equal to 30 degrees.

[0163] The manner in which the second optical assembly is used to cause the third laser line 213 to form the first depression angle or the first elevation angle is not limited. For example, the second optical assembly may further include a second deflecting member, which is used to cause the third laser line 213 to form the first depression angle or the first elevation angle with respect to the first plane. The structure of the second deflecting member is not limited. For example, the second deflecting member may include a free-form surface lens; in this case, the free-form surface lens can cause the laser light emitted by the second light source to form the first depression angle or the first elevation angle with respect to the first plane.

[0164] In some optional implementations of the embodiments of the present application, the detection device may further include: a second acquisition component 600, the second acquisition component 600 is arranged on the supporting component 100, and the second acquisition component 600 is used to acquire an environmental image of the fourth area; the processor is also used to identify objects in the fourth area based on the environmental image corresponding to the fourth area acquired by the second acquisition component 600; wherein the fourth area includes at least a portion of at least two areas; objects in at least a portion of at least two areas can be identified through the cooperation of the second acquisition component 600 and the processor, and the distances of objects in at least two different areas can be determined through the cooperation of the first laser component 200, the first acquisition component 300 and the processor. At this time, the detection device can detect objects more comprehensively, so that the detection device or the self-propelled device can accurately avoid obstacles.

[0165] In this implementation, the structure of the second acquisition component 600 is not limited. For example, the second acquisition component 600 is used to capture color images of the environment. As one example, the second acquisition component 600 may include an RGB camera. For another example, the second acquisition component 600 may include a mono camera. For another example, the second acquisition component 600 may include an RGB-D camera.

[0166] In this implementation, the processor may store relevant features of the object. For example, the processor may store features such as the shape, color, and size of the object. The processor may compare the environmental image corresponding to the fourth area collected by the second acquisition component 600 with the relevant features of the object stored in the processor to identify the object, thereby providing an accurate walking route for the detection device and the self-propelled device.

[0167] In this implementation, the fourth area may include all of at least two areas, or may include part of at least two areas. For example, the fourth area may include the third area 513. In one application, the third line laser 213 is generally distributed in the horizontal direction. At this time, the third line laser 213 is mainly used to measure the distance between the detection device and the objects near the self-propelled device. Through the second acquisition component 600, the objects near the detection device and the self-propelled device can be identified, thereby improving the obstacle avoidance accuracy of the detection device and the area near the self-propelled device. For another example, the fourth area may include the first area 511, the second area 512 and the third area 513 to improve the obstacle avoidance accuracy of each area of ​​the detection device and the self-propelled device.

[0168] In this implementation, if Figure 13 As shown, the detection device may further include a fill light component 700, which is arranged on the supporting component 100; the fill light component 700 is spaced apart from the second acquisition component 600, and the fill light component 700 is used to provide light to the fourth area; so that in a dark environment, the second acquisition component 600 can also capture an environmental image with appropriate brightness.

[0169] The structure of the fill light assembly 700 is not limited. For example, the fill light assembly 700 may include a fill light.

[0170] Here, as Figure 14 As shown, the carrying component 100 may have a shielding protrusion 120 located on the peripheral side of the fill light component 700 so as to prevent the occurrence of crosstalk through the shielding protrusion 120 .

[0171] In an implementation, the second acquisition component 600 may have a second depression angle or a second elevation angle relative to the first plane, so that the second acquisition component 600 may acquire images of portions corresponding to at least two areas near the detection device or the self-propelled device.

[0172] Here, the value of the second depression angle is not limited. For example, the second depression angle can range from 0 degrees to 10 degrees. Here, the value of the second elevation angle is not limited. For example, the second elevation angle can range from 0 degrees to 10 degrees.

[0173] In the implementation, the relative position relationship between the fill light component 700 and the second collection component 600 is not limited. Figure 13 and Figure 15 As shown, the fill light component 700 and the second collection component 600 can be spaced apart in the second direction F2, and the second direction F2 can be parallel to the carrying surface 520. For example, Figure 16 and Figure 17 As shown, the fill light component 700 and the second collection component 600 can be spaced apart in the first direction F1 , and the first direction F1 can be perpendicular to the carrying surface 520 .

[0174] In some optional implementations of the embodiments of the present application, such as Figure 14 As shown, the carrier assembly 100 has a mounting groove 110, and at least a portion of the first laser assembly 200 can be arranged in the mounting groove 110; the first laser assembly 200 and the wall around the mounting groove 110 can have an installation gap, and the installation gap is used to adjust the position of the first laser assembly 200 relative to the carrier assembly 100 during the installation process. Since there are processing errors in the manufacturing process of the detection device, by reserving the installation gap for the first laser assembly 200, the position of the first laser assembly 200 can be adjusted during the installation process, so that the first laser assembly 200 reaches the designed position accuracy, thereby improving the detection accuracy of the detection device.

[0175] In this embodiment, since there is a mounting gap between the first laser assembly 200 and the walls surrounding the mounting slot 110, the first laser assembly 200 can deflect in the second direction, for example, left-right, or in the first direction, for example, up-down. For another example, the first laser assembly 200 can rotate clockwise or counterclockwise.

[0176] In this embodiment, the value of the installation gap is not limited. For example, based on the installation gap, the first laser assembly 200 and the wall around the installation groove 110 can have a range of motion of at least 3° in each direction.

[0177] In this implementation, after the first laser assembly 200 is adjusted relative to the carrier assembly 100, the position of the first laser assembly 200 relative to the carrier assembly 100 can be fixed by gluing, clamping, or the like.

[0178] Of course, in other implementations, the first laser assembly 200 can also be directly fixed in the mounting groove 110 through a snap-fit ​​structure, an adhesive structure, etc., in which case there is no installation gap. As an example, the first laser assembly 200 is tightly fitted with the carrier assembly 100. By designing an interference fit between the ribs of the carrier assembly 100 and the first laser assembly 200, the first laser assembly 200 is squeezed to achieve a tight fit. Here, the ribs can be located in the mounting groove 110, and at least two surfaces of the mounting groove 110 can be provided with ribs. In addition, the notch of the mounting groove 110 can also be provided with a retaining rib structure to prevent the first laser assembly 200 from slipping. The end of the first laser assembly 200 facing away from the notch of the mounting groove 110 can be fixed by dispensing glue to enhance the reliability of the fixation of the first laser assembly 200.

[0179] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A detection device, characterized in that: include: load-bearing components; A first laser assembly is fixed to the carrier assembly; The first laser assembly is used to emit line lasers to at least two different areas respectively; wherein the first laser assembly includes a light source; a first acquisition component, disposed on the carrier component and corresponding to the position of the first laser component; the first acquisition component is used to acquire environmental images corresponding to at least two different areas and the line laser emitted by the first laser component; The processor is configured to determine distances between objects in at least two different areas based on the environment images of the at least two different areas acquired by the first acquisition component.

2. The detection device according to claim 1, characterized in that The first laser assembly is configured to emit a first line of laser light to the first area, a second line of laser light to the second area, and a third line of laser light to the third area; The first acquisition component is used to acquire environmental images corresponding to the first area and the first line laser, the second area and the second line laser, and the third area and the third line laser; The processor is used to determine the object distance of the first area based on the first partial image corresponding to the first area in the environmental image collected by the first acquisition component, to determine the object distance of the second area based on the second partial image corresponding to the second area in the environmental image collected by the first acquisition component, and to determine the object distance of the third area based on the third partial image corresponding to the third area in the environmental image collected by the first acquisition component.

3. The detection device according to claim 2, characterized in that The first laser line and the second laser line are parallel, and the third laser line is perpendicular to the first laser line and the second laser line respectively; the first area is adjacent to the second area, and the third area is adjacent to or intersects the first area and the second area respectively; Wherein, the first line laser is distributed along a first direction.

4. The detection device according to claim 3, characterized in that The first laser assembly comprises: A first substrate is provided on the supporting assembly; a first light source, disposed on the first substrate; The first optical component is disposed on a side of the first light source facing away from the first substrate, and is used to form the laser light emitted by the first light source into the first line laser, the second line laser, and the third line laser.

5. The detection device according to claim 4, characterized in that The first laser assembly further comprises: a shielding member disposed on a side of the first optical component facing away from the first substrate; the shielding member comprises a first wall, and a first inclined wall and a second inclined wall located on opposite sides of the first wall; The first inclined wall is provided with a first opening, the second inclined wall is provided with a second opening, and the first wall is provided with a third opening; The first optical component is used to emit the first line laser from the first opening; the first optical component is used to emit the second line laser from the second opening; and the first optical component is used to emit the third line laser from the third opening.

6. The detection device according to claim 4, characterized in that The first optical component is used to make the third line laser form a first depression angle or a first elevation angle with the first plane, wherein the first depression angle is less than or equal to 30 degrees, and the first elevation angle is less than or equal to 30 degrees; or The first optical component is used to make the third laser line parallel to the first plane.

7. The detection device according to claim 6, characterized in that The first laser assembly has a first positioning surface parallel to the first plane; Wherein, the first positioning surface is located on at least one of the first substrate and the first optical component.

8. The detection device according to claim 4, characterized in that The first optical component is used to make the first line laser form a first deflection angle with the second plane; The first optical component is configured to make the second line laser form a second deflection angle with the second plane, wherein the first line laser and the second line laser are deflected in opposite directions relative to the second plane.

9. The detection device according to claim 8, characterized in that The first laser assembly has a second positioning surface parallel to the second plane; Wherein, the second positioning surface is located on at least one of the first substrate and the first optical component.

10. The detection device according to claim 8, characterized in that: The value of the second deflection angle is the same as or different from the value of the first deflection angle; The first deflection angle ranges from 25 degrees to 50 degrees, and the second deflection angle ranges from 25 degrees to 50 degrees.

11. The detection device according to claim 8, characterized in that: The first optical component is further configured to cause the first line laser to form a third deflection angle with the first plane; The first optical component is further configured to cause the second laser line to form a fourth deflection angle with the first plane; The first plane and the second plane are perpendicular.

12. The detection device according to claim 11, characterized in that: The value of the third deflection angle is the same as or different from the value of the fourth deflection angle; The third deflection angle ranges from 0 degrees to 20 degrees, and the fourth deflection angle ranges from 0 degrees to 20 degrees.

13. The detection device according to claim 2, characterized in that: The first line laser is distributed along a first direction, and the second line laser is parallel to the first line laser; the third line laser is distributed along a second direction, and the first direction and the second direction are perpendicular; The first collecting component and the first laser component have a first distance in the first direction, and the first collecting component and the first laser component have a second distance in the second direction.

14. The detection device according to claim 1, characterized in that The first laser assembly is configured to emit a first line of laser light toward the first area and a second line of laser light toward the second area; The first acquisition component is used to acquire an environmental image corresponding to the first laser line in the first area and the second laser line in the second area; The processor is used to determine the object distance of the first area based on the first partial image corresponding to the first area in the environmental image collected by the first acquisition component, and is also used to determine the object distance of the second area based on the second partial image corresponding to the second area in the environmental image collected by the first acquisition component.

15. The detection device according to claim 14, characterized in that: The first line laser and the second line laser are parallel; the first partial image and the second partial image are adjacent; or, The first line laser and the second line laser are perpendicular to each other, and the first partial image and the second partial image are adjacent to or intersecting with each other.

16. The detection device according to claim 14, characterized in that Also includes: a second laser assembly, disposed on the carrier assembly; the second laser assembly is used to emit a third line of laser light to a third area; The first acquisition component is further used to acquire an environmental image of the third area; The processor is further configured to determine the distance of the object in the third area based on the environmental image corresponding to the third area in the environmental image acquired by the first acquisition component; The first line laser and the second line laser are parallel, and the third line laser is perpendicular to the first line laser and the second line laser respectively.

17. The detection device according to claim 1, characterized in that Also includes: A second collecting component is provided on the carrying component; The second acquisition component is used to acquire an environmental image of a fourth area; The processor is further configured to identify objects in the fourth area based on the environment image corresponding to the fourth area acquired by the second acquisition component; The fourth area includes at least part of the at least two areas.

18. The detection device according to claim 17, characterized in that: Also includes: a fill light component, disposed on the carrying component; the fill light component is spaced apart from the second collecting component, and the fill light component is used to provide light to the fourth area; The carrying component has a shielding protrusion located on the peripheral side of the fill light component.

19. The detection device according to claim 17, characterized in that: The second acquisition component has a second depression angle or a second elevation angle relative to the first plane; wherein the second depression angle ranges from 0 degrees to 10 degrees, and the second elevation angle ranges from 0 degrees to 10 degrees.

20. The detection device according to any one of claims 1 to 19, characterized in that: The carrier assembly has a mounting groove, and at least a portion of the first laser assembly is arranged in the mounting groove; the first laser assembly and the wall around the mounting groove have an installation gap, and the installation gap is used to adjust the position of the first laser assembly relative to the carrier assembly during the installation process.

21. A self-propelled device, characterized in that: include: The subject and the detection device according to any one of claims 1 to 20; The detection device is arranged on the main body.

22. The self-propelled device according to claim 21, characterized in that: The self-propelled device is used to travel on a carrying surface. The first laser assembly is used to emit a first line of laser to a first area. The first line of laser is distributed along a first direction, and the first direction is perpendicular to the carrying surface.

23. The self-propelled device according to claim 21, characterized in that: The first collecting component and the second plane have a first angle, and the first angle ranges from 0 degrees to 20 degrees; The second plane is the plane where the self-propelled device moves in the forward direction.

24. The self-propelled device according to any one of claims 21 to 23, characterized in that: Also includes: The cleaning component is arranged on the bottom side of the main body.

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