Sweeping robot and depth camera

Abstract

The application provides a sweeping robot and a depth camera, which comprises: a depth camera arranged on the side of the robot body; the depth camera comprises a light projector and a light receiver; the light projector projects first dot array structured light, second dot array structured light and line array structured light to a target scene, the power density of each light beam in the first dot array structured light is greater than the power density of each light beam in the second dot array structured light; the light receiver is used for receiving the first dot array structured light, the second dot array structured light and the line array structured light reflected by any object in the target scene, and generating first depth information according to the first dot array structured light, second depth information according to the second dot array structured light and third depth information according to the line array structured light; a controller module is used for instant positioning and map construction according to the first depth information, and generating obstacle avoidance information according to the second depth information and the third depth information. The application reduces the complexity of the product, reduces the cost of the product and facilitates the popularization and application of the product.

Description

Technical Field

[0001] The present invention relates to intelligent devices, and in particular to a sweeping robot and a depth camera. Background Art

[0002] A robot vacuum cleaner is a type of smart home appliance that uses artificial intelligence to automatically clean the floor. It typically uses a brush and vacuum system to collect debris into its own bin, completing the cleaning process.

[0003] Existing robot vacuums typically use a top-mounted LDS (Laser Direct Structuring) laser radar for path planning and mapping, and a front-mounted camera for obstacle avoidance. However, using LDS for path planning and mapping has at least two drawbacks: first, the laser radar requires frequent rotation and is prone to failure; second, it cannot detect highly reflective objects such as floor-to-ceiling windows, mirrors, and vases. Furthermore, requiring two separate devices for both path planning and obstacle avoidance increases both product complexity and cost, hindering widespread adoption. Summary of the Invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a sweeping robot and a depth camera.

[0005] The sweeping robot provided by the present invention comprises a robot body, a depth camera and a controller module; the depth camera is arranged on the side of the robot body;

[0006] The depth camera includes a light projector and a light receiver;

[0007] The light projector is used to project a first dot matrix structured light, a second dot matrix structured light, and a linear matrix structured light toward a target scene, wherein the power density of each light beam in the first dot matrix structured light is greater than the power density of each light beam in the second dot matrix structured light;

[0008] The light receiver is configured to receive the first dot matrix structured light, the second dot matrix structured light, and the linear array structured light reflected by any object in the target scene, and generate first depth information based on the first dot matrix structured light, generate second depth information based on the second dot matrix structured light, and generate third depth information based on the linear array structured light;

[0009] The controller module is configured to perform real-time positioning and map construction based on the first depth information, and generate obstacle avoidance information based on the second depth information and the third depth information.

[0010] Preferably, the first dot array structured light forms a first dot array pattern, the second dot array structured light forms a second dot array pattern, and the line array structured light forms a line array pattern.

[0011] The first dot array pattern is located between the line array pattern and the second dot array pattern, and the second dot array pattern is located on the upside of the line array pattern.

[0012] Preferably, the first dot array structured light forms a first dot array pattern, the second dot array structured light forms a second dot array pattern, and the line array structured light forms a line array pattern.

[0013] The first dot array pattern is located between the line array pattern and the second dot array pattern, and the line array pattern is located on the upside of the second dot array pattern.

[0014] Preferably, the spot density of the second dot array structured light is greater than the spot density of the first dot array structured light, so that the first dot array structured light forms a sparse dot array pattern, and the second dot array structured light forms a dense dot array pattern.

[0015] Preferably, the line array structured light includes a plurality of line-shaped light beams.

[0016] The plurality of line-shaped light beams are distributed in an inclined manner, and adjacent two line-shaped light beams have an overlapping area in the direction of the vertical line of the field angle width.

[0017] Preferably, the light receiver is configured to generate first depth information according to the transmission time or phase difference of the first dot array structured light, generate second depth information according to the transmission time or phase difference of the second dot array structured light, and generate third depth information according to the spot image formed by the line array structured light.

[0018] Preferably, the light projector includes a first laser module and a first projection lens.

[0019] The first laser module includes a first dot laser array group, a second dot laser array group, and a line laser array group, the first dot laser array group is configured to project the first dot array structured light, the second dot laser array group is configured to project the second dot array structured light, and the line laser array group is configured to project the line array structured light.

[0020] The first projection lens is disposed on the light-emitting side of the laser module and includes a first region, a second region, and a third region, the first region is disposed between the second region and the third region, the first dot array structured light is received and projected through the first region, the second dot array structured light is received and projected through the second region, and the line array structured light is received and projected through the third region.

[0021] Preferably, the light projector includes a second laser module, a beam splitting device and a second projection lens;

[0022] The second laser module is used to project a laser beam;

[0023] The beam splitting device includes a first beam splitting region, a second beam splitting region, and a third beam splitting region. The first beam splitting region is used to split the laser beam into multiple laser beams to form a first dot matrix structured light. The second beam splitting region is used to split the laser beam into multiple laser beams to form a second dot matrix structured light. The third beam splitting region is used to split the laser beam into multiple laser beams to form a linear array structured light.

[0024] The second projection lens is arranged on the light-emitting side of the beam splitter, and includes a first area, a second area and a third area. The first area is arranged between the second area and the third area. The first area receives and projects the first dot matrix structured light, the second area receives and projects the second dot matrix structured light, and the third area receives and projects the linear array structured light.

[0025] Preferably, the field of view angle of the depth camera is between 100° and 110°.

[0026] The depth camera provided according to the present invention includes a light projector and a light receiver;

[0027] The light projector is used to project a first dot matrix structured light, a second dot matrix structured light, and a linear matrix structured light toward a target scene, wherein the power density of each light beam in the first dot matrix structured light is greater than the power density of each light beam in the second dot matrix structured light;

[0028] The light receiver is used to receive the first dot matrix structured light, the second dot matrix structured light and the linear array structured light after being reflected by any object in the target scene, and generate first depth information based on the first dot matrix structured light, generate second depth information based on the second dot matrix structured light, and generate third depth information based on the linear array structured light.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The sweeping robot in the present invention is equipped with a depth camera. The light projector of the depth camera is used to project a first dot matrix structured light, a second dot matrix structured light and a linear array structured light to a target scene. The light receiver can receive the first dot matrix structured light, the second dot matrix structured light and the linear array structured light reflected by any object in the target scene, and generate first depth information according to the dot matrix structured light with higher power density, generate second depth information according to the second dot matrix structured light with lower power density, and generate third depth information according to the linear array structured light, so that the controller module can irradiate the first dot matrix structured light at a longer distance to generate the first depth information for real-time positioning and map construction, perform object recognition and obstacle avoidance according to the type of object according to the second depth information generated by the second dot matrix structured light at a closer distance, and perform obstacle avoidance according to the type of object according to the third depth information generated by the linear array structured light. The linear structured light has a longer extension range, which is convenient for detecting objects in the full range of the field of view and avoids the omission of strip-shaped objects. The sweeping robot can achieve real-time positioning, map construction and obstacle avoidance through a single depth camera module, thereby reducing the complexity of the product and reducing the cost of the product, thereby facilitating the promotion and application of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without inventive work. Other features, purposes and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0032] Figure 1 Schematic diagram of the working principle of the sweeping robot in an embodiment of the present invention;

[0033] Figure 2 Schematic diagram of a light field of view of a depth camera in an embodiment of the present invention;

[0034] Figure 3 Schematic diagram of another light field of view of a depth camera in an embodiment of the present invention;

[0035] Figure 4 is a structural diagram of a depth camera in an embodiment of the present invention; and

[0036] Figure 5 FIG. 4 is another structural diagram of a depth camera according to an embodiment of the present invention.

[0037] In the figure: 100 is the robot body; 200 is the object; 1 is the light projector; 2 is the light receiver; 201 is the first area; 202 is the second area; 203 is the third area; 3 is the driving circuit; 101 is the edge-emitting laser; 102 is the collimating lens; 103 is the beam splitting device; 104 is the projection lens; 105 is the diffraction device; 106 is the laser array. DETAILED DESCRIPTION

[0038] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several variations and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0039] The terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatus.

[0040] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0041] The following describes in detail the technical solutions of the present invention and how the technical solutions of this application solve the above-mentioned technical problems using specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following embodiments of the present invention are described in conjunction with the accompanying drawings.

[0042] Figure 1 FIG. 1 is a schematic diagram of the working principle of the sweeping robot according to an embodiment of the present invention. Figure 1 As shown, the sweeping robot provided by the present invention includes a robot body 100, a depth camera and a controller module; the depth camera is arranged on the side of the robot body 100;

[0043] The depth camera includes a light projector 1 and a light receiver 2;

[0044] The light projector 1 is used to project a first dot matrix structured light, a second dot matrix structured light, and a linear matrix structured light toward a target scene, wherein the power density of each light beam in the first dot matrix structured light is greater than the power density of each light beam in the second dot matrix structured light;

[0045] The light receiver 2 is configured to receive the first dot matrix structured light, the second dot matrix structured light, and the linear array structured light reflected by any object 200 in the target scene, and generate first depth information based on the first dot matrix structured light, generate second depth information based on the second dot matrix structured light, and generate third depth information based on the linear array structured light;

[0046] The controller module is configured to perform simultaneous localization and mapping (SLAM) according to the first depth information, and generate obstacle avoidance information according to the second depth information and the third depth information.

[0047] In an embodiment of the present invention, each beam in the dot-array structured light has a high power density and a long projection distance, enabling the robot to obtain the distribution of objects that are relatively far from the indoor sweeping robot, facilitating the robot's real-time positioning and map construction. Each beam in the linear array structured light has a low power density and a high beam density, resulting in a short projection distance. This allows the robot to obtain the distribution of objects 200 that are relatively close to the indoor sweeping robot. The high beam density enables the surface contour of the object 200 to be obtained, facilitating object recognition and obstacle avoidance based on the object's type. Obstacle avoidance is performed for long objects, such as table legs and electrical wires, based on the third depth information generated by the linear array structured light. The long extension range of the linear structured light facilitates object detection across the entire field of view, avoiding the omission of long objects.

[0048] The line type of the line structured light includes but is not limited to any one or more of a straight line, a curve, a line segment and a dotted line, and the number of the lines can be one or more.

[0049] Figure 4 A schematic diagram of the structure of a depth camera according to an embodiment of the present invention is shown in FIG. Figure 4 As shown, the light projector 1 includes a first laser module and a first projection lens 104;

[0050] The first laser module includes a first point laser array group, a second point laser array group, and a line laser array group, wherein the first point laser array group is used to project a first dot matrix structured light, the second point laser array group is used to project a second dot matrix structured light, and the line laser array group is used to project a line array structured light;

[0051] The first projection lens 104 is arranged on the light-emitting side of the laser module, and includes a first area 201, a second area 202 and a third area 203. The first area 201, the second area 202 and the third area 203 are all transparent areas. The first area 201 receives the first dot matrix structured light and projects the first dot matrix structured light, the second area 202 receives and projects the linear array structured light, and the third area 203 receives the second dot matrix structured light and projects the second dot matrix structured light.

[0052] In one embodiment of the present invention, the first dot matrix structured light forms a first dot matrix pattern, the second dot matrix structured light forms a second dot matrix pattern, and the linear matrix structured light forms a linear matrix pattern; the spot density of the second dot matrix structured light is greater than the spot density of the first dot matrix structured light, so that the first dot matrix structured light forms a sparse dot matrix pattern and the second dot matrix structured light forms a dense dot matrix pattern.

[0053] The first dot matrix pattern is located between the linear array pattern and the second dot matrix pattern, and the second dot matrix pattern is located above the linear array pattern. Figure 2 shown.

[0054] In another embodiment of the present invention, the light projector 1 includes a first laser module and a first projection lens 104;

[0055] The first laser module includes a first point laser array group, a second point laser array group, and a line laser array group, wherein the first point laser array group is used to project a first dot matrix structured light, the second point laser array group is used to project a second dot matrix structured light, and the line laser array group is used to project a linear array structure;

[0056] The first projection lens 104 is arranged on the light-emitting side of the laser module, and includes a first area 201, a second area 202 and a third area 203. The first area 201 is arranged between the second area 202 and the third area 203. The first area 201, the second area 202 and the third area 203 are all transparent areas. The first area 201 receives the dot matrix structured light and projects the dot matrix structured light, the second area 202 receives the second dot matrix structured light and projects the second dot matrix structured light, and the third area 203 receives and projects the linear array structured light.

[0057] The first dot matrix structured light forms a first dot matrix pattern, the second dot matrix structured light forms a second dot matrix pattern, and the linear array structured light forms a linear array pattern;

[0058] The first dot matrix pattern is located between the linear matrix pattern and the second dot matrix pattern, and the linear matrix pattern is located above the second dot matrix pattern. Figure 3 shown.

[0059] In one embodiment of the present invention, the number of light beams in the first dot matrix structured light is between two and several thousand, such as 2 to 1,000; the number of light beams in the second structured light is between several thousand and tens of thousands, such as 10,000 to 50,000.

[0060] The first laser module can be a laser array 106 formed by multiple vertical cavity surface emitting lasers (VCSELs) or multiple edge emitting lasers (EELs). After passing through the collimating lens 102, the multiple laser beams can become highly parallel collimated beams, realizing the projection of dot matrix structured light.

[0061] Figure 5 FIG. 1 is another structural diagram of a depth camera according to an embodiment of the present invention. Figure 5 As shown, the light projector 1 includes a second laser module, a beam splitter and a second projection lens 104;

[0062] The second laser module is used to project a laser beam;

[0063] The beam splitting device 103 includes a first beam splitting region, a second beam splitting region, and a third beam splitting region. The first beam splitting region is used to split the laser beam into a group of multiple laser beams to form a dot-array structured light. The second beam splitting region is used to split the laser beam into another group of multiple laser beams to form a linear array structured light. The third beam splitting region is used to split the laser beam into multiple laser beams to form a linear array structured light.

[0064] The second projection lens 104 is arranged on the light-emitting side of the beam splitter 103, and includes a first area 201, a second area 202 and a third area 203. The first area 201, the second area 202 and the third area 203 are all transparent areas. The first area 201 is used to receive and project the first dot matrix structured light, the second area 202 is used to receive and project the linear array structured light, and the third area 203 is used to receive and project the second dot matrix structured light.

[0065] In one embodiment of the present invention, the first dot matrix structured light forms a first dot matrix pattern, the second dot matrix structured light forms a second dot matrix pattern, and the linear matrix structured light forms a linear matrix pattern; the spot density of the second dot matrix structured light is greater than the spot density of the first dot matrix structured light, so that the first dot matrix structured light forms a sparse dot matrix pattern and the second dot matrix structured light forms a dense dot matrix pattern.

[0066] The first dot matrix pattern is located between the linear array pattern and the second dot matrix pattern, and the second dot matrix pattern is located above the linear array pattern. Figure 2 shown.

[0067] In one embodiment of the present invention, the light projector 1 includes a second laser module, a beam splitting device, and a second projection lens 104;

[0068] The second laser module is used to project a laser beam;

[0069] The beam splitting device 103 includes a first beam splitting region, a second beam splitting region, and a third beam splitting region. The first beam splitting region is used to split the laser beam into multiple laser beams to form a first dot matrix structured light. The second beam splitting region is used to split the laser beam into multiple laser beams to form a second dot matrix structured light. The third beam splitting region is used to split the laser beam into multiple laser beams to form a linear array structured light.

[0070] The second projection lens 104 is arranged on the light-emitting side of the beam splitter 103, and includes a first area 201, a second area 202 and a third area 203. The first area 201 is arranged between the second area 202 and the third area 203. The first area 201, the second area 202 and the third area 203 are transparent areas. The first area 201 is used to receive and project the first dot matrix structured light, the second area 202 is used to receive and project the second dot matrix structured light, and the third area 203 is used to receive and project the linear array structured light.

[0071] The first dot matrix structured light forms a first dot matrix pattern, the second dot matrix structured light forms a second dot matrix pattern, and the linear array structured light forms a linear array pattern;

[0072] The first dot matrix pattern is located between the linear matrix pattern and the second dot matrix pattern, and the linear matrix pattern is located above the second dot matrix pattern. Figure 3 shown.

[0073] The beam splitting device 103 can realize more collimated laser beams and can be a diffraction grating (DOE), a waveguide device, a coding structure photomask or a spatial light modulator (SLM).

[0074] In one embodiment of the present invention, the optical receiver 2 is used to generate first depth information based on the transmission time or phase difference of the first dot matrix structured light, generate second depth information based on the transmission time or phase difference of the second dot matrix structured light, and generate third depth information based on the spot image formed by the linear array structured light.

[0075] The driving circuit 3 is used to control the light projector 1 and the light receiver 2 to be turned on or off at the same time. The driving circuit 3 can be an independent special-purpose circuit, such as a special-purpose SOC chip, an FPGA chip, an ASIC chip, etc., or can contain a general-purpose processor, such as when the depth camera is integrated into a smart terminal such as a floor-sweeping robot, and the processor in the terminal can serve as at least one of the processing circuits.

[0076] The field of view angle of the depth camera is preferably between 100° and 110°.

[0077] The light receiver 2 comprises an optical imaging lens, a light detector array, and a driving circuit 3; the light detector array comprises a plurality of light detectors arranged in an array.

[0078] The optical imaging lens is used to receive the dot-array structured light and the line-array structured light reflected by any object in a target scene, and project the dot-array structured light and the line-array structured light to the light detector;

[0079] The light detector is used to receive the dot-array structured light and the line-array structured light.

[0080] The driving circuit 3 is used to measure the propagation time or phase difference of the first dot-array structured light to generate first depth data of the surface of the target object, measure the propagation time or phase difference of the second dot-array structured light to generate second depth data of the surface of the target object, and generate second depth data of the surface of the target object according to the light spot image formed by the line-array structured light.

[0081] In order to filter background noise, a narrow-band filter is usually installed in the optical imaging lens, so that the light detector array 1 can only pass incident collimated light beams of a preset wavelength. The preset wavelength can be the wavelength of the incident collimated light beam, or can be between 50 nanometers less than and 50 nanometers greater than the wavelength of the incident collimated light beam. The light detector array can be arranged periodically or aperiodically. Each light detector can cooperate with an auxiliary circuit to measure the time of flight of the collimated light beam. According to the requirement for the number of discrete collimated light beams, the light detector array can be a combination of multiple single-point light detectors or a sensor chip integrating multiple light detectors. In order to further optimize the sensitivity of the light detector, the illumination spot of a discrete collimated light beam on the target object can correspond to one or more light detectors. When multiple light detectors correspond to the same illumination spot, the signals of each detector can be connected through a circuit, so as to be combined into a light detector with a larger detection area.

[0082] The light detector adopts a CMOS light sensor, a CD light sensor, or a SPAD light sensor.

[0083] In one embodiment of the present invention, the depth camera provided by the present invention includes a light projector 1 and a light receiver 2;

[0084] The light projector 1 is used to project a first dot matrix structured light, a second dot matrix structured light, and a linear matrix structured light toward a target scene, wherein the power density of each light beam in the first dot matrix structured light is greater than the power density of each light beam in the second dot matrix structured light;

[0085] The light receiver 2 is used to receive the first dot matrix structured light, the second dot matrix structured light and the linear array structured light after being reflected by any object in the target scene, and generate first depth information based on the first dot matrix structured light, generate second depth information based on the second dot matrix structured light, and generate third depth information based on the linear array structured light.

[0086] The sweeping robot in the present invention is equipped with a depth camera. The light projector of the depth camera is used to project a first dot matrix structured light, a second dot matrix structured light and a linear array structured light to a target scene. The light receiver can receive the first dot matrix structured light, the second dot matrix structured light and the linear array structured light reflected by any object in the target scene, and generate first depth information according to the dot matrix structured light with higher power density, generate second depth information according to the second dot matrix structured light with lower power density, and generate third depth information according to the linear array structured light, so that the controller module can irradiate the first dot matrix structured light at a longer distance to generate the first depth information for real-time positioning and map construction, perform object recognition and obstacle avoidance according to the type of object according to the second depth information generated by the second dot matrix structured light at a closer distance, and perform obstacle avoidance according to the type of object according to the third depth information generated by the linear array structured light. The linear structured light has a longer extension range, which is convenient for detecting objects in the full range of the field of view and avoids the omission of strip-shaped objects. The sweeping robot can achieve real-time positioning, map construction and obstacle avoidance through a single depth camera module, thereby reducing the complexity of the product and reducing the cost of the product, thereby facilitating the promotion and application of the product.

[0087] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be apparent to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0088] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various variations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A sweeping robot, characterized in that: It includes a robot body, a depth camera and a controller module; the depth camera is arranged on the side of the robot body; The depth camera includes a light projector and a light receiver; The light projector is used to project a first dot matrix structured light, a second dot matrix structured light, and a linear matrix structured light toward a target scene, wherein the power density of each light beam in the first dot matrix structured light is greater than the power density of each light beam in the second dot matrix structured light; The light receiver is configured to receive the first dot matrix structured light, the second dot matrix structured light, and the linear array structured light reflected by any object in the target scene, and generate first depth information based on the first dot matrix structured light, generate second depth information based on the second dot matrix structured light, and generate third depth information based on the linear array structured light; The controller module is configured to perform real-time positioning and map construction based on the first depth information, and generate obstacle avoidance information based on the second depth information and the third depth information.

2. The sweeping robot according to claim 1, characterized in that: The first dot matrix structured light forms a first dot matrix pattern, the second dot matrix structured light forms a second dot matrix pattern, and the linear array structured light forms a linear array pattern; The first dot matrix pattern is located between the linear array pattern and the second dot matrix pattern, and the second dot matrix pattern is located above the linear array pattern.

3. The sweeping robot according to claim 1, characterized in that: The first dot matrix structured light forms a first dot matrix pattern, the second dot matrix structured light forms a second dot matrix pattern, and the linear array structured light forms a linear array pattern; The first dot matrix pattern is located between the line matrix pattern and the second dot matrix pattern, and the line matrix pattern is located above the second dot matrix pattern.

4. The sweeping robot according to claim 1, characterized in that: The light spot density of the second dot matrix structured light is greater than the light spot density of the first dot matrix structured light, so that the first dot matrix structured light forms a sparse dot matrix pattern and the second dot matrix structured light forms a dense dot matrix pattern.

5. The sweeping robot according to claim 1, characterized in that: The linear array structured light includes multiple linear light beams; The plurality of linear light beams are distributed obliquely, and vertical lines of two adjacent linear light beams in the width direction of the viewing angle have an overlapping area.

6. The sweeping robot according to claim 1, characterized in that: The optical receiver is used to generate first depth information based on the transmission time or phase difference of the first dot matrix structured light, generate second depth information based on the transmission time or phase difference of the second dot matrix structured light, and generate third depth information based on the spot image formed by the linear array structured light.

7. The sweeping robot according to claim 1, characterized in that: The light projector includes a first laser module and a first projection lens; The first laser module includes a first point laser array group, a second point laser array group, and a line laser array group, wherein the first point laser array group is used to project a first dot matrix structured light, the second point laser array group is used to project a second dot matrix structured light, and the line laser array group is used to project a line array structured light; The first projection lens is arranged on the light-emitting side of the laser module, and includes a first area, a second area and a third area. The first area is arranged between the second area and the third area. The first dot matrix structured light is received and projected through the first area, the second dot matrix structured light is received and projected through the second area, and the linear array structured light is received and projected through the third area.

8. The sweeping robot according to claim 1, characterized in that: The light projector includes a second laser module, a beam splitting device and a second projection lens; The second laser module is used to project a laser beam; The beam splitting device includes a first beam splitting region, a second beam splitting region, and a third beam splitting region. The first beam splitting region is used to split the laser beam into multiple laser beams to form a first dot matrix structured light. The second beam splitting region is used to split the laser beam into multiple laser beams to form a second dot matrix structured light. The third beam splitting region is used to split the laser beam into multiple laser beams to form a linear array structured light. The second projection lens is arranged on the light-emitting side of the beam splitter, and includes a first area, a second area and a third area. The first area is arranged between the second area and the third area. The first area receives and projects the first dot matrix structured light, the second area receives and projects the second dot matrix structured light, and the third area receives and projects the linear array structured light.

9. The sweeping robot according to claim 1, characterized in that: The field of view angle of the depth camera is between 100° and 110°.

10. A depth camera, characterized in that including a light projector and a light receiver; The light projector is used to project a first dot matrix structured light, a second dot matrix structured light, and a linear matrix structured light toward a target scene, wherein the power density of each light beam in the first dot matrix structured light is greater than the power density of each light beam in the second dot matrix structured light; The light receiver is used to receive the first dot matrix structured light, the second dot matrix structured light and the linear array structured light after being reflected by any object in the target scene, and generate first depth information based on the first dot matrix structured light, generate second depth information based on the second dot matrix structured light, and generate third depth information based on the linear array structured light.

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