A distance detector and a robot sweeper

Abstract

The application provides a distance detector and a sweeping robot, wherein the distance detector comprises a light-emitting chip and a first light guide component, the light-emitting chip is arranged opposite to the first light guide component, and the first light guide component is used for diverging a light beam emitted by the light-emitting chip in a vertical direction; a cross section of the first light guide component is a fan ring shape, and the cross section area of the first light guide component decreases in the direction from the axial center to both sides. By arranging the first light guide component, the light beam emitted by the light-emitting chip can be diverged in the vertical direction, so that the sweeping robot applying the distance detector can detect the distance between the sweeping robot and obstacles at different heights at the same time, thereby avoiding collision between the sweeping robot and irregular obstacles, improving the stability of the sweeping robot in work, enabling the sweeping robot to complete the cleaning work in various complex environments, and increasing the application range of the sweeping robot.

Description

Technical Field

[0001] This application belongs to the field of optical equipment technology, specifically relating to a distance detector and a sweeping robot. Background Technology

[0002] With the advancement of technology, intelligent robotic vacuum cleaners have become increasingly popular, becoming an indispensable cleaning tool in many households. These robots can automatically clean the floor and, through internal distance sensors, determine the distance between themselves and obstacles, enabling them to actively avoid them.

[0003] Currently, distance sensors typically employ laser ranging technology. When a robotic vacuum cleaner is working, it emits a very thin laser beam towards an obstacle. A photoelectric element receives the laser beam reflected from the obstacle, and a timer measures the time from emission to reception to calculate the distance between the device and the obstacle. However, because robotic vacuum cleaners can only emit a laser beam at a specific height, this limitation is significant. When facing obstacles with curved or other irregular shapes, this can lead to collisions and scrapes. Summary of the Invention

[0004] Therefore, the technical problem to be solved by this application is to provide a distance detector and a sweeping robot, wherein the distance detector can detect the distance between the sweeping robot and multiple points in the vertical direction of the obstacle, thereby avoiding collisions between the sweeping robot and the obstacle.

[0005] To address the aforementioned issues, this application provides a distance detector, comprising a light-emitting chip and a first light-guiding component, wherein the light-emitting chip and the first light-guiding component are disposed opposite to each other, and the first light-guiding component is used to diverge the light beam emitted by the light-emitting chip in the vertical direction;

[0006] The first light guide component has a fan-shaped cross-section, and the cross-sectional area of ​​the first light guide component decreases from the axial center to both sides.

[0007] Optionally, the light-emitting chip coincides with the center line of the first light-guiding component.

[0008] Optionally, the distance detector further includes at least three reflected light receiving components, wherein the at least three reflected light receiving components are located in the same plane as the light-emitting chip, and the at least three reflected light receiving components are at different distances from the light-emitting chip.

[0009] Optionally, the distance detector further includes a second light guide component, which is disposed opposite to at least three of the reflected light receiving components, and the second light guide component is used to control the deflection of the reflected light.

[0010] Optionally, the deflection angle of the reflected light through the second light guide component is A, where 4°≤A≤6°.

[0011] Optionally, at least three of the reflected light receiving components include a first reflected light receiving component, wherein the center lines of the first reflected light receiving component, the light-emitting chip, the first light guide component, and the second light guide component are located in the same plane;

[0012] The first reflected light receiving component intersects the central axis of the second light guiding component and extends in a direction away from the light-emitting chip.

[0013] Optionally, at least three of the reflected light receiving components further include a second reflected light receiving component, which is disposed on the first direction side of the first reflected light receiving component and is set at an angle A with respect to the first reflected light receiving component, where 70°≤A≤80°.

[0014] Optionally, at least three of the reflected light receiving components further include a third reflected light receiving component, which is disposed on the opposite side of the first reflected light receiving component in the first direction and is set at an angle B with respect to the first reflected light receiving component, where 70°≤B≤80°.

[0015] Optionally, the first reflected light receiving component, the second reflected light receiving component, and the third reflected light receiving component are each provided with at least six light-receiving chips.

[0016] Another aspect of this application provides a robotic vacuum cleaner that includes the aforementioned distance detector.

[0017] Beneficial effects

[0018] Embodiments of the present invention provide a distance detector and a robotic vacuum cleaner. The distance detector, by setting a first light guide component, can diverge the light beam emitted by the light-emitting chip in the vertical direction, so that the robotic vacuum cleaner using the distance detector can simultaneously detect the distance between the robotic vacuum cleaner and obstacles at different heights. This can avoid collisions between the robotic vacuum cleaner and irregular obstacles, improve the stability of the robotic vacuum cleaner's operation, enable the robotic vacuum cleaner to complete cleaning work in various complex environments, and expand the applicability of the robotic vacuum cleaner. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the distance detector according to an embodiment of this application;

[0020] Figure 2 This is a front view of the first light guide component according to an embodiment of this application;

[0021] Figure 3This is a side view of the first light guide component according to an embodiment of this application;

[0022] Figure 4 This is a front view of the second light guide component according to an embodiment of this application;

[0023] Figure 5 This is a side view of the second light guide component according to an embodiment of this application;

[0024] Figure 6 This is a schematic diagram of the structure of the light-receiving chip in an embodiment of this application;

[0025] Figure 7 It shows Figure 1 A structural schematic diagram from another perspective of the illustrated embodiment.

[0026] The reference numerals in the attached figures are as follows:

[0027] 1. Light-emitting chip; 2. First light guide component; 3. Second light guide component; 4. First reflected light receiving component; 5. Second reflected light receiving component; 6. Third reflected light receiving component; 7. Light-receiving chip. Detailed Implementation

[0028] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0032] See also Figures 1 to 3 As shown, according to one aspect of the embodiments of this application, a distance detector is provided, including a light-emitting chip 1 and a first light-guiding component 2. The light-emitting chip 1 and the first light-guiding component 2 are disposed opposite to each other. The first light-guiding component 2 is used to emit a light beam emitted by the light-emitting chip 1 in the vertical direction. The cross-section of the first light-guiding component 2 is a fan-shaped ring, and the cross-sectional area of ​​the first light-guiding component 2 decreases from the axial center to both sides.

[0033] The distance detector provided in the embodiments of the present invention mainly disperses the light beam emitted by the light-emitting chip 1 in the vertical direction by setting the first light guide component 2, so that the sweeping robot using the above-mentioned distance detector can simultaneously detect the distance between the sweeping robot and obstacles at different heights, thereby avoiding collisions between the sweeping robot and irregular obstacles, improving the stability of the sweeping robot's operation, enabling the sweeping robot to complete cleaning work in various complex environments, and increasing the applicability of the sweeping robot.

[0034] In everyday home environments, robotic vacuum cleaners frequently collide with curved or irregularly shaped obstacles such as flowerpots and coffee tables. The distance detector in this embodiment can be applied to robotic vacuum cleaners to detect the distance to obstacles at different heights, enabling intelligent obstacle avoidance and meeting the needs of working in everyday home environments. It also ensures strong stability in complex and changing environments, expanding the applicability of robotic vacuum cleaners.

[0035] The distance detector includes a light-emitting chip 1, which emits detection light towards the obstacle. The distance between the light-emitting chip 1 and the obstacle, i.e. the distance between the sweeping robot and the obstacle, can be calculated based on the reception time and offset of the reflected light.

[0036] The distance detector also includes a first light guide component 2, which is positioned opposite to the light-emitting chip 1. The first light guide component 2 is located on the side of the light-emitting chip 1 closest to the obstacle. The light beam emitted by the light-emitting chip 1 reaches the obstacle after passing through the first light guide component 2. The first light guide component 2 can emit the light beam emitted by the light-emitting chip 1 in the vertical direction, so that the distance detector can detect the distance between the robot vacuum cleaner and the obstacle at different heights, thereby improving the accuracy of the detection results and preventing the robot vacuum cleaner from colliding with the obstacle.

[0037] Specifically, the cross-sectional area of ​​the first light guide component 2 decreases in the vertical direction from the axial center to both sides, so that the curved apex of the first light guide component 2 forms a two-dimensional aspherical curve. This will generate a large amount of spherical aberration in the vertical direction, meaning that the convergence of the light beam weakens after passing through the first light guide component 2. This allows the light beam passing through the second light guide component 3 to be redistributed in the vertical direction, thus causing the light to diverge. It can be understood that the cross-section of the second light guide component 3 in the vertical direction is also a two-dimensional aspherical curve, and any point on the second light guide component 3 where the light beam strikes will diverge in the vertical direction. Simultaneously, by setting the cross-section of the first light guide component 2 in the vertical direction to a fan-shaped ring, the light beam can only diverge in the vertical direction, thereby preventing the formation of a circular spot in the horizontal direction and improving the stability of the distance detector.

[0038] The first light guide component 2 can be a fan-shaped lens.

[0039] In practical applications, see Figure 7 As shown, the center line of the light-emitting chip 1 coincides with that of the first light-guiding component 2.

[0040] By aligning the center line of the light-emitting chip 1 with that of the first light-guiding component 2, the vertical field of view detection angle of the distance detector can be increased, thereby improving the vertical resolution of the sweeping robot when avoiding obstacles, expanding the obstacle detection range, and thus increasing the applicability of the sweeping robot.

[0041] Among them, the vertical plane containing the center line of the first light guide component 2 has the largest cross-sectional area, i.e., the largest height. It can be understood that the deflection angle between the light rays passing through the vertical plane containing the center line of the first light guide component 2 and the optical axis is greater than the deflection angle between the light rays passing through other cross-sections of the first light guide component 2 and the optical axis. That is, when the light beam emitted by the light-emitting chip 1 is coplanar with the vertical plane containing the center line of the first light guide component 2, the light divergence angle is the largest. This can increase the vertical field of view of the distance detector, improve the vertical resolution when the sweeping robot avoids obstacles, and thus improve the accuracy of the detection results.

[0042] Specifically, the center lines of the light-emitting chip 1 and the first light-guiding component 2 are aligned to enable the sweeping robot to have a larger vertical field of view detection angle when performing obstacle avoidance detection, thereby increasing the applicability of the sweeping robot.

[0043] See Figure 1 and Figure 7 As shown, the distance detector also includes at least three reflected light receiving components, which are located in the same plane as the light-emitting chip 1, and the distances of the at least three reflected light receiving components from the light-emitting chip 1 are different.

[0044] By setting at least three reflective light receiving components and making the distances of the at least three reflective light receiving components from the light-emitting chip 1 different, the receiving range of light after diffuse reflection from the obstacle can be expanded, thereby avoiding data loss, improving the stability of the distance detector, and improving the accuracy of the distance detection results between the obstacle and the robot vacuum cleaner, so as to avoid collisions between the robot vacuum cleaner and the obstacle.

[0045] Multiple reflective light receiving components can be provided. In this embodiment, three reflective light receiving components are provided, and the distances between the three reflective light receiving components and the light-emitting chip 1 are different.

[0046] Specifically, at least three reflected light receiving components are located in the same plane as the light-emitting chip 1. In one embodiment, the at least three reflected light receiving components are located on the same side of the light-emitting chip 1; in another embodiment, the at least three reflected light receiving components are located on both sides of the light-emitting chip 1. In this embodiment, the at least three reflected light receiving components are located on the same side of the light-emitting chip 1. Since the reflected light receiving components on the same side are close together, the influence of ambient light on the reflected light receiving components is similar, thus making the detection results of the sweeping robot more accurate.

[0047] In the above embodiments, see Figure 1 , Figure 4 and Figure 5 As shown, the distance detector also includes a second light guide component 3, which is disposed opposite to at least three reflected light receiving components. The second light guide component 3 is used to control the deflection of reflected light.

[0048] By setting the second light guide component 3, the light passing through the second light guide component 3 can be controlled to deflect in the direction of the optical axis of the second light guide component 3, thereby improving the vertical field of view detection angle of the reflected light receiving component, so that the distance detector can detect the entire obstacle, improving the accuracy of the detection results, avoiding collisions between the sweeping robot and obstacles, and improving the stability of the sweeping robot's operation.

[0049] In one embodiment, the second light guide component 3 is a convex lens, which converges the reflected light passing through the second light guide component 3 to a point, thereby increasing the intensity of the reflected light and thus improving the accuracy of the detection results. In another embodiment, the second light guide component 3 is a wedge prism, which enables the distance detector to control the reflected light rays on both sides of the horizontal plane to deflect toward the optical axis of the second light guide component 3, thereby increasing the vertical field of view detection angle of the distance detector and thus improving the vertical resolution of the distance detector.

[0050] In the above embodiment, the deflection angle of the reflected light through the second light guide component 3 is A, where 4°≤A≤6°.

[0051] The second light guide component 3 can be made of materials such as optical glass or ultraviolet fused silica, and the deflection angle of the second light guide component 3 is in the range of 4° to 6°. For example, the deflection angle of the second light guide component 3 can be 4°, 5°, or 6°.

[0052] Specifically, in this embodiment, the deflection angle of the second light guide component 3 is preferably 5°. It can be understood that the second light guide component 3 can expand the vertical field of view detection angle by 10° so that the distance detector can detect the entire obstacle, thereby improving the accuracy of the detection results and thus avoiding collisions between the sweeping robot and the obstacle.

[0053] In practical applications, see Figure 7 As shown, at least three reflective light receiving components include a first reflective light receiving component 4. The center lines of the first reflective light receiving component 4, the light-emitting chip 1, the first light guide component 2, and the second light guide component 3 are located in the same plane. The central axis of the first reflective light receiving component 4 intersects with the central axis of the second light guide component 3 and extends in a direction away from the light-emitting chip 1.

[0054] By setting the first reflected light receiving component 4 to receive reflected light near the optical axis of the second light guiding component 3, the distance information between the robot vacuum cleaner and the position on the obstacle at the same height as the position of the light-emitting chip 1 is detected, which improves the stability of the distance detector. At the same time, by setting the central axis of the first reflected light receiving component 4 to intersect with the central axis of the second light guiding component 3 and to extend in a direction away from the light-emitting chip 1, the missed reflected light can be avoided, the accuracy of the detection results can be improved, and the collision between the robot vacuum cleaner and the obstacle can be avoided.

[0055] The center lines of the first reflected light receiving component 4, the light-emitting chip 1, the first light guide component 2, and the second light guide component 3 are located in the same plane, so that the first reflected light receiving component 4 can receive the reflected light at the first height of the obstacle to the maximum extent, thereby avoiding the omission of the reflected light at the first height of the obstacle, so that the distance detector can accurately determine the distance between the first height of the obstacle and the sweeping robot, and improve the accuracy of the detection results.

[0056] The first height can be the height of the location of the light-emitting chip 1.

[0057] When the side of the obstacle closest to the robot vacuum is flat, only one beam of reflected light is needed to determine the distance between the robot vacuum and the obstacle; when the side of the obstacle closest to the robot vacuum is an uneven curved surface, multiple beams of reflected light need to be received to comprehensively analyze the shortest distance between the robot vacuum and the obstacle, in order to help the robot vacuum complete automatic obstacle avoidance.

[0058] Specifically, in this embodiment, when the side of the obstacle close to the robot vacuum is a plane, the first reflected light receiving component 4 is used to receive the reflected light at a first height on the obstacle to detect the distance between the first height of the obstacle and the robot vacuum, thereby helping the robot vacuum to complete intelligent obstacle avoidance.

[0059] In practical applications, see Figure 7 As shown, at least three reflected light receiving components also include a second reflected light receiving component 5, which is disposed on the first direction side of the first reflected light receiving component 4 and is set at an angle A with the first reflected light receiving component 4, where 70°≤A≤80°.

[0060] By setting the second reflected light receiving component 5, the reflected light from the first direction side of the optical axis of the second light guiding component 3 can be received to detect the distance information between the bottom of the obstacle and the robot vacuum cleaner, thus improving the stability of the distance detector. At the same time, by setting the second reflected light receiving component 5 at a 75° angle to the first reflected light receiving component 4, the reflected light from the bottom of the obstacle can be avoided, improving the accuracy of the detection results and thus preventing the robot vacuum cleaner from colliding with the obstacle.

[0061] The first direction can be the opposite direction of the gravitational force on the first reflected light receiving component 4, that is, the first direction can be the vertically upward direction.

[0062] It's understandable that when the side of an obstacle near the robot vacuum is an uneven, curved surface, the distance between the obstacle's initial height and the robot vacuum may not equal the shortest distance between them. Therefore, it's necessary to detect the distance between the robot vacuum and the obstacle at different heights to help the robot vacuum perform intelligent obstacle avoidance.

[0063] The second reflected light receiving component 5 can receive reflected light from the bottom of the obstacle, thereby detecting the distance between the bottom of the obstacle and the robot vacuum cleaner, and comparing it with the detection result of the first reflected light receiving component 4 to help the robot vacuum cleaner complete automatic obstacle avoidance.

[0064] Specifically, the second reflected light receiving component 5 is disposed on the first direction side of the first reflected light receiving component 4, and the second reflected light receiving component 5 and the first reflected light receiving component 4 are set at an angle A, where 70°≤A≤80°. For example, the included angle between the second reflected light receiving component 5 and the first reflected light receiving component 4 can be 70°, 71°, 72°, 73°, 74°, 75°, 76°, 77°, 78°, 79°, or 80°. In this embodiment, the included angle between the second reflected light receiving component 5 and the first reflected light receiving component 4 is 75°, so that the second reflected light receiving component 5 can receive the reflected light from the bottom of the obstacle to the maximum extent, thereby avoiding missed reflected light and improving the accuracy of the detection results, thus preventing the robot vacuum cleaner from colliding with the obstacle.

[0065] In practical applications, see Figure 7 As shown, at least three reflected light receiving components also include a third reflected light receiving component 6, which is disposed on the opposite side of the first reflected light receiving component 4 in the first direction and at an angle B to the first reflected light receiving component 4, where 70°≤B≤80°.

[0066] By setting the third reflected light receiving component 6, the reflected light from the opposite side of the first direction of the optical axis of the third light guide component can be received to detect the distance information between the top of the obstacle and the robot vacuum cleaner, thus improving the stability of the distance detector. At the same time, by setting the third reflected light receiving component 6 at a 75° angle to the first reflected light receiving component 4, the reflected light from the top of the obstacle can be avoided, improving the accuracy of the detection results and thus preventing the robot vacuum cleaner from colliding with the obstacle.

[0067] It's understandable that when the side of an obstacle near the robot vacuum is an uneven, curved surface, the distance between the obstacle's initial height and its bottom and the robot vacuum may not equal the shortest distance between them. Therefore, it's necessary to detect the distance between the robot vacuum and the obstacle at different heights to help the robot vacuum perform intelligent obstacle avoidance.

[0068] The third reflected light receiving component 6 can receive the reflected light from the top of the obstacle, thereby detecting the distance between the top of the obstacle and the robot vacuum cleaner, and comparing it with the detection results of the first reflected light receiving component 4 and the second reflected light receiving component 5 to help the robot vacuum cleaner complete automatic obstacle avoidance.

[0069] Specifically, the third reflected light receiving component 6 is disposed on the opposite side of the first reflected light receiving component 4 in the first direction. The third reflected light receiving component 6 and the first reflected light receiving component 4 are set at an angle A, where 70° ≤ A ≤ 80°. For example, the included angle between the third reflected light receiving component 6 and the first reflected light receiving component 4 can be 70°, 71°, 72°, 73°, 74°, 75°, 76°, 77°, 78°, 79°, or 80°. In this embodiment, the included angle between the third reflected light receiving component 6 and the first reflected light receiving component 4 is 75°, so that the third reflected light receiving component 6 can receive the reflected light from the top of the obstacle to the maximum extent, thereby avoiding missed reflected light and improving the accuracy of the detection results, thus preventing the robot vacuum cleaner from colliding with the obstacle.

[0070] In the above embodiments, see Figure 6 As shown, at least six light-receiving chips 7 are provided on the first reflected light receiving component 4, the second reflected light receiving component 5, and the third reflected light receiving component 6.

[0071] Among them, the light-receiving chip 7 is used to receive reflected light.

[0072] Specifically, the light-receiving chip 7 and the light-emitting chip 1 are located in the same plane.

[0073] The first reflected light receiving component 4 is provided with at least six light receiving chips 7. In this embodiment, the first reflected light receiving component 4 is provided with six light receiving chips 7, and the six light receiving chips 7 are evenly arranged along the length direction of the first reflected light receiving component 4.

[0074] The second reflected light receiving component 5 is provided with at least six light receiving chips 7. In this embodiment, the second reflected light receiving component 5 is provided with six light receiving chips 7, and the six light receiving chips 7 are evenly arranged along the length direction of the second reflected light receiving component 5.

[0075] The third reflected light receiving component 6 is provided with at least six light receiving chips 7. In this embodiment, the third reflected light receiving component 6 is provided with six light receiving chips 7, and the six light receiving chips 7 are evenly arranged along the length direction of the third reflected light receiving component 6.

[0076] In the above embodiments, the ranging principle of the distance detector is as follows:

[0077] D = f(L + d) / d

[0078] In the formula: f is the focal length of the second light guide component 3, L is the distance between the optical axis of the first light guide component 2 and the optical axis of the second light guide component 3, and d is the position offset of the reflected light on the reflected light receiving component.

[0079] In another aspect of this application, a robotic vacuum cleaner is provided, including the aforementioned distance detector.

[0080] The embodiments of the present invention provide a distance detector and a sweeping robot. The distance detector, by setting a first light guide component 2, can diverge the light beam emitted by the light-emitting chip 1 in the vertical direction, so that the sweeping robot using the above-mentioned distance detector can simultaneously detect the distance between the sweeping robot and obstacles at different heights. This can avoid collisions between the sweeping robot and irregular obstacles, improve the stability of the sweeping robot's operation, enable the sweeping robot to complete cleaning work in various complex environments, and expand the applicability of the sweeping robot.

[0081] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0082] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely preferred embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A distance detector, characterized in that, It includes a light-emitting chip (1) and a first light guide component (2). The light-emitting chip (1) and the first light guide component (2) are arranged opposite to each other. The center lines of the light-emitting chip (1) and the first light guide component (2) coincide. The first light guide component (2) is used to transmit the light beam emitted by the light-emitting chip (1) and make the light beam diverge in the vertical direction. The first light guide component (2) has a fan-shaped cross section. The cross-sectional area of ​​the first light guide component (2) decreases non-linearly from the axial center to both sides. The curved apex of the first light guide component (2) forms a two-dimensional aspherical curve. The two-dimensional aspherical curve generates a large amount of spherical aberration in the vertical direction, so that the light beam diverges only in the vertical direction and remains converged in the horizontal direction after passing through the first light guide component (2).

2. The distance detector according to claim 1, characterized in that, The distance detector also includes at least three reflected light receiving components, at least three of the reflected light receiving components are located in the same plane as the light-emitting chip (1), and at least three of the reflected light receiving components are at different distances from the light-emitting chip (1).

3. The distance detector according to claim 2, characterized in that, The distance detector further includes a second light guide component (3), which is disposed opposite to at least three of the reflected light receiving components, and the second light guide component (3) is used to control the deflection of the reflected light.

4. The distance detector according to claim 3, characterized in that, The deflection angle of the reflected light through the second light guide component (3) is A, where 4°≤A≤6°.

5. The distance detector according to claim 3, characterized in that, At least three of the reflected light receiving components include a first reflected light receiving component (4), and the center lines of the first reflected light receiving component (4), the light-emitting chip (1), the first light guide component (2), and the second light guide component (3) are located in the same plane; The first reflected light receiving component (4) intersects the central axis of the second light guiding component (3) and extends in a direction away from the light-emitting chip (1).

6. The distance detector according to claim 5, characterized in that, The at least three of the reflected light receiving components also include a second reflected light receiving component (5), which is disposed on the first direction side of the first reflected light receiving component (4) and is set at an angle A with the first reflected light receiving component (4), where 70°≤A≤80°.

7. The distance detector according to claim 6, characterized in that, The at least three of the reflected light receiving components also include a third reflected light receiving component (6), which is disposed on the opposite side of the first reflected light receiving component (4) in the first direction and is set at an angle B with the first reflected light receiving component (4), where 70°≤B≤80°.

8. The distance detector according to claim 7, characterized in that, The first reflected light receiving component (4), the second reflected light receiving component (5) and the third reflected light receiving component (6) are each provided with at least six light receiving chips (7).

9. A robotic vacuum cleaner, characterized in that, Includes the distance detector as described in any one of claims 1-8.

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