Detection device and self-moving equipment

Abstract

The embodiment of the invention discloses a detection device and self-moving equipment, and the detection device comprises a laser assembly which is used for transmitting at least one beam of first-type line laser to a first region and transmitting at least one beam of second-type line laser to a second region; wherein the energy of the first type of line laser is greater than that of the second type of line laser; and the collection assembly is used for collecting first-class information, corresponding to the first-class line laser, of the first area and collecting second-class information, corresponding to the second-class line laser, of the second area.

Description

Technical Field

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

[0002] The detection device is generally used in self-propelled robots, cleaning robots and other equipment. In the related art, the detection structure generally scans different areas through different laser structures. 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. The detection structure in the related art is relatively large in size. Summary of the invention

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

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

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

[0006] A laser assembly, used to emit at least one first-type line laser beam to a first area, and used to emit at least one second-type line laser beam to a second area; wherein the energy of the first-type line laser beam is greater than the energy of the second-type line laser beam;

[0007] The collecting component is used to collect the first type of information corresponding to the first type of line laser in the first area, and to collect the second type of information corresponding to the second type of line laser in the second area.

[0008] In some optional implementations, the method further includes:

[0009] The first processor is used to construct a map based on the first type of information collected by the collection component, and to determine the distance of the object in the second area based on the second type of information collected by the collection component.

[0010] In some optional implementations, the collection component includes:

[0011] The optical receiver is used to receive the first type of information that the first type of line laser is reflected by the first area, and is used to receive the second type of information that the second type of line laser is reflected by the second area.

[0012] In some optional implementations, the collection component includes:

[0013] An optical receiver, used for receiving the first type of information reflected by the first type of line laser in the first area;

[0014] The acquisition component is used to acquire the second type of information corresponding to the second area and the second type of line laser; wherein the second type of information includes an environmental image.

[0015] In some optional implementations, the laser assembly is used to emit a first line of laser and a second line of laser to the first area, and the laser assembly is also used to emit a third line of laser to the second area; the energy of the first line of laser is greater than the energy of the third line of laser, and the energy of the second line of laser is greater than the energy of the third line of laser;

[0016] The first line laser, the second line laser and the third line laser are parallel; or the first line laser and the second line laser intersect, and the first line laser and the third line laser are parallel; or the first line laser and the second line laser intersect, and the first line laser and the third line laser intersect.

[0017] In some optional implementations, the laser assembly is used to emit a first line of laser and a second line of laser to the first area, and the laser assembly is also used to emit a third line of laser to the second area; the energy of the first line of laser is greater than the energy of the third line of laser, and the energy of the second line of laser is greater than the energy of the third line of laser;

[0018] The first line laser and the second line laser intersect, the first line laser and the third line laser are parallel; the first line laser is distributed along a first direction;

[0019] The opening angle of the first line laser is greater than or equal to 60 degrees, the opening angle of the second line laser is greater than or equal to 20 degrees, and the opening angle of the third line laser is greater than or equal to 80 degrees.

[0020] In some optional implementations, the laser assembly is used to emit a first line of laser light to the first area, and the laser assembly is also used to emit a third line of laser light to the second area; the energy of the first line of laser light is greater than the energy of the third line of laser light;

[0021] The first laser line and the third laser line are parallel; or the first laser line and the third laser line intersect.

[0022] In some optional implementations, the laser assembly includes three light sources, the laser assembly is used to emit a first line of laser to the first area through a first light source; the laser assembly is used to emit a second line of laser to the first area through a second light source; the laser assembly is used to emit a third line of laser to the second area through a third light source; the energy of the first line of laser is greater than the energy of the third line of laser, and the energy of the second line of laser is greater than the energy of the third line of laser;

[0023] The collecting component is used to collect the first sub-first category information corresponding to the first area and the first line laser, and collect the second sub-first category information corresponding to the second line laser; and is also used to collect the second category information corresponding to the second area and the third line laser.

[0024] In some optional implementations, the laser assembly further includes:

[0025] a substrate, wherein the first light source, the second light source and the third light source are arranged on the substrate at intervals;

[0026] A first optical component is arranged on a side of the first light source facing away from the plate body; the first optical component is used to make the laser emitted by the first light source form the first line laser;

[0027] A second optical component is arranged on a side of the second light source facing away from the plate body; the second optical component is used to make the laser emitted by the second light source form the second line laser;

[0028] The third optical component is arranged on a side of the third light source facing away from the plate body; the third optical component is used to make the laser emitted by the third light source form the third line laser.

[0029] In some optional implementations, the first optical component is used to make the first line laser parallel to the first plane;

[0030] The second optical component is used to make the second line laser parallel to a second plane; wherein the second plane intersects the first plane;

[0031] The third 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 ranges from 5 degrees to 30 degrees, and the first elevation angle ranges from 5 degrees to 30 degrees; or, the third optical component is used to make the third line laser form a first deflection angle toward a third direction or a second deflection angle toward a fourth direction with the second plane, wherein the first deflection angle ranges from 5 degrees to 30 degrees, and the second deflection angle ranges from 5 degrees to 30 degrees.

[0032] In some optional implementations, the first line of laser light is distributed along a first direction.

[0033] The first light source, the second light source and the third light source are arranged along a second direction, and the second direction intersects with the first direction.

[0034] In some optional implementations, the first light source, the second light source, and the third light source are used to emit laser light simultaneously; or, the first light source, the second light source, and the third light source are used to emit laser light in a time-sharing manner.

[0035] In some optional implementations, the power of the first light source is greater than the power of the third light source, and the power of the second light source is greater than the power of the third light source.

[0036] In some optional implementations, the peak power of the first light source is greater than 2 W, the peak power of the second light source is greater than 2 W, and the distance between the first area and the laser assembly is greater than 4 m.

[0037] In some optional implementations, the laser assembly includes two light sources, and the laser assembly is used to emit at least one first-type line laser beam to the first area through a fourth light source; and the laser assembly is used to emit at least one second-type line laser beam to the second area through a third light source.

[0038] In some optional implementations, the laser assembly is used to emit a first line of laser and a second line of laser to the first area through a fourth light source; the laser assembly is used to emit a third line of laser to the second area through a third light source; the energy of the first line of laser is greater than the energy of the third line of laser;

[0039] The collecting component is used to collect the first sub-first category information corresponding to the first area and the first line laser, and collect the second sub-first category information corresponding to the second line laser; and is also used to collect the second category information corresponding to the second area and the third line laser.

[0040] In some optional implementations, the fourth light source and the third light source are used to emit laser light simultaneously; or, the fourth light source and the third light source are used to emit laser light in a time-sharing manner.

[0041] In some optional implementations, the laser assembly includes a light source, and the laser assembly is used to emit at least one first-class line laser beam to the first area at a first power through a fourth light source; the laser assembly is also used to emit at least one second-class line laser beam to the second area at a second power through the fourth light source; the first power is greater than the second power.

[0042] In some optional implementations, the laser assembly is used to emit a first line of laser and a second line of laser at a first power to the first area through a fourth light source; the laser assembly is also used to emit a third line of laser and a fourth line of laser at a second power to the second area through the fourth light source; the energy of the first line of laser is greater than the energy of the third line of laser;

[0043] The collecting component is used to collect the first sub-first category information corresponding to the first area and the first line laser, and to collect the second sub-first category information corresponding to the second line laser; and is also used to collect the first sub-second category information corresponding to the second area and the third line laser, and to collect the second sub-second category information corresponding to the fourth line laser.

[0044] In some optional implementations, the first laser line and the second laser line intersect; the third laser line and the fourth laser line intersect; or,

[0045] The first laser line is parallel to the second laser line, and the third laser line is parallel to the fourth laser line.

[0046] In some optional implementations, the laser assembly is used to emit a first line of laser light to the first area at a first power through a fourth light source; the laser assembly is also used to emit a third line of laser light to the second area at a second power through a fourth light source; the energy of the first line of laser light is greater than the energy of the third line of laser light;

[0047] The collecting component is used to collect the first type of information corresponding to the first area and the first line of laser; and is also used to collect the second type of information corresponding to the second area and the third line of laser.

[0048] The embodiment of the present application also provides a self-moving 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;

[0049] The first processor of the detection device is used to construct a map based on the first type of information collected by the collection component, and to determine the distance of objects in the second area based on the second type of information collected by the collection component.

[0050] In some optional implementations, the method further includes:

[0051] The cleaning component is arranged on the bottom side of the main body.

[0052] In some optional implementations, the self-moving device is used to travel on a carrying surface, and the laser assembly is used to emit a first line of laser to a first area, wherein the first line of laser is distributed along a first direction, and the first direction is parallel to the carrying surface.

[0053] The detection device of the present application can emit at least one first-type line laser to the first area and at least one second-type line laser to the second area through a laser component structure; it can greatly simplify the structure of the detection device and reduce the volume of the detection device; thereby realizing the miniaturization and thinness of the detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is an optional structural diagram of a detection device in an embodiment of the present application;

[0055] Figure 2 This is another optional structural diagram of the detection device in the embodiment of the present application;

[0056] Figure 3 This is a schematic diagram of an optional working scenario of a mobile device in an embodiment of the present application;

[0057] Figure 4 This is a schematic diagram of another optional working scenario of a mobile device in an embodiment of the present application;

[0058] Figure 5 This is another optional working scenario schematic diagram of a mobile device in an embodiment of the present application;

[0059] Figure 6 This is a schematic diagram of an optional structure of a laser assembly in an embodiment of the present application;

[0060] Figure 7 for Figure 6 Schematic diagram of local structure;

[0061] Figure 8 This is a schematic diagram of an optional structure of three light sources of the laser assembly in an embodiment of the present application;

[0062] Fig. 9 This is a schematic diagram of an optional structure of two light sources of the laser assembly in the embodiment of the present application;

[0063] Fig.10 It is a schematic diagram of an optional structure of a light source of a laser assembly in an embodiment of the present application.

[0064] Figure numerals: 100, bearing component; 200, laser component; 210, first type line laser; 211, first line laser; 212, second line laser; 220, second type line laser; 221, third line laser; 231, first light source; 232, second light source; 233, third light source; 234, fourth light source; 241, first optical component; 242, second optical component; 243, third optical component; 244, folding member; 245, fourth optical component; 250, substrate; 300, collecting component; 310, optical receiver; 320, collecting component; 400, main body; 510, wall; 511, first area; 520, bearing surface; 521, second area. DETAILED DESCRIPTION

[0065] The technical solution of the present application is further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments of the specification.

[0066] In the embodiments of the present 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 a 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 meanings of the above terms can be understood according to the specific circumstances.

[0067] It should be noted that the terms "first\second\third" involved in the embodiments of the present application are only used to distinguish similar objects, and do not represent a specific order for the objects. It is understandable that the specific order or sequence of "first\second\third" can be interchanged where permitted. It should be understood that the objects distinguished by "first\second\third" can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0068] The following combination Figures 1 to 10 The detection device and the self-moving device described in the embodiments of the present application are described in detail.

[0069] In the related art, the detection structure generally scans different areas through different laser structures. 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 on the cleaning equipment. The cleaning equipment is generally provided with an obstacle avoidance laser structure and a mapping laser structure. The obstacle avoidance laser structure is used for the cleaning equipment to avoid obstacles when walking, and the mapping laser structure is used for the cleaning equipment to establish a cloud map. Since the cleaning equipment needs to independently set up the obstacle avoidance laser structure and the mapping laser structure, the volume of the cleaning equipment is relatively large. At the same time, since the cleaning equipment needs to independently set up the obstacle avoidance laser structure and the mapping laser structure, the cost of the cleaning equipment is relatively high.

[0070] The present application describes a detection device, including: a laser component 200 and a collection component 300. The laser component 200 is used to emit at least one first-type line laser 210 to a first area 511, and to emit at least one second-type line laser 220 to a second area 521; wherein the energy of the first-type line laser 210 is greater than the energy of the second-type line laser 220; the collection component 300 is used to collect the first-type information corresponding to the first-type line laser 210 in the first area 511, and to collect the second-type information corresponding to the second-type line laser 220 in the second area 521. Through the structure of the laser component 200, at least one first-type line laser 210 can be emitted to the first area 511, and at least one second-type line laser 220 can be emitted to the second area 521; the structure of the detection device can be greatly simplified, and the volume of the detection device can be reduced; thereby, the detection device can be miniaturized and thinned. At the same time, since the energy of the first type of line laser 210 is greater than the energy of the second type of line laser 220, at this time, the laser component 200 can emit at least one beam of the first type of line laser 210 to the first area 511 which is relatively far away, and can also emit at least one beam of the second type of line laser 220 to the second area 521 which is relatively close. The collecting component 300 can collect the first type of information corresponding to the first area 511 and the first type of line laser 210, and can also collect the second type of information corresponding to the second area 521 and the second type of line laser 220, so as to determine the distance of the object in the first area 511 which is relatively far away through the first type of information, and determine the distance of the object in the second area 521 which is relatively close through the second type of information.

[0071] Here, the positions of the collecting component 300 and the laser component 200 can correspond, so that the collecting component 300 can collect the first type of information corresponding to the first area 511 and the first type of line laser 210, and collect the second type of information corresponding to the second area 521 and the second type of line laser 220.

[0072] In some optional implementations of the embodiments of the present application, the detection device may further include a carrier assembly 100. The laser assembly 200 may be arranged on the carrier assembly 100 by bonding, clamping, welding, etc.; the collection assembly 300 may be arranged on the carrier assembly 100 by bonding, clamping, welding, etc., and corresponds to the position of the laser assembly 200. Of course, in its implementation, the laser assembly 200 and the collection assembly 300 may not be provided with the carrier assembly 100. In this case, the laser assembly 200 and the collection assembly 300 may be directly arranged on the main structure of the self-moving device or other application equipment.

[0073] In some optional implementations of the embodiments of the present application, the detection device may also include a first processor, which is used to build a map based on the first type of information collected by the collection component 300, and to determine the distance of objects in the second area 521 based on the second type of information collected by the collection component 300.

[0074] Here, the structure of the first processor is not limited. For example, the first processor may be a central processing unit (CPU).

[0075] Here, the manner in which the first processor constructs a map based on the first type of information collected by the collection component 300 is not limited, and the manner in which the first processor determines the distance of an object in the second area 521 based on the second type of information collected by the collection component 300 is not limited.

[0076] For example, Figure 1 As shown, the collecting component 300 may include an optical receiver 310 for receiving first type information of the first type line laser 210 reflected by the first area 511 , and for receiving second type information of the second type line laser 220 reflected by the second area 521 .

[0077] In this example, the relative positions of the optical receiver 310 and the laser assembly 200 are not limited, as long as the optical receiver 310 can receive the first type of information reflected by the first area 511 and the second type of information reflected by the second area 521. Figure 1 As shown, the optical receiver 310 and the laser assembly 200 are spaced apart in the second direction F2; here, the first type line laser 210 may include a first line laser 211 distributed along the first direction, and the first direction and the second direction may intersect. As an example, the first direction and the second direction may be perpendicular or non-perpendicular.

[0078] In this example, the first type of information may include the time when the first area 511 reflects the first type of line laser 210, and here, the second type of information may include the time when the second area 521 reflects the second type of line laser 220. The first processor may determine the object distance of the first area 511 based on the reflection time in the first type of information and the emission time of the first type of line laser 210, and construct a map based on the object distance of the first area 511. The first processor may determine the object distance of the second area 521 based on the reflection time in the second type of information and the emission time of the second type of line laser 220.

[0079] In this example, the structure of the optical receiver 310 is not limited. For example, the optical receiver 310 may be a (Time of Flight, ToF) receiver.

[0080] For example, Figure 2 As shown, the collection component 300 may include: an optical receiver 310 and a collection component 320. The optical receiver 310 is used to receive the first type of information of the first type of line laser 210 reflected by the first area 511; the collection component 320 is used to collect the second type of information corresponding to the second type of line laser 220 in the second area 521; wherein the second type of information includes an environmental image.

[0081] In this example, the relative positions of the optical receiver 310, the laser assembly 200 and the collection assembly 320 are not limited, as long as the optical receiver 310 can receive the first type of information reflected by the first type of line laser 210 in the first area 511, and the collection assembly 320 can collect the second type of information corresponding to the second type of line laser 220 in the second area 521. As an example, Figure 2 As shown, the optical receiver 310 and the laser assembly 200 are spaced apart in the first direction F1; the optical receiver 310 and the collection assembly 320 are spaced apart in the second direction F2; here, the first type of line laser 210 may include a first line laser 211 distributed along the first direction, and the first direction and the second direction may intersect. As an example, the first direction and the second direction may be perpendicular or non-perpendicular.

[0082] In this example, the structure of the acquisition component 320 is not limited. For example, the acquisition component 320 includes an infrared lens. As an example, the acquisition component 320 includes an IR camera.

[0083] In this example, the optical receiver 310 and the first type of information have been described in the above example, which will not be repeated here. As an example, a high-energy first type line laser 210 cooperates with the optical receiver 310, and the high-energy first type line laser 210 generates high-energy pulses. The distance between each small segment of photons on the line and the object to be measured is calculated by the flight time, thereby obtaining the distance between each point on the first type line laser 210 and the object to be measured. As the detection device moves forward and twists, point cloud information on the 360-degree periphery of the detection device is obtained, which is superimposed into map information around the detection device. In an application, the first type line laser 210 includes a high-energy first line laser 211 and a second line laser 212. The first line laser 211 is distributed along a first direction, which can be a horizontal direction. The second line laser 212 is distributed along a second direction, which can intersect with the first direction, and the second direction can be perpendicular to the first direction or non-perpendicular. The second direction can be a vertical direction or a non-vertical direction. High-energy horizontal and vertical line lasers cooperate with TOF receivers. The line lasers generate high-energy pulses. The distance between each small segment of photons on the line and the object to be measured is calculated through the flight time. The distance between each point in the horizontal and vertical directions and the object to be measured is obtained, and as the detection device moves forward and twists, point cloud information in the horizontal 360-degree and vertical height directions is obtained, which is superimposed into mapping information around the detection device.

[0084] In this example, the second type of information includes an environmental image, and the first processor can determine the distance of the object in the second area 521 based on the environmental image in the second type of information. The first processor can determine the distance of the object in the second area 521 by a relatively simple algorithm through the environmental image in the second type of information. As an example, the first processor can determine the distance of the object in the second area 521 relatively simply by triangulation.

[0085] Of course, in other implementations, the first processor can also be used to determine the distance of the object in the first area 511 based on the first type of information collected by the collection component 300. In this case, the first processor can determine the distance of the object in the first area 511 that is relatively far away based on the first type of information collected by the collection component 300, and can also determine the distance of the object in the second area 521 that is relatively close based on the second type of information collected by the collection component 300. Here, the way in which the first processor is used to determine the distance of the object in the first area 511 based on the first type of information collected by the collection component 300 is similar to the way in which the first processor is used to determine the distance of the object in the second area 521 based on the second type of information collected by the collection component 300, and will not be repeated here. As an example, the first type of information may include an environmental image, and the first processor may determine the distance of the object in the first area 511 based on the environmental image in the first type of information.

[0086] The embodiment of the present application also records a self-moving device, which includes a main body 400 and a detection device of the embodiment of the present application; the detection device is arranged on the main body 400; the first processor of the detection device is used to construct a map based on the first type of information collected by the collection component 300, and is used to determine the distance of the object in the second area 521 based on the second type of information collected by the collection component 300; the self-moving device can determine the walking route based on the map constructed by the first processor and the distance of the object in the second area 521 determined by the first processor; thereby achieving accurate obstacle avoidance. At the same time, since the volume of the detection device can be set to be smaller, the self-moving device can also be miniaturized and lightweight through the small-volume detection device. In addition, since the self-moving device can both construct a map and avoid obstacles through the detection device, the manufacturing cost of the self-moving device is greatly reduced.

[0087] In the related art, the obstacle avoidance structure cannot realize the mapping function, the mapping structure has poor obstacle avoidance accuracy, and cannot complete close-range obstacle avoidance. The present application can integrate obstacle avoidance and mapping on the same detection device, greatly simplifying the structure of the self-moving device and reducing the manufacturing cost of the self-moving device.

[0088] In an embodiment of the present application, the first processor can determine the walking route based on the map constructed by the first processor and the object distance in the second area 521 determined by the first processor; thereby achieving accurate obstacle avoidance. At this time, the self-moving device and the detection device share a processor.

[0089] Of course, the self-moving device and the detection device may not share a processor. In this case, the self-moving device may include a second processor, and the second processor is used to determine the walking route based on the map constructed by the first processor and the object distance in the second area 521 determined by the first processor. Here, the structure of the second processor is not limited. For example, the second processor may be a CPU.

[0090] In the embodiment of the present application, the structure of the self-moving device is not limited. For example, the self-moving device can be a delivery robot, an unmanned vehicle, or a sweeping robot.

[0091] As an example, the self-moving device may further include a cleaning component, which is disposed on the bottom side of the main body 400 so as to clean the floor, road surface, etc. by the self-moving device. Here, the structure of the cleaning component is not limited. For example, the cleaning component may include a cleaning brush.

[0092] 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 shell of a self-moving device, or a frame of a self-moving device. Here, the laser assembly 200 and the collection assembly 300 can be directly arranged on the main body 400 through a threaded structure, a clamping structure, a welding structure, etc. Of course, the laser assembly 200 and the collection assembly 300 can also be arranged on the bearing assembly 100 of the detection device, and the bearing assembly 100 can be arranged on the main body 400 as a whole through a threaded structure, a clamping structure, a welding structure, etc.

[0093] In the embodiment of the present application, the second processor or the first processor is used to determine the walking route based on the map constructed by the first processor and the object distance of the second area 521 determined by the first processor. For example, the second processor or the first processor can first determine the preliminary walking route of the mobile device based on the map constructed by the first processor, and then determine the specific walking route when encountering the object based on the object distance of the second area 521 determined by the first processor.

[0094] In the embodiment of the present application, the location of the first processor is not limited. For example, the first processor can be disposed on the carrier assembly 100 or on the main body 400.

[0095] In the embodiments of the present application, Figure 3 , Figure 4 and Figure 5 As shown, the self-moving device is used to travel on the carrying surface 520, and the laser assembly 200 can be used to emit a first line laser 211 to the first area 511. The first line laser 211 is distributed along a first direction, and the first direction is parallel to the carrying surface 520, that is, the first line laser 211 is generally a horizontal line laser. By setting the first line laser 211 along the horizontal direction, the range of the laser assembly 200 emitting the first line laser 211 to the first area 511 can be increased. When the self-moving device is moving, it can be ensured that the laser assembly 200 emits at least one beam of the first type line laser 210 to all the first areas 511 around the self-moving device in the horizontal direction, so as to ensure that the map constructed by the first processor is more comprehensive and complete.

[0096] Here, the bearing surface 520 is used to bear the self-moving device. For example, the bearing surface 520 can be a road surface or the ground.

[0097] This application mainly describes the detection device and self-moving device of this application through the scene of sweeping robot sweeping the floor, but it does not mean that the self-moving device of this application can only be a sweeping robot, nor does it mean that the detection device of this application can only be used for self-moving devices. For example, the detection device can also be used for non-walking equipment.

[0098] In the embodiment of the present application, the first area 511 is farther from the laser assembly 200 than the second area 521. As an example, the self-moving device may be a sweeping robot. In this case, the first area 511 may be an area on the wall 510, and the second area 521 may be an area on the bearing surface 520, such as 3 and Figure 4 Of course, the first area 511 may be an area on the wall 510, and the second area 521 may be an area on the bearing surface 520, as shown in FIG. Figure 5 shown.

[0099] In the embodiment of the present application, the forms of the first type line laser 210 and the second type line laser 220 are not limited, as long as the energy of the first type line laser 210 is greater than the energy of the second type line laser 220 .

[0100] For example, the laser assembly 200 is used to emit a first line laser 211 and a second line laser 212 to the first area 511, and the laser assembly 200 is also used to emit a third line laser 221 to the second area 521; the energy of the first line laser 211 is greater than the energy of the third line laser 221, and the energy of the second line laser 212 is greater than the energy of the third line laser 221.

[0101] In this example, the energy of the first laser line 211 and the energy of the second laser line 212 may be the same or different.

[0102] In this example, the relative positional relationship among the first line laser 211, the second line laser 212, and the third line laser 221 is not limited. For example, the first line laser 211 is distributed along a first direction.

[0103] As an example, the first laser line 211 and the second laser line 212 may intersect, and the first laser line 211 and the third laser line 221 may be parallel. For example, the first laser line 211 and the second laser line 212 may be perpendicular or non-perpendicular. In one application, Figure 3 As shown, the first laser line 211 is distributed along a first direction, which is parallel to the bearing surface 520. At this time, the first laser line 211 is generally distributed along a horizontal direction, the second laser line 212 is generally distributed along a vertical direction, and the third laser line 221 is generally distributed along a horizontal direction.

[0104] As another example, the first laser line 211 and the second laser line 212 may intersect, and the first laser line 211 and the third laser line 221 may intersect. For example, the first laser line 211 and the second laser line 212 may be perpendicular or non-perpendicular, and the first laser line 211 and the third laser line 221 may be perpendicular or non-perpendicular. In one application, Figure 5As shown, the first laser line 211 is distributed along a first direction, and the first direction is parallel to the bearing surface 520. At this time, the first laser line 211 is generally distributed along the horizontal direction, the second laser line 212 is generally distributed along the vertical direction, and the third laser line 221 is generally distributed along the vertical direction.

[0105] As another example, the first laser line 211, the second laser line 212 and the third laser line 221 are parallel. In one application, the first laser line 211 is distributed along a first direction, and the first direction is parallel to the bearing surface 520. At this time, the first laser line 211, the second laser line 212 and the third laser line 221 are all distributed substantially along a horizontal direction.

[0106] In this example, the opening angle of the first line laser 211 is not limited. For example, the opening angle of the first line laser 211 can be greater than or equal to 60 degrees.

[0107] In this example, the opening angle of the second laser line 212 is not limited. For example, the opening angle of the second laser line 212 can be greater than or equal to 20 degrees.

[0108] In this example, the opening angle of the third laser line 221 is not limited. For example, the opening angle of the third laser line 221 can be greater than or equal to 80 degrees.

[0109] For another example, the laser assembly 200 is used to emit a first line of laser 211 to the first area 511 , and the laser assembly 200 is also used to emit a third line of laser 221 to the second area 521 ; the energy of the first line of laser 211 is greater than the energy of the third line of laser 221 .

[0110] In this example, the first line laser 211 and the third line laser 221 are similar to the first line laser 211 and the third line laser 221 in the above example, and are not described again.

[0111] As an example, the first laser line 211 and the third laser line 221 may be parallel. Figure 4 As shown, the first laser line 211 is distributed along a first direction, and the first direction is parallel to the carrying surface 520 . At this time, the first laser line 211 and the third laser line 221 are both substantially distributed along a horizontal direction.

[0112] As another example, the first laser line 211 and the third laser line 221 may intersect. For example, the first laser line 211 and the third laser line 221 may be perpendicular or non-perpendicular.

[0113] In the embodiment of the present application, the number of light sources in the laser assembly 200 is not limited. For example, the laser assembly 200 may include three light sources, one light source, or three light sources.

[0114] In some optional implementations of the embodiments of the present application, the laser assembly 200 may include three light sources, and the laser assembly 200 is used to emit a first line of laser 211 to the first area 511 through a first light source 231; the laser assembly 200 is used to emit a second line of laser 212 to the first area 511 through a second light source 232; the laser assembly 200 is used to emit a third line of laser 221 to the second area 521 through a third light source 233; the energy of the first line of laser 211 is greater than the energy of the third line of laser 221, and the energy of the second line of laser 212 is greater than the energy of the third line of laser 221; the collection assembly 300 is used to collect the first sub-first category information corresponding to the first area 511 and the first line of laser 211, and to collect the second sub-first category information corresponding to the second line of laser 212; and is also used to collect the second category information corresponding to the second area 521 and the third line of laser 221.

[0115] In this implementation, the structures of the first light source 231 , the second light source 232 , and the third light source 233 may be the same or different.

[0116] In this implementation, the energy of the first laser line 211 and the energy of the second laser line 212 may be the same or different.

[0117] In this implementation, the collection component 300 and the second type of information have been described above, and will not be repeated here. In this implementation, the first sub-type of information and the second sub-type of information are similar to the first type of information, and will not be repeated here.

[0118] In this implementation, the laser component 200 may further include: a substrate 250, and the first light source 231, the second light source 232 and the third light source 233 may be arranged at intervals on the substrate 250; by arranging the first light source 231, the second light source 232 and the third light source 233 on a substrate 250, the structure of the laser component 200 can be greatly simplified and the setting volume of the laser component 200 can be reduced.

[0119] Here, the arrangement of the first light source 231, the second light source 232 and the third light source 233 is not limited. Figure 7 As shown, the first light source 231, the second light source 232 and the third light source 233 can be arranged along the second direction F2. As an example, the first line laser 211 is distributed along the first direction F1, and the first light source 231, the second light source 232 and the third light source 233 are arranged along the second direction F2, and the second direction and the first direction can intersect. The second direction and the first direction can be perpendicular or non-perpendicular. For another example, Figure 8As shown, the first light source 231 and the third light source 233 may be arranged along the second direction F2, the second light source 232 and the first light source 231 have a first set distance in the first direction, and the second light source 232 and the first light source 231 have a second set distance in the second direction.

[0120] Here, the first processor can control the first light source 231, the second light source 232 and the third light source 233 to emit lasers simultaneously, so that the collection component 300 can quickly collect the first type of information and the second type of information at the same time. Of course, the first processor can also control the first light source 231, the second light source 232 and the third light source 233 to emit lasers in a time-sharing manner to avoid the first light source 231, the second light source 232 and the third light source 233 from interfering with each other, thereby increasing the difficulty of processing the first type of information and the second type of information. In one application, the substrate 250 is provided with a first chip, a second chip and a third chip, the first chip is used to drive the first light source 231, the second chip is used to drive the second light source 232, and the third chip is used to drive the third light source 233. At this time, the first processor can control the first chip, the second chip and the third chip respectively to make the first light source 231, the second light source 232 and the third light source 233 emit lasers in a time-sharing manner, thereby avoiding the first light source 231, the second light source 232 and the third light source 233 from interfering with each other.

[0121] In this implementation, the energy of the first line laser 211 is greater than the energy of the third line laser 221, and the energy of the second line laser 212 is greater than the energy of the third line laser 221. The implementation is not limited. For example, the power of the first light source 231 is greater than the power of the third light source 233, so that the energy of the first line laser 211 is greater than the energy of the third line laser 221, and the power of the second light source 232 is greater than the power of the third light source 233, so that the energy of the second line laser 212 is greater than the energy of the third line laser 221. As an example, the peak power of the first light source 231 is greater than 2W, and the peak power of the second light source 232 is greater than 2W, so that the distance between the first area 511 and the laser assembly 200 is greater than 4m. When the first processor is used to construct a map based on the first type of information collected by the collection assembly 300, by making the peak power of the first light source 231 greater than 2W, and the peak power of the second light source 232 greater than 2W, it can be ensured that the echo at a distance of more than 4m is obtained, so that sufficiently large spatial distance information can be calculated.

[0122] Of course, the first line laser 211 and the second line laser 212 can also be set at a smaller opening angle, and the third line laser 221 can also be set at a larger opening angle, so that the energy of the first line laser 211 is greater than the energy of the third line laser 221, and the energy of the second line laser 212 is greater than the energy of the third line laser 221.

[0123] In this implementation, the laser assembly 200 may further include: a first optical assembly 241, a second optical assembly 242, and a third optical assembly 243. The first optical assembly 241 is disposed on the side of the first light source 231 facing away from the board; the first optical assembly 241 is used to make the laser emitted by the first light source 231 form a first line laser 211; the second optical assembly 242 is disposed on the side of the second light source 232 facing away from the board; the second optical assembly 242 is used to make the laser emitted by the second light source 232 form a second line laser 212; the third optical assembly 243 is disposed on the side of the third light source 233 facing away from the board; the third optical assembly 243 is used to make the laser emitted by the third light source 233 form a third line laser 221.

[0124] Here, the structure of the first optical component 241 is not limited. Figure 6 As shown, the first optical component 241 may include a wave mirror, which can expand the point light source of the first light source 231 into a linear distribution. For another example, the first optical component 241 may include a cylindrical lens, which can expand the point light source of the first light source 231 into a linear distribution. For another example, the first optical component 241 may also include a DOE lens, which can expand the point light source of the first light source 231 into a linear distribution.

[0125] Here, the structure of the second optical component 242 is not limited. Figure 6 As shown, the second optical component 242 may include a wave mirror, which can expand the point light source of the second light source 232 into a linear distribution. For another example, the second optical component 242 may include a cylindrical lens, which can expand the point light source of the second light source 232 into a linear distribution. For another example, the second optical component 242 may also include a DOE lens, which can expand the point light source of the second light source 232 into a linear distribution.

[0126] Here, the structure of the third optical component 243 is not limited. Figure 6 As shown, the third optical component 243 may include a wave mirror, which can expand the point light source of the third light source 233 into a linear distribution. For another example, the third optical component 243 may include a cylindrical lens, which can expand the point light source of the third light source 233 into a linear distribution. For another example, the third optical component 243 may also include a DOE lens, which can expand the point light source of the third light source 233 into a linear distribution.

[0127] In this implementation, the first optical component 241 is used to make the first line laser 211 parallel to the first plane; the second optical component 242 is used to make the second line laser 212 parallel to the second plane; wherein the second plane and the first plane may intersect; the third optical component 243 is used to make the third line laser 221 form a first depression angle with the first plane; or, the third optical component 243 is used to make the third line laser 221 form a first elevation angle with the first plane.

[0128] Here, the second plane and the first plane may be perpendicular to each other. Of course, the second plane and the first plane may also be non-perpendicular to each other.

[0129] Here, the setting direction of the first plane and the second plane is not limited. For example, the first plane can be parallel to the bearing surface 520, and the second plane can intersect with the bearing surface 520. By setting the first line laser 211 parallel to the first plane, the first line laser 211 can reach a larger area. As an example, the second plane can be perpendicular to the bearing surface 520 or non-perpendicular. As another example, the first plane can be substantially a horizontal plane, and the second plane can be substantially a vertical plane. In this case, the first line laser 211 is a high-energy horizontal line laser, the second line laser 212 is a high-energy vertical line laser, and the third line laser 221 is a low-energy horizontal line laser. Here, the second plane can be the plane in which the self-moving device moves.

[0130] Here, by setting the third line laser 221 and the first plane at a first depression angle or a first elevation angle, the third line laser 221 and the collection component 320 form a triangulated ranging model, so that when the line laser hits a nearby object to be measured, the distance to the object to be measured can be calculated, thereby avoiding obstacles. Here, when the third line laser 221 is distributed along the first direction, the laser component 200 and the collection component 320 are spaced apart in the second direction to form a triangulated ranging model.

[0131] Here, if Figure 6 As shown, the third optical component 243 may further include a folding member 244, and the folding member 244 is used to make the laser emitted by the third light source 233 form a first depression angle or a first elevation angle with the first plane. The structure of the folding member 244 is not limited. For example, the folding member 244 may include a free-form surface lens; in this case, the free-form surface lens can make the laser emitted by the third light source 233 form a first depression angle or a first elevation angle with the first plane.

[0132] Here, the value of the first depression angle is not limited. For example, the first depression angle may range from 5 degrees to 30 degrees.

[0133] Here, the value of the first elevation angle is not limited. For example, the first elevation angle may range from 5 degrees to 30 degrees.

[0134] Of course, in other examples, the third optical component 243 can also be used to make the third line laser 221 form a first deflection angle in the third direction with the second plane or form a second deflection angle in the fourth direction, where the third line laser 221 is distributed along the second direction. Here, the second plane can be the plane where the self-moving device is located, and the third direction is opposite to the fourth direction. For example, the third direction can be the left direction of the self-moving device, and the fourth direction can be the right direction of the self-moving device. By setting the first deflection angle or the second deflection angle between the third line laser 221 and the first plane, the third line laser 221 and the collection component 320 can form a triangulation ranging model, so that when the line laser hits the nearby measured object, the distance between the measured object and the measured object can be calculated, so as to avoid obstacles. Here, when the third line laser 221 is distributed along the second direction, the laser component 200 and the collection component 320 are spaced apart in the first direction to form a triangulation ranging model. Among them, the value of the first deflection angle is not limited. As an example, the range of the first deflection angle is 5 degrees to 30 degrees. The value of the second deflection angle is not limited. As an example, the second deflection angle ranges from 5 degrees to 30 degrees.

[0135] In some optional implementations of the embodiments of the present application, the laser assembly 200 may include two light sources, and the laser assembly 200 is used to emit at least one beam of first-class line laser 210 to the first area 511 through the fourth light source 234; the laser assembly 200 is used to emit at least one beam of second-class line laser 220 to the second area 521 through the third light source 233.

[0136] In this implementation, the number of the first type line lasers 210 is not limited. For example, the laser assembly 200 is used to emit a line laser to the first area 511 through the fourth light source 234. For another example, the laser assembly 200 is used to emit at least two line lasers to the first area 511 through the fourth light source 234.

[0137] In this implementation, the number of the second type line lasers 220 is not limited. For example, the laser assembly 200 is used to emit a line laser to the second area 521 through the third light source 233. For another example, the laser assembly 200 is used to emit at least two line lasers to the second area 521 through the third light source 233.

[0138] In this implementation, if Fig. 9As shown, the laser component 200 is used to emit the first line laser 211 and the second line laser 212 to the first area 511 through the fourth light source 234; the laser component 200 is used to emit the third line laser 221 to the second area 521 through the third light source 233; the collecting component 300 is used to collect the first sub-first category information corresponding to the first area 511 and the first line laser 211, and collect the second sub-first category information corresponding to the second line laser 212; and is also used to collect the second category information corresponding to the second area 521 and the third line laser 221.

[0139] In this implementation, the structures of the fourth light source 234 and the third light source 233 may be the same or different.

[0140] In this implementation, the energy of the first laser line 211 and the energy of the second laser line 212 may be the same. The energy of the first laser line 211 is greater than the energy of the third laser line 221 .

[0141] In this implementation, the collection component 300 and the second type of information have been described above, and will not be repeated here. In this implementation, the first sub-type of information and the second sub-type of information are similar to the first type of information, and will not be repeated here.

[0142] In this implementation, the laser component 200 may further include: a substrate 250, and the fourth light source 234 and the third light source 233 may be spaced apart on the substrate 250; by arranging the fourth light source 234 and the third light source 233 on a substrate 250, the structure of the laser component 200 can be greatly simplified and the setting volume of the laser component 200 can be reduced.

[0143] Here, the arrangement of the fourth light source 234 and the third light source 233 is not limited. For example, the fourth light source 234 and the third light source 233 can be arranged along the second direction. As an example, the first line laser 211 is arranged along the first direction, the fourth light source 234 and the third light source 233 are arranged along the second direction, and the second direction and the first direction can intersect. Here, the second direction and the first direction can be perpendicular or non-perpendicular. For another example, the first line laser 211 is arranged along the first direction, the third light source 233 and the fourth light source 234 have a third set distance in the first direction, and the third light source 233 and the fourth light source 234 have a fourth set distance in the second direction.

[0144] Here, the first processor can control the fourth light source 234 and the third light source 233 to emit lasers simultaneously, so that the collection component 300 can quickly collect the first type of information and the second type of information at the same time. Of course, the first processor can also control the fourth light source 234 and the third light source 233 to emit lasers in a time-sharing manner to avoid the fourth light source 234 and the third light source 233 interfering with each other, thereby increasing the difficulty of processing the first type of information and the second type of information. In one application, a first chip and a second chip are provided on the substrate 250, the first chip is used to drive the fourth light source 234, and the second chip is used to drive the third light source 233. At this time, the first processor can control the first chip and the second chip respectively to make the fourth light source 234 and the third light source 233 emit lasers in a time-sharing manner, thereby avoiding the fourth light source 234 and the third light source 233 interfering with each other.

[0145] In this implementation, the implementation method of the energy of the first line laser 211 being greater than the energy of the third line laser 221 is not limited. For example, the power of the fourth light source 234 is greater than the power of the third light source 233, so that the energy of the first line laser 211 is greater than the energy of the third line laser 221. As an example, the peak power of the fourth light source 234 is greater than 2W, so that the distance between the first area 511 and the laser assembly 200 is greater than 4m. When the first processor is used to build a map based on the first type of information collected by the collection assembly 300, by making the peak power of the fourth light source 234 greater than 2W, it is possible to ensure that an echo at a distance of more than 4m is obtained, so that sufficiently large spatial distance information can be calculated.

[0146] Of course, the first laser line 211 and the second laser line 212 may also be set at smaller opening angles, and the third laser line 221 may also be set at a larger opening angle, so that the energy of the first laser line 211 is greater than the energy of the third laser line 221 .

[0147] In this implementation, the laser assembly 200 may further include: a fourth optical assembly 245 and a third optical assembly 243. The fourth optical assembly 245 is disposed on the side of the fourth light source 234 facing away from the board body; the fourth optical assembly 245 is used to make the laser emitted by the fourth light source 234 form the first laser line 211 and the second laser line 212; the third optical assembly 243 is disposed on the side of the third light source 233 facing away from the board body; the third optical assembly 243 is used to make the laser emitted by the third light source 233 form the third laser line 221.

[0148] Here, the relative positional relationship between 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 may be parallel or intersecting. As an example, when the first laser line 211 and the second laser line 212 intersect, the first laser line 211 and the second laser line 212 may be perpendicular or non-perpendicular.

[0149] Here, the structure of the fourth optical component 245 is not limited, as long as the fourth optical component 245 can make the laser emitted by the fourth light source 234 form the first line laser 211 and the second line laser 212. For example, the fourth optical component 245 may include a DOE grating sheet. For another example, the fourth optical component 245 may include a multi-line spot laser.

[0150] Here, the third optical component 243 and the third light source 233 have been described in the above embodiment, and will not be repeated here.

[0151] In this implementation, the fourth optical component 245 can be used to make the first line laser 211 parallel to the first plane, and to make the second line laser 212 parallel to the second plane; wherein the second plane and the first plane may intersect; the third optical component 243 is used to make the third line laser 221 form a first depression angle with the first plane; or, the third optical component 243 is used to make the third line laser 221 form a first elevation angle with the first plane.

[0152] Here, the second plane and the first plane may be perpendicular or non-perpendicular.

[0153] The above embodiments have described the first plane, the second plane, the first depression angle and the first elevation angle, which will not be repeated here.

[0154] In some optional implementations of the embodiments of the present application, the laser assembly 200 includes a light source, and the laser assembly 200 is used to emit at least one first-type line laser 210 to the first area 511 with a first power through a fourth light source 234; the laser assembly 200 is also used to emit at least one second-type line laser 220 to the second area 521 with a second power through the fourth light source 234; the first power is greater than the second power; by setting the laser assembly 200 only on one light source, the structure of the laser assembly 200 can be greatly simplified.

[0155] In this implementation, the number of the first type line lasers 210 is not limited. For example, the laser assembly 200 can be used to emit a line laser to the first area 511. For another example, the laser assembly 200 can be used to emit at least two line lasers to the first area 511.

[0156] In this implementation, the number of the second type line lasers 220 is not limited. For example, the laser assembly 200 can be used to emit a line laser to the second area 521. For another example, the laser assembly 200 can be used to emit at least two line lasers to the second area 521.

[0157] It should be noted that the number of the first type of line lasers 210 and the number of the second type of line lasers 220 emitted by the laser assembly 200 are the same.

[0158] In this implementation, if Fig.10 As shown, the laser component 200 can be used to emit the first line laser 211 and the second line laser 212 to the first area 511 at a first power through the fourth light source 234; the laser component 200 is also used to emit the third line laser 221 and the fourth line laser to the second area 521 at a second power through the fourth light source 234; the collecting component 300 is used to collect the first sub-first category information corresponding to the first line laser 211 of the first area 511, and collect the second sub-first category information corresponding to the second line laser 212; and is also used to collect the first sub-second category information corresponding to the second area 521 and the third line laser 221, and collect the second sub-second category information corresponding to the fourth line laser.

[0159] In this implementation, the energy of the first laser line 211 may be the same as the energy of the second laser line 212 , the energy of the third laser line 221 may be the same as the energy of the fourth laser line 221 , and the energy of the first laser line 211 may be greater than the energy of the third laser line 221 .

[0160] In this implementation, the collection component 300 has been described above and will not be repeated here.

[0161] In this implementation, the first sub-first category information and the second sub-first category information are similar to the above-mentioned first category information, and the first sub-second category information and the second sub-second category information are similar to the above-mentioned second category information, which will not be repeated here.

[0162] In this implementation, the laser assembly 200 may further include: a substrate 250, and the fourth light source 234 may be disposed on the substrate 250; by disposing a light source on a substrate 250, the structure of the laser assembly 200 can be greatly simplified and the setting volume of the laser assembly 200 can be reduced.

[0163] In this implementation, the first processor may control the fourth light source 234 to emit the first type line laser 210 and the second type line laser 220 in a time-sharing manner.

[0164] In this implementation, the values ​​of the first power and the second power are not limited. For example, the peak power of the first power of the fourth light source 234 is greater than 2W, so that the distance between the first area 511 and the laser assembly 200 is greater than 4m. When the first processor is used to build a map based on the first type of information collected by the collection component 300, by making the peak power of the fourth light source 234 greater than 2W, it is possible to ensure that an echo at a distance of more than 4m is obtained, so that sufficiently large spatial distance information can be calculated.

[0165] In this implementation, the laser assembly 200 may further include: a fourth optical assembly 245. The fourth optical assembly 245 is disposed on the side of the fourth light source 234 facing away from the board; the fourth optical assembly 245 is used to make the laser emitted by the fourth light source 234 form the first line laser 211 and the second line laser 212; or, form the third line laser 221 and the fourth line laser.

[0166] Here, the relative positional relationship between the first laser line 211 and the second laser line 212 is not limited, and the relative positional relationship between the third laser line 221 and the fourth laser line is not limited. For example, the first laser line 211 and the second laser line 212 may intersect; the third laser line 221 and the fourth laser line may intersect. Here, the first laser line 211 and the second laser line 212 may be perpendicular or non-perpendicular. The third laser line 221 and the fourth laser line may be perpendicular or non-perpendicular. For another example, the first laser line 211 and the second laser line 212 are parallel, and the third laser line 221 and the fourth laser line are parallel.

[0167] Here, the structure of the fourth optical component 245 is not limited, as long as the fourth optical component 245 can form two laser lines from the laser emitted by the fourth light source 234. For example, the fourth optical component 245 may include a DOE grating. For another example, the fourth optical component 245 may include a multi-line spot laser.

[0168] In this implementation, the fourth optical component 245 can be used to make the first line laser 211 parallel to the first plane, and to make the second line laser 212 parallel to the second plane, wherein the second plane intersects the first plane. Here, the second plane and the first plane can be perpendicular or non-perpendicular.

[0169] The first plane and the second plane have been described in the above embodiment, and will not be repeated here.

[0170] In this implementation, the laser component 200 can also be used to emit a first line of laser 211 to the first area 511 at a first power through a fourth light source 234; the laser component 200 is also used to emit a third line of laser 221 to the second area 521 at a second power through a fourth light source 234; the collection component 300 is used to collect the first type of information corresponding to the first area 511 and the first line of laser 211; and is also used to collect the second type of information corresponding to the second area 521 and the third line of laser 221.

[0171] Here, the first line laser 211 and the third line laser 221 may be parallel.

[0172] Here, the fourth light source 234, the first power, the second power, the first line laser 211, the third line laser 221, the first type of information and the second type of information have been described above and will not be repeated here.

[0173] Here, the laser assembly 200 may further include a fourth optical assembly 245 . The fourth optical assembly 245 is disposed on the side of the fourth light source 234 facing away from the board body; the fourth optical assembly 245 is used to make the laser emitted by the fourth light source 234 form the first laser line 211 ; or form the third laser line 221 .

[0174] Here, the structure of the fourth optical component 245 is similar to that of the first optical component 241 , and will not be described in detail herein.

[0175] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A detection device, characterized in that: include: A laser assembly, used to emit at least one first-type line laser beam to a first area, and used to emit at least one second-type line laser beam to a second area; wherein the energy of the first-type line laser beam is greater than the energy of the second-type line laser beam; The collecting component is used to collect the first type of information corresponding to the first type of line laser in the first area, and to collect the second type of information corresponding to the second type of line laser in the second area.

2. The detection device according to claim 1, characterized in that: Also includes: The first processor is used to construct a map based on the first type of information collected by the collection component, and to determine the distance of the object in the second area based on the second type of information collected by the collection component.

3. The detection device according to claim 1, characterized in that: The collection component comprises: The optical receiver is used to receive the first type of information that the first type of line laser is reflected by the first area, and is used to receive the second type of information that the second type of line laser is reflected by the second area.

4. The detection device according to claim 1, characterized in that: The collection component comprises: An optical receiver, used for receiving the first type of information reflected by the first type of line laser in the first area; The acquisition component is used to acquire the second type of information corresponding to the second area and the second type of line laser; wherein the second type of information includes an environmental image.

5. The detection device according to claim 1, characterized in that: The laser assembly is used to emit a first line of laser and a second line of laser to the first area, and the laser assembly is also used to emit a third line of laser to the second area; the energy of the first line of laser is greater than the energy of the third line of laser, and the energy of the second line of laser is greater than the energy of the third line of laser; The first line laser, the second line laser and the third line laser are parallel; or the first line laser and the second line laser intersect, and the first line laser and the third line laser are parallel; or the first line laser and the second line laser intersect, and the first line laser and the third line laser intersect.

6. The detection device according to claim 1, characterized in that: The laser assembly is used to emit a first line of laser and a second line of laser to the first area, and the laser assembly is also used to emit a third line of laser to the second area; the energy of the first line of laser is greater than the energy of the third line of laser, and the energy of the second line of laser is greater than the energy of the third line of laser; The first line laser and the second line laser intersect, the first line laser and the third line laser are parallel; the first line laser is distributed along a first direction; The opening angle of the first line laser is greater than or equal to 60 degrees, the opening angle of the second line laser is greater than or equal to 20 degrees, and the opening angle of the third line laser is greater than or equal to 80 degrees.

7. The detection device according to claim 1, characterized in that: The laser assembly is used to emit a first line of laser light to the first area, and the laser assembly is also used to emit a third line of laser light to the second area; the energy of the first line of laser light is greater than the energy of the third line of laser light; The first laser line and the third laser line are parallel; or the first laser line and the third laser line intersect.

8. The detection device according to claim 1, characterized in that: The laser assembly includes three light sources. The laser assembly is used to emit a first line of laser to the first area through a first light source; the laser assembly is used to emit a second line of laser to the first area through a second light source; the laser assembly is used to emit a third line of laser to the second area through a third light source; the energy of the first line of laser is greater than the energy of the third line of laser, and the energy of the second line of laser is greater than the energy of the third line of laser; The collecting component is used to collect the first sub-first category information corresponding to the first area and the first line laser, and collect the second sub-first category information corresponding to the second line laser; and is also used to collect the second category information corresponding to the second area and the third line laser.

9. The detection device according to claim 8, characterized in that: The laser assembly further comprises: a substrate, wherein the first light source, the second light source and the third light source are arranged on the substrate at intervals; A first optical component is arranged on a side of the first light source facing away from the plate body; the first optical component is used to make the laser emitted by the first light source form the first line laser; A second optical component is arranged on a side of the second light source facing away from the plate body; the second optical component is used to make the laser emitted by the second light source form the second line laser; The third optical component is arranged on a side of the third light source facing away from the plate body; the third optical component is used to make the laser emitted by the third light source form the third line laser.

10. The detection device according to claim 9, characterized in that: The first optical component is used to make the first line laser parallel to the first plane; The second optical component is used to make the second line laser parallel to a second plane; wherein the second plane intersects the first plane; The third 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 ranges from 5 degrees to 30 degrees, and the first elevation angle ranges from 5 degrees to 30 degrees; or, the third optical component is used to make the third line laser form a first deflection angle toward a third direction or a second deflection angle toward a fourth direction with the second plane, wherein the first deflection angle ranges from 5 degrees to 30 degrees, and the second deflection angle ranges from 5 degrees to 30 degrees.

11. The detection device according to claim 8, characterized in that: The first line of laser light is distributed along a first direction, The first light source, the second light source and the third light source are arranged along a second direction, and the second direction intersects with the first direction.

12. The detection device according to claim 8, characterized in that: The first light source, the second light source and the third light source are used to emit laser light simultaneously; or, the first light source, the second light source and the third light source are used to emit laser light in a time-sharing manner.

13. The detection device according to claim 8, characterized in that: The power of the first light source is greater than the power of the third light source, and the power of the second light source is greater than the power of the third light source.

14. The detection device according to claim 8, characterized in that: The peak power of the first light source is greater than 2W, the peak power of the second light source is greater than 2W, and the distance between the first area and the laser component is greater than 4m.

15. The detection device according to claim 1, characterized in that: The laser assembly includes two light sources. The laser assembly is used to emit at least one first-type line laser beam to the first area through a fourth light source; and the laser assembly is used to emit at least one second-type line laser beam to the second area through a third light source.

16. The detection device according to claim 15, characterized in that: The laser assembly is used to emit a first line of laser and a second line of laser to the first area through a fourth light source; the laser assembly is used to emit a third line of laser to the second area through a third light source; the energy of the first line of laser is greater than the energy of the third line of laser; The collecting component is used to collect the first sub-first category information corresponding to the first area and the first line laser, and collect the second sub-first category information corresponding to the second line laser; and is also used to collect the second category information corresponding to the second area and the third line laser.

17. The detection device according to claim 15, characterized in that: The fourth light source and the third light source are used to emit laser light simultaneously; or, the fourth light source and the third light source are used to emit laser light in a time-sharing manner.

18. The detection device according to claim 1, characterized in that: The laser assembly includes a light source, and the laser assembly is used to emit at least one first-type line laser beam to the first area at a first power through a fourth light source; the laser assembly is also used to emit at least one second-type line laser beam to the second area at a second power through the fourth light source; the first power is greater than the second power.

19. The detection device according to claim 18, characterized in that: The laser assembly is used to emit a first line of laser and a second line of laser at a first power to the first area through a fourth light source; the laser assembly is also used to emit a third line of laser and a fourth line of laser at a second power to the second area through a fourth light source; the energy of the first line of laser is greater than the energy of the third line of laser; The collecting component is used to collect the first sub-first category information corresponding to the first area and the first line laser, and to collect the second sub-first category information corresponding to the second line laser; and is also used to collect the first sub-second category information corresponding to the second area and the third line laser, and to collect the second sub-second category information corresponding to the fourth line laser.

20. The detection device according to claim 19, characterized in that: The first laser line and the second laser line intersect; the third laser line and the fourth laser line intersect; or, The first laser line is parallel to the second laser line, and the third laser line is parallel to the fourth laser line.

21. The detection device according to claim 18, characterized in that: The laser assembly is used to emit a first line of laser light to the first area at a first power through a fourth light source; the laser assembly is also used to emit a third line of laser light to the second area at a second power through a fourth light source; the energy of the first line of laser light is greater than the energy of the third line of laser light; The collecting component is used to collect the first type of information corresponding to the first area and the first line of laser; and is also used to collect the second type of information corresponding to the second area and the third line of laser.

22. A self-propelled device, characterized in that: include: The subject and the detection device according to any one of claims 1 to 21; The detection device is arranged on the main body; The first processor of the detection device is used to construct a map based on the first type of information collected by the collection component, and to determine the distance of objects in the second area based on the second type of information collected by the collection component.

23. The self-moving device according to claim 22, characterized in that: Also includes: The cleaning component is arranged on the bottom side of the main body.

24. The self-moving device according to claim 22, characterized in that: The self-moving device is used for traveling on a carrying surface, and the laser assembly is used for emitting a first line of laser light to a first area, wherein the first line of laser light is distributed along a first direction, and the first direction is parallel to the carrying surface.

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