Anti-collision device of self-moving equipment, self-moving equipment and sweeping robot

Abstract

The utility model relates to the technical field of automatic cleaning, in particular to an anti-collision device of self-moving equipment, the self-moving equipment and a sweeping robot. The device comprises multiple sets of distance detection assemblies, a circuit board base and a control center, the multiple sets of distance detection assemblies are installed on the circuit board base, and the circuit board base is in communication connection with the control center; the circuit board base is fixed on a collision surface of the self-moving equipment, and the multiple groups of distance detection assemblies are sequentially arranged on the collision surface in the vertical direction; according to the invention, the multiple groups of distance detection assemblies are arranged, and the multiple groups of distance detection assemblies are sequentially arranged on the collision surface in the vertical direction, so that multi-point detection on the surface of an obstacle corresponding to the collision surface is realized, and the detection cost is reduced while the obstacle avoidance precision of the self-moving equipment is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic cleaning technology, and in particular to an anti-collision device for a self-moving device, a self-moving device and a sweeping robot. Background Art

[0002] During operation, the self-moving device often needs to avoid collision with surrounding obstacles; in certain scenarios, the self-moving device needs to avoid collision with obstacles and keep within a certain distance; in some self-moving devices, a set of distance detection components is usually used to detect a target point of the obstacle to maintain the distance between the self-moving device and the obstacle; but the surface of the obstacle is not necessarily a completely parallel plane, so low-end self-moving devices cannot adapt to complex working scenarios. There are also some self-moving devices that control the distance between the self-moving device and the obstacle surface by using complex detection structures or image acquisition devices, but the cost is expensive; that is to say, the self-moving devices in the prior art cannot take into account both obstacle avoidance accuracy and detection costs. Summary of the invention

[0003] In response to the above-mentioned problems in the prior art, the purpose of the present application is to set up multiple groups of distance detection components, and the multiple groups of distance detection components are arranged in sequence along the vertical direction on the collision surface, so as to realize multi-point detection of the obstacle surface corresponding to the collision surface, so that the self-moving device can improve the obstacle avoidance accuracy while reducing the detection cost.

[0004] In order to solve the above problems, the present application provides an anti-collision device for a self-moving device, including multiple sets of distance detection components, a circuit board base and a control center.

[0005] The multiple groups of distance detection components are installed on the circuit board base, and the circuit board base is communicatively connected with the control center;

[0006] The circuit board base is fixed to the collision surface of the self-moving device, and the multiple groups of distance detection components are arranged in sequence along the vertical direction on the collision surface.

[0007] In the embodiment of the present application, a light isolation structure is provided between any two adjacent distance detection components.

[0008] In the embodiment of the present application, each group of the distance detection components includes a light transmitter and two light receivers, and the light transmitter is arranged between the two light receivers.

[0009] In the embodiment of the present application, each group of the distance detection components further includes three curved lenses, and the three curved lenses are matched with the light transmitter and the light receiver respectively;

[0010] The light deflection angles of the curved lenses corresponding to the two light receivers are inconsistent.

[0011] In an embodiment of the present application, the light emitter includes an infrared emitter.

[0012] In the embodiment of the present application, the wafer of the infrared emitter is welded to the circuit board base, and the curved lens is bonded to the circuit board base.

[0013] In an embodiment of the present application, the light receiver includes a diode receiving patch.

[0014] In the embodiment of the present application, the distances between the two light receivers and the light transmitter are the same.

[0015] In an embodiment of the present application, the light isolation structure includes an opaque baffle.

[0016] In an embodiment of the present application, the plurality of distance detection components include a first distance detection component, and a detection direction of the first distance detection component is set at a negative acute angle to a horizontal plane.

[0017] In an embodiment of the present application, the plurality of distance detection components include a second distance detection component, and a detection direction of the second distance detection component is arranged at a positive acute angle to a horizontal plane.

[0018] In an embodiment of the present application, the plurality of distance detection components include a third distance detection component, and a detection direction of the third distance detection component is arranged substantially parallel to a horizontal plane.

[0019] In the embodiment of the present application, the third distance detection component is disposed between the first distance detection component and the second distance detection component.

[0020] Preferably, the first distance detection component and the second distance detection component both use time-of-flight sensors.

[0021] On the other hand, the present application also provides a self-moving device, which includes the anti-collision device in the embodiment of the present application.

[0022] On the other hand, the present application also provides a sweeping robot, which includes the anti-collision device in the embodiment of the present application.

[0023] Due to the above technical solution, the anti-collision device for a self-moving device described in this application has the following beneficial effects:

[0024] By setting up multiple groups of distance detection components, the multiple groups of distance detection components are arranged in sequence along the vertical direction on the collision surface, wherein each group of distance detection components can detect a point on the obstacle surface; the multiple groups of distance detection components arranged in the vertical direction can realize distance detection of multiple points on the obstacle surface, thereby detecting complex obstacle surfaces and improving obstacle avoidance accuracy; and there is no need to additionally set up an image acquisition device, and analyze the image acquisition device, thereby reducing the detection cost of the obstacle surface, so that the self-moving device can reduce the detection cost while improving the obstacle avoidance accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 It is a schematic diagram of the structure of an anti-collision device for a self-moving device provided in an embodiment of the present application;

[0027] Figure 2 It is a schematic diagram of the working principle of an anti-collision device for a self-moving device provided in an embodiment of the present application;

[0028] Figure 3 It is a schematic diagram of the working application principle of an anti-collision device for a self-moving device provided in an embodiment of the present application.

[0029] Among them, 1-distance detection component, 11-light transmitter, 12-light receiver, 13-curved lens, 14-first distance detection component, 15-second distance detection component, 16-third distance detection component, 2-circuit board base. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0031] The term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0032] Combination Figure 1 , an anti-collision device for a self-moving device provided in an embodiment of the present application is introduced, the device includes multiple sets of distance detection components 1, a circuit board base 2 and a control center, the multiple sets of distance detection components 1 are installed on the circuit board base 2, and the circuit board base 2 is communicatively connected with the control center; the circuit board base 2 is fixed to the collision surface of the self-moving device, and the multiple sets of distance detection components 1 are arranged in sequence along the vertical direction on the collision surface.

[0033] In an embodiment of the present application, each group of distance detection components 1 is used to detect a point on the surface of an obstacle; the control center is used to control the operation of the self-moving device based on the detection results of the multiple groups of distance detection components 1; the circuit board base 2 is used to fix the multiple groups of distance detection components 1 to improve the position accuracy of the multiple groups of distance detection components 1; the collision surface refers to the surface of the self-moving device where a collision may occur. When the self-moving device is a sweeping robot, the collision surface can be along the wall surface or a forward surface to prevent collision during the forward process.

[0034] In a specific embodiment of the present application, a plurality of groups of distance detection components 1 are arranged in sequence along the vertical direction of the same central axis.

[0035] In another specific embodiment of the present application, multiple groups of distance detection components 1 correspond to multiple center axes respectively, the multiple center axes are arranged parallel to each other, and the multiple center axes are arranged in sequence along the vertical direction, and the axis spacing between adjacent center axes is less than the preset distance, that is, the multiple groups of distance detection components 1 are staggered along the vertical direction; by staggering the multiple groups of distance detection components 1 along the vertical direction, the distance detection range is improved, thereby improving the detection accuracy of the obstacle surface.

[0036] In a specific embodiment of the present application, the self-moving device may be a sweeping robot or a weeding robot.

[0037] In a specific embodiment of the present application, the multiple groups of distance detection components 1 can be any one or more of an infrared tube sensor, an ultrasonic sensor, a position sensitive detector (PSD) sensor, and a time of flight (TOF) sensor.

[0038] In an embodiment of the present application, multiple groups of distance detection components 1 are set up, and the multiple groups of distance detection components 1 are arranged in sequence along the vertical direction on the collision surface, wherein each group of distance detection components 1 can detect a point on the surface of the obstacle; the multiple groups of distance detection components 1 arranged in the vertical direction can realize distance detection of multiple points on the surface of the obstacle, thereby detecting complex obstacle surfaces and improving obstacle avoidance accuracy; and there is no need to additionally set up an image acquisition device, and analyze the image acquisition device, thereby reducing the detection cost of the obstacle surface, so that the self-moving device can reduce the detection cost while improving the obstacle avoidance accuracy.

[0039] In the embodiment of the present application, a light isolation structure is provided between any two adjacent distance detection components 1 .

[0040] In the embodiment of the present application, the light isolation structure is used to isolate the light between adjacent distance detection components 1 to ensure that the detection work of multiple groups of distance detection components 1 does not interfere with each other.

[0041] In the embodiment of the present application, a light isolation structure is provided between any two adjacent distance detection components 1, thereby avoiding light interference between adjacent distance detection components 1, thereby improving the detection accuracy of each group of distance detection components 1, and thereby improving the obstacle avoidance accuracy.

[0042] In the embodiment of the present application, each set of distance detection components 1 includes a light transmitter 11 and two light receivers 12 , and the light transmitter 11 is disposed between the two light receivers 12 .

[0043] In the embodiment of the present application, the light transmitter 11 is used to transmit a detection laser to the surface of an obstacle, and the light receiver 12 is used to receive the detection laser reflected by the surface of the obstacle.

[0044] In the embodiment of the present application, each set of distance detection components 1 is configured with only one light transmitter 11 and two light receivers 12, thereby reducing the structural cost of the distance detection components 1 and further reducing the detection cost of the obstacle surface.

[0045] In a specific embodiment of the present application, the position of the obstacle surface point detected by each group of distance detection components 1 matches the position of the light receiver 12 .

[0046] In the embodiment of the present application, each set of distance detection components 1 also includes three curved lenses 13, and the three curved lenses 13 are matched with the light emitter 11 and the light receiver 12 respectively; the light deflection angles of the curved lenses 13 corresponding to the two light receivers 12 are inconsistent.

[0047] In the embodiment of the present application, the light deflection angles of the curved lenses 13 corresponding to the two light receivers 12 are different due to structural differences such as the position, surface curvature, size, and tilt angle of the curved lens 13 relative to the light receiver 12; the inconsistent light deflection angles of the curved lenses 13 corresponding to the two receivers represent inconsistent receiving fields of view corresponding to the two light receivers 12, and, when the self-moving device approaches or moves away from the obstacle surface, the receiving fields of view corresponding to the two light receivers 12 change; the change in receiving field of view causes the laser energy received by the two light receivers 12 to change; specifically, when the self-moving device approaches the obstacle surface, the receiving energy of any one of the two light receivers 12 increases, and the receiving energy of the other light receiver 12 decreases; thereby, the control center can determine the distance between each group of distance detection components 1 and the obstacle surface points based on the receiving energy change ratio of the two light receivers 12.

[0048] In the embodiment of the present application, the light deflection angles of the curved lenses 13 corresponding to the two light receivers 12 are set to be inconsistent, so as to achieve distance detection of points on the surface of the obstacle in a simple manner, thereby reducing the manufacturing cost of the distance detection component 1 and reducing the detection cost of the obstacle surface.

[0049] In a specific embodiment of the present application, the curved lens 13 may be provided in multiple pieces separately, or may be integrally formed on the same substrate.

[0050] In a specific embodiment of the present application, the curved lens 13 includes a curved lens 13 made of resin.

[0051] In the embodiment of the present application, the light emitter 11 includes an infrared emitter 11 .

[0052] In the embodiment of the present application, the light emitter 11 is an infrared emitter, thereby reducing the manufacturing cost of the distance detection component 1 and further reducing the cost of detecting the obstacle surface.

[0053] In the embodiment of the present application, the wafer of the infrared emitter is welded to the circuit board base 2 , and the curved lens 13 is bonded to the circuit board base 2 .

[0054] In the embodiment of the present application, the infrared emitter wafer is welded to the circuit board base 2 and the curved lens 13 is bonded to the circuit board base 2, thereby reducing the manufacturing cost of the distance detection component 1 and further reducing the detection cost of the obstacle surface.

[0055] In the embodiment of the present application, the light receiver 12 includes a diode receiving patch.

[0056] In the embodiment of the present application, the light receiver 12 is formed of a diode receiving patch, thereby reducing the manufacturing cost of the distance detection component 1 and further reducing the cost of detecting the obstacle surface.

[0057] In the embodiment of the present application, the distances between the two light receivers 12 and the light transmitter 11 are the same.

[0058] In the embodiment of the present application, the distances between the two light receivers 12 and the light transmitter 11 are set to be the same, so as to facilitate the calculation of the energy received by the light receivers 12, thereby reducing the analysis cost of the obstacle surface and further reducing the detection cost of the obstacle surface.

[0059] In the embodiment of the present application, the light isolation structure includes an opaque baffle.

[0060] In the embodiment of the present application, the light isolation structure is set as a light-proof baffle, thereby reducing the structural cost of the anti-collision device and further reducing the cost of detecting the obstacle surface.

[0061] In a specific embodiment of the present application, the opaque baffle can be integrally formed with the housing of the mobile device.

[0062] refer to Figure 3 In the embodiment of the present application, the plurality of distance detection components 1 include a first distance detection component 14, and the detection direction of the first distance detection component 14 is set at a negative acute angle with the horizontal plane.

[0063] In a specific embodiment of the present application, the negative acute angle between the detection direction of the first distance detection component 14 and the horizontal plane is -40° to -30°.

[0064] In the embodiment of the present application, by setting the detection direction of the first distance detection component 14 at a negative acute angle to the horizontal plane, the bottom of the self-moving device can be detected, the detection range of the anti-collision device is increased, and the detection accuracy and obstacle avoidance accuracy of the self-moving device are improved.

[0065] In a specific embodiment of the present application, the control center is used to determine that an obstacle is a surmountable obstacle when the detection result of the first distance detection component 14 indicates the existence of an obstacle, while the detection results of other distance detection components in the multiple groups of distance detection components indicate the absence of an obstacle; the other distance detection components refer to distance detection components other than the first distance detection component 14; the surmountable obstacle indicates that the obstacle can be climbed over by the self-moving device, for example, the surmountable obstacle is a door step, and the self-moving device can be controlled to enter the obstacle surmounting mode, thereby improving the obstacle avoidance flexibility of the self-moving device.

[0066] In the embodiment of the present application, the plurality of distance detection components 1 include a second distance detection component 15 , and the detection direction of the second distance detection component 15 is arranged at a positive acute angle to the horizontal plane.

[0067] In a specific embodiment of the present application, the positive acute angle between the detection direction of the second distance detection component 15 and the horizontal plane is 30° to 40°.

[0068] In the embodiment of the present application, the detection direction of the second distance detection component 15 is set at a positive acute angle to the horizontal plane, so as to detect the top of the self-moving device, increase the detection range of the anti-collision device, and further improve the detection accuracy and obstacle avoidance accuracy of the self-moving device.

[0069] In the embodiment of the present application, the multiple distance detection components 1 include a third distance detection component 16, and the detection direction of the third distance detection component 16 is arranged substantially parallel to the horizontal plane.

[0070] In a specific embodiment of the present application, the angle between the detection direction of the third distance detection component 16 and the horizontal plane is -3° to 3°; preferably, the angle between the detection direction of the third distance detection component 16 and the horizontal plane is 0°, that is, the detection direction of the third distance detection component 16 is set parallel to the horizontal plane.

[0071] In the embodiment of the present application, by setting the detection direction of the third distance detection component 16 at zero angle to the horizontal plane, the distance detection in the horizontal direction is more accurate than the distance detection in the oblique direction, thereby improving the detection accuracy of the anti-collision device and improving the detection accuracy and obstacle avoidance accuracy of the self-moving device.

[0072] In a specific embodiment of the present application, the detection directions corresponding to the first distance detection component 14, the second distance detection component 15 and the third distance detection component 16 can be different by changing the position, surface curvature, size, tilt angle and other structural differences of the curved lens 13 corresponding to the light emitter 11 relative to the light emitter 11.

[0073] In the embodiment of the present application, the third distance detection component 16 is disposed between the first distance detection component 14 and the second distance detection component 15 .

[0074] In a specific embodiment of the present application, the first distance detection component 14 can be arranged above the third distance detection component 16, and the second distance detection component 15 can be arranged below the third distance detection component 16 to match it; the first distance detection component 14 can also be arranged below the third distance detection component 16, and the second distance detection component 15 can be arranged above the third distance detection component 16 to match it.

[0075] In a specific embodiment of the present application, the first distance detection component 14 and the second distance detection component 15 can adopt any one of an ultrasonic sensor, a position sensitive detector (PSD) sensor and a time of flight (TOF) sensor; preferably, the first distance detection component 14 and the second distance detection component 15 both adopt a time of flight (TOF) sensor, which can achieve a smaller volume share and obtain better detection accuracy.

[0076] In the embodiment of the present application, by setting the third distance detection component 16 between the first distance detection component 14 and the second distance detection component 15, detection in the upper, middle and lower directions of the self-moving device is achieved, the detection accuracy of the anti-collision device is improved, and the detection accuracy and obstacle avoidance accuracy of the self-moving device are further improved.

[0077] In a specific embodiment of the present application, the third distance detection component 16 includes a light transmitter 11 and two light receivers 12 , and the light transmitter 11 is disposed between the two light receivers 12 .

[0078] refer to Figure 2 , the working principle of the anti-collision device in the embodiment of the present application is described below;

[0079] When the self-moving device approaches the obstacle surface (the obstacle surface changes from the solid line position to the dotted line position), the receiving energy of any one of the two light receivers 12 in any group of distance detection components 1 increases, and the receiving energy of the other light receiver 12 decreases; thereby, the control center can determine the distance between each group of distance detection components 1 and the obstacle surface point based on the receiving energy change ratio of the two light receivers 12; multiple groups of distance detection components 1 can realize the detection of multiple obstacle surface points on the obstacle surface, and then detect the complex situation of the obstacle surface, and control the operation of the self-moving device based on the detection results.

[0080] When the self-moving device is a sweeping robot, the anti-collision device is set as a wall sensing device, and the control center is used to control the sweeping robot to maintain a preset distance from the wall along the wall based on the distance detection results of the multiple groups of distance detection components 1 to the wall, and the preset distance is 10-15mm; in order to avoid the collision between the sweeping robot and the wall, the sweeping robot can work when it is at a preset distance from the wall.

[0081] refer to Figure 3 In the case where the multiple groups of distance detection components include the first distance detection component 14, the second distance detection component 15 and the third distance detection component 16, when the detection result of the first distance detection component 14 indicates the existence of an obstacle, and the detection result of the second distance detection component 15 and the detection result of the third distance detection component 16 both indicate the absence of an obstacle, the self-moving device enters the obstacle crossing mode; the obstacle crossing height of the obstacle crossing mode is determined according to the obstacle crossing performance of the self-moving device itself; preferably, the obstacle crossing height of the obstacle crossing mode is 2-2.2 cm; when the detection result of the first distance detection component 14 and the detection result of the third distance detection component 16 both indicate the existence of an obstacle, and the detection result of the second distance detection component 15 indicates the absence of an obstacle, enter the super obstacle crossing mode; the obstacle crossing height of the super obstacle crossing mode is greater than the obstacle crossing height in the obstacle crossing mode; preferably, the obstacle crossing height of the super obstacle crossing mode is 3-3.5 cm; when the detection result of the second distance detection component 15 indicates the existence of an obstacle, the self-moving device can be controlled to transfer in a certain direction, or the self-moving device can be controlled to maintain a distance from the obstacle.

[0082] The anti-collision device in the embodiment of the present application has the following beneficial effects:

[0083] By setting a plurality of groups of distance detection components 1, the plurality of groups of distance detection components 1 are arranged in sequence along the vertical direction on the collision surface, wherein each group of distance detection components 1 can detect a point on the obstacle surface; the plurality of groups of distance detection components 1 arranged in the vertical direction can realize distance detection of a plurality of points on the obstacle surface, thereby detecting a complex obstacle surface, and further improving obstacle avoidance accuracy; and there is no need to additionally set up an image acquisition device, and to analyze the image acquisition device, thereby reducing the detection cost of the obstacle surface, so that the self-moving device can reduce the detection cost while improving the obstacle avoidance accuracy;

[0084] By providing a light isolation structure between any two adjacent distance detection components 1, light interference between adjacent distance detection components 1 is avoided, thereby improving the detection accuracy of each group of distance detection components 1 and further improving the obstacle avoidance accuracy.

[0085] The embodiment of the present application also provides a self-moving device, which includes the anti-collision device in the embodiment of the present application. The self-moving device can be a sweeping robot, a lawn mowing robot, etc.

[0086] The embodiment of the present application further provides a sweeping robot, which includes the anti-collision device in the embodiment of the present application, and the anti-collision device is configured as a wall-mounted sensing device.

[0087] The above description has fully disclosed the specific implementation methods of the present application. It should be pointed out that any changes made by technicians familiar with the field to the specific implementation methods of the present application do not deviate from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited to the above specific implementation methods.

Claims

1. An anti-collision device for a self-moving device, characterized in that: It includes a plurality of distance detection components (1), a circuit board base (2) and a control center. The multiple groups of distance detection components (1) are mounted on the circuit board base (2), and the circuit board base (2) is communicatively connected with the control center; The circuit board base (2) is fixed to the collision surface of the self-moving device, and the multiple groups of distance detection components (1) are arranged in sequence along the vertical direction on the collision surface.

2. The anti-collision device for a self-moving device according to claim 1, characterized in that: A light isolation structure is provided between any two adjacent distance detection components (1).

3. The anti-collision device for a self-moving device according to claim 1, characterized in that: Each set of the distance detection components (1) comprises a light transmitter (11) and two light receivers (12), wherein the light transmitter (11) is arranged between the two light receivers (12).

4. The anti-collision device for a self-moving device according to claim 3, characterized in that: Each group of the distance detection components (1) further comprises three curved lenses (13), and the three curved lenses (13) are matched with the light emitter (11) and the light receiver (12) respectively; The light deflection angles of the curved lenses (13) corresponding to the two light receivers (12) are inconsistent.

5. The anti-collision device for a self-moving device according to claim 4, characterized in that: The light emitter (11) comprises an infrared emitter.

6. The anti-collision device for a self-moving device according to claim 5, characterized in that: The wafer of the infrared emitter is welded to the circuit board base (2), and the curved lens (13) is bonded to the circuit board base (2).

7. The anti-collision device for a self-moving device according to claim 3, characterized in that: The light receiver (12) comprises a diode receiving patch.

8. The anti-collision device for a self-moving device according to claim 3, characterized in that: The two light receivers (12) are at the same distance from the light transmitter (11).

9. The anti-collision device for a self-moving device according to claim 2, characterized in that: The light isolation structure includes a light-proof baffle.

10. The anti-collision device for a self-moving device according to claim 1, characterized in that: The multiple groups of distance detection components (1) include a first distance detection component (14), wherein the detection direction of the first distance detection component (14) is arranged at a negative acute angle with the horizontal plane.

11. The anti-collision device for a self-moving device according to claim 10, characterized in that: The multiple distance detection components (1) include a second distance detection component (15), wherein the detection direction of the second distance detection component (15) is arranged at a positive acute angle with the horizontal plane.

12. The anti-collision device for a self-moving device according to claim 11, characterized in that: The multiple groups of distance detection components (1) include a third distance detection component (16), and the detection direction of the third distance detection component (16) is arranged substantially parallel to the horizontal plane.

13. The anti-collision device for a self-moving device according to claim 12, characterized in that: The third distance detection component (16) is arranged between the first distance detection component (14) and the second distance detection component (15).

14. The anti-collision device for a self-moving device according to claim 11, characterized in that: The first distance detection component (14) and the second distance detection component (15) both use time-of-flight sensors.

15. A self-propelled device, characterized in that: Comprising an anti-collision device as described in any one of claims 1-14.

16. A sweeping robot, characterized in that: Comprising an anti-collision device as described in any one of claims 1-14.

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