Self-moving equipment and self-moving cleaning system

Abstract

The utility model is suitable for the technical field of intelligent robots, and provides a self-moving device and a self-moving cleaning system.The self-moving device comprises a device body and a height detection device, the device body is used for walking on a working surface, and the height detection device is arranged on the device body and comprises a first light source and an image obtaining module; the first light source is used for emitting a first linear laser beam, and the image acquisition module is used for acquiring an image formed by the laser beam on an obstacle so as to determine height information of the obstacle. The self-moving equipment can at least obtain obstacle information within the height range of the machine body in the advancing process, and the problem of obstacle collision is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent robots, and particularly relates to a self-moving device and a self-moving cleaning system. BACKGROUND

[0002] Self-moving devices such as sweeping robots can automatically perform actions such as sweeping, mopping and dusting, and have been widely applied. In the cleaning process, the self-moving device can obtain environmental information in front of the current working path through a navigation module, identify obstacles within a certain distance in front, and perform corresponding obstacle avoidance actions.

[0003] In the existing self-moving device, the navigation module is arranged at a specific height in the shell, and the height detected by the navigation module is the height at which the navigation module is arranged. This results in a partial lack of obstacle height information in the whole machine height range, especially the part above the height of the navigation module. This causes the self-moving device to be unable to completely detect obstacle information, and high-speed collision events are likely to occur. UTILITY MODEL CONTENT

[0004] The purpose of the embodiments of the present application is to provide a self-moving device, which aims to solve the technical problems of the existing self-moving device that there is a partial lack of obstacle height information in the whole machine height range and that collisions are likely to occur.

[0005] The embodiments of the present application are implemented in the following manner. A self-moving device comprises:

[0006] A device main body for walking on a working surface;

[0007] A height detection device arranged on the device main body, the height detection device comprising a first light source and an image acquisition module, the first light source being configured to emit a first linear laser beam, and the image acquisition module being configured to acquire an image formed by the first linear laser beam on an obstacle to determine the height of the obstacle.

[0008] In one embodiment, the plane in which the first linear laser beam is located intersects the working surface.

[0009] In one embodiment, the plane in which the first linear laser beam is located is substantially perpendicular to the working surface.

[0010] In one embodiment, the first linear laser beam is configured such that the highest point of the first linear laser beam is higher than the highest detection point of the image acquisition module.

[0011] In one embodiment, the highest point of the first linear laser beam exceeds the height of the top surface of the device main body beyond a predetermined distance in front of the device main body.

[0012] In one embodiment, the distance between the first light source and the working surface is greater than the distance between the image acquisition module and the working surface in the height direction of the device body.

[0013] In one embodiment, the first light source comprises a plurality of laser emitters and a first optical component disposed on the light emitting side of the laser emitters, each of the laser emitters emits a first linear laser beam via the first optical component; the plurality of first linear laser beams are parallel to each other, or the plurality of first linear laser beams diverge in the width direction of the device body with the first light source as the center.

[0014] In one embodiment, the first optical component is a wave mirror or a rotating mirror.

[0015] In one embodiment, the first light source is used to emit a visible light laser beam, the image acquisition module comprises a visible light camera or an all-pass camera, and / or the first light source is used to emit an infrared light laser beam, the image acquisition module comprises an infrared camera or an all-pass camera.

[0016] In one embodiment, the device body comprises a main housing and a collision sensing component disposed on the front side of the main housing, the height detection device is disposed in the main housing, the collision sensing component is provided with a first avoiding hole, the first light source emits the first linear laser beam outwardly via the first avoiding hole, and the image acquisition module acquires the image via the first avoiding hole.

[0017] In one embodiment, at least one distance detector is further included, the distance detector is disposed on the device body; in the height direction of the device body, the setting height of the distance detector is close to or equal to the height of the device body, and the distance detector is used to detect the obstacle in the advancing direction of the device body.

[0018] In one embodiment, the distance detector is disposed at the top edge of the device body.

[0019] In one embodiment, the number of distance detectors is at least two, and in the width direction of the device body, the distance detectors are respectively disposed on the opposite sides of the height detection device.

[0020] In one embodiment, the collision sensing component is provided with a second avoiding hole, and the distance detector performs distance detection via the second avoiding hole.

[0021] In one embodiment, the self-moving device further comprises a processor, the processor is disposed on the device body and connected with the image acquisition module, and the processor is used to receive the image and acquire the height of the obstacle according to the image.

[0022] In one embodiment, the height detection device further comprises a second light source configured to emit a second linear laser beam; the plane where the second linear laser beam is located is substantially parallel to the working surface.

[0023] Another object of the embodiments of the present application is to provide a self-moving cleaning system comprising a base station and a self-moving device as described in the above embodiments.

[0024] The self-moving device and the self-moving cleaning system provided by the embodiments of the present application have the following beneficial effects:

[0025] In the height detection device provided by the self-moving device, the first light source can emit a first linear laser beam, and the height range that the first linear laser beam can irradiate gradually increases away from the device main body. Therefore, the irradiation requirement of the obstacles in the height range of the device main body can be met. When the first linear laser beam is irradiated onto the obstacles, one or more line segments can be formed. Thus, the height information of the obstacles can be obtained according to the line segments. Further, the device main body can perform actions such as turning to avoid obstacles or advancing according to the height information. In this way, the self-moving device can obtain the obstacle information in the height direction of the device main body in the advancing process, and the problem of colliding with the obstacles can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 is an assembly schematic diagram of the self-moving device provided by the embodiments of the present application;

[0028] Figure 2 is a partial exploded schematic diagram of the self-moving device provided by the embodiments of the present application;

[0029] Figure 3 is an optical path schematic diagram of the self-moving device provided by the embodiments of the present application;

[0030] Figure 4 is a structural schematic diagram of the height detection module in the self-moving device provided by the embodiments of the present application;

[0031] Figure 5 is a top view schematic diagram of the self-moving device provided by the embodiments of the present application Figure 1 ;

[0032] Figure 6is a top view schematic diagram of a self-moving device provided by an embodiment of the present application Figure 2 ;

[0033] Figure 7 is a top view schematic diagram of a self-moving device provided by an embodiment of the present application Figure 3 ;

[0034] Figure 8 is a top view schematic diagram of a self-moving device provided by an embodiment of the present application Figure 4 ;

[0035] The meaning of the marks in the figure is as follows:

[0036] 100 - self-moving device;

[0037] 5 - device main body, 51 - main shell, 52 - collision sensing component, 521 - first avoiding hole, 522 - second avoiding hole;

[0038] 6 - height detection device, 62 - first light source, 621 - laser emitter, 63 - second light source;

[0039] 65 - image acquisition module, 651 - first camera, 652 - second camera;

[0040] 71 - first line laser beam; 72 - second line laser beam;

[0041] 8 - obstacle;

[0042] 9 - distance detector. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0044] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly or indirectly fixed or disposed on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", etc. indicate the orientation or positional relationship shown in the drawings, and are only used for convenience of description, and do not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present patent. The terms "first", "second" are only used for the purpose of convenience, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0045] In order to illustrate the technical solutions described in the present application, the following will be described in detail in combination with specific drawings and embodiments.

[0046] Please refer to Figure 1 and Figure 2 , the embodiment of the present application provides a self-moving device 100, which comprises a device body 5 and a height detection device 6. Wherein, the device body 5 is used to automatically walk on a working surface, and based on the working surface, for the convenience of description, X direction, Y direction and Z direction perpendicular to each other are defined, please refer to 1 to Figure 3 , the Y direction is the advancing direction of the device body 5, the Y direction is parallel to the working surface, and the X direction is parallel to the working surface and perpendicular to the Y direction. The Z direction is the height direction of the device body 5. The height detection device 6 is arranged on the device body 5, and the height detection device 6 comprises a first light source 62 and an image acquisition module 65, the first light source 62 is used to emit a first linear laser beam 71, please refer to Figure 3 ; the image acquisition module 65 is used to acquire the image formed by the first linear laser beam 71 on the obstacle 8 in front. The image contains the projection information of the first linear laser beam 71 on the surface of the obstacle 8, and according to the projection information, the height information of the obstacle 8 can be acquired.

[0047] According to the shape of the surface of the obstacle 8, the image formed by the first linear laser beam 71 on the obstacle 8 in front of the self-moving device 100 is one or more line segments, such as the line segment DE in Figure 3 . The image acquisition module 65 acquires the image containing the one or more line segments.

[0048] It should be noted that the height information of the obstacle 8 refers to the coordinates of one or more points on the obstacle 8 in the Z direction. If the origin of the above XYZ coordinates is set on the working surface, the height of the obstacle 8 refers to the distance between one or more points on the obstacle 8 in the Z direction and the working surface.

[0049] It can be understood that the image formed by the first linear laser beam 71 on the obstacle 8 in front refers to the image formed by the reflection light entering the image acquisition module 65, which is the reflection of the first linear laser beam 71 irradiated on the surface of the obstacle 8.

[0050] The first linear laser beam 71 has a divergence angle α, please refer to Figure 3 . And, the plane where the first linear laser beam 71 is located intersects the working surface.

[0051] Since the first light source 62 and the image acquisition module 65 are arranged at a fixed angle in the XYZ coordinate system, the first linear laser beam 71 has a divergence angle a, and the range of the first linear laser beam 71 is generally triangular. The projection line segment of the first linear laser beam 71 on the surface of the obstacle 8 and the edge of the illumination range of the first linear laser beam 71 can substantially form a triangle. Therefore, the height information of the obstacle 8 can be obtained by the principle of the triangle.

[0052] In a specific application, the image can be calibrated by actual measurement data, and the calibration data can be stored. In the working process of the self-moving device 100, the real-time detection data can be obtained based on the calibration data and the principle of similar triangles.

[0053] After the coordinates of one or more points on the obstacle 8 in the Z direction are obtained by the image acquisition, the self-moving device 100 can perform corresponding actions according to the coordinate information. For example, if the distance between any point on the obstacle 8 and the working surface is greater than the height of the self-moving device 100, the self-moving device 100 can continue to move forward and pass through the obstacle 8. If the distance between any point on the obstacle 8 and the working surface is greater than the allowed obstacle height of the self-moving device 100, the self-moving device 100 can continue to move forward and pass through the obstacle 8. In other cases, there is an obstacle within the height range of the device, and the self-moving device 100 can perform turning obstacle avoidance or backward obstacle avoidance.

[0054] The self-moving device 100 provided by the embodiment of the present application has the height detection device 6 arranged on the device main body 5. The first light source 62 can emit the first linear laser beam 71, and the height range that can be illuminated by the first linear laser beam 71 gradually increases away from the device main body 5, so that the illumination requirement of the obstacle within the height range of the device main body can be met. The first linear laser beam 71 is illuminated on the obstacle 8, and one or more line segments can be formed. The image containing the line segments can reflect the height information of the obstacle 8 relative to the working surface. The height information of the obstacle 8 can be used to further control the device main body 5 to perform turning obstacle avoidance or forward movement. In this way, the self-moving device 100 can obtain the information of the obstacle 8 within the height range of the device main body during the forward movement, and the problem of colliding with the obstacle 8 can be avoided.

[0055] The working surface can be a theoretical plane. For example, the working surface can be the plane where the end of the moving assembly at the bottom of the device main body 5 is located. In actual application, the working surface can be a ground surface, which can be a non-flat surface. When the self-moving device 100 moves on the ground surface, the working surface is the plane determined by the end of the moving assembly at the bottom of the device main body 5.

[0056] In general, the working surface can be a horizontal plane, the Z direction can be a vertical direction, and "up", "down", and the like used hereinafter are based on the orientation. It can be understood that this is only used to understand and explain the relative position relationship of the components in the self-moving device 100, and does not limit the self-moving device 100 to be used in such an orientation. In addition, the Z direction can also be defined as the height direction of the self-moving device 100, and the X direction can also be defined as the width direction of the self-moving device 100.

[0057] In one embodiment, the self-moving device 100 further comprises a processor (not shown) connected with the image acquisition module 65, for receiving the image and obtaining the height of the obstacle 8 according to the image.

[0058] Optionally, the processor can be arranged on the device body 5, that is, integrated in the device body 5. Alternatively, the processor can be arranged on an external terminal, the processor being in communication connection with the image acquisition module 65, the processor remotely acquiring the image, processing and analyzing the image, and remotely controlling the action of the device body 5 according to the analysis result.

[0059] In one embodiment, the plane where the first linear laser beam 71 is located is substantially perpendicular to the working surface. An angle range is allowed between the plane where the first linear laser beam 71 is located and the working surface. For example, the angle between the plane where the first linear laser beam 71 is located and the working surface is 70°-90°. Optionally, the angle between the plane where the first linear laser beam 71 is located and the working surface is 80°-90°. Further optionally, the angle between the plane where the first linear laser beam 71 is located and the working surface is 85°-90°.

[0060] In some embodiments, the angle between the plane where the first linear laser beam 71 is located and the working surface can be 70°, 72°, 74°, 75°, 76°, 78°, 80°, 82°, 84°, 85°, 86°, 88°, or 90°.

[0061] Referring to FIG. 1, Figure 3 As shown, in one embodiment, the projection of the first linear laser beam 71 on the working surface is a straight line. That is to say, at this time, the plane where the first linear laser beam 71 is located is perpendicular to the working surface. The purpose of such arrangement is that one or more line segments formed by the first linear laser beam 71 on the surface of the obstacle 8 are all parallel to the YZ plane, which is beneficial to simplify the information analysis and processing of the image by the processor.

[0062] Referring to FIG. 1, Figure 3As shown, in the YZ plane, the first linear laser beam 71 has a divergence angle a, M is the light center point of the first light source 62, the image acquisition module 65 has a vertical field of view angle β, and N is the imaging center point of the image acquisition module 65. According to the different heights of the first light source 62 and the image acquisition module 65 in the Z direction, and the size relationship between the divergence angle a and the vertical field of view angle β, the range of the first linear laser beam 71 and the vertical field of view range of the image acquisition module 65 are at least partially overlapped, which includes that the range of the first linear laser beam 71 can be completely located in the vertical field of view range of the image acquisition module 65, or the vertical field of view range of the image acquisition module 65 can be completely located in the range of the first linear laser beam 71, or as shown in the figure, the range of the first linear laser beam 71 and the vertical field of view range of the image acquisition module 65 are partially overlapped. Figure 3 As shown, the range of the first linear laser beam 71 and the vertical field of view range of the image acquisition module 65 are partially overlapped.

[0063] On this basis, the range that can be detected by the height detection device 6 (hereinafter defined as the detection range, that is, the range determined by the triangle in which the line segment DE is located) is the part of the mutual overlap of the range of the first linear laser beam 71 and the vertical field of view range of the image acquisition module 65.

[0064] In this description, in the drawings of the embodiments of the present application, the light rays, the range edges, and the entity structure lines are represented by solid lines, the auxiliary lines are represented by dashed lines, and the marking lines are represented by dotted lines.

[0065] The greater the divergence angle a of the first linear laser beam 71 and the greater the vertical field of view angle β of the image acquisition module 65, the greater the detection range.

[0066] In one embodiment, the divergence angle a of the first linear laser beam 71 is greater than or equal to 60°. Alternatively, the divergence angle a of the first linear laser beam 71 is greater than or equal to 80°. Further alternatively, the divergence angle a of the first linear laser beam 71 is greater than or equal to 100°.

[0067] In one embodiment, the vertical field of view angle β of the image acquisition module 65 is greater than or equal to 40°. Alternatively, the vertical field of view angle β of the image acquisition module 65 is greater than or equal to 60°; further alternatively, the vertical field of view angle β of the image acquisition module 65 is greater than or equal to 70°.

[0068] It should be noted that the range of the divergence angle a of the first linear laser beam 71 and the vertical field of view angle β of the image acquisition module 65 defined above do not represent that the divergence angle a of the first linear laser beam 71 is necessarily greater than the vertical field of view angle β of the image acquisition module 65, and the two are independently set.

[0069] In some embodiments, the divergence angle α of the first line laser beam 71 can be 60°, and the vertical field of view β of the image acquisition module 65 can be 40°; or, the divergence angle α of the first line laser beam 71 can be 60°, and the vertical field of view β of the image acquisition module 65 can be 60°; the divergence angle α of the first line laser beam 71 can be 80°, and the vertical field of view β of the image acquisition module 65 can be 60°; the divergence angle α of the first line laser beam 71 can be 100°, and the vertical field of view β of the image acquisition module 65 can be 80°, etc.

[0070] like Figure 6 As shown, the first light source 62 may include a laser emitter 621 and a first optical component (not shown) disposed on the light-emitting side of the laser emitter 621, such as a wave mirror, a rotating mirror, a cylindrical lens, a freeform surface lens, a Powell lens, etc. The laser emitter 621 emits a laser beam, which is transformed into a diverging first linear laser beam 71 after passing through the first optical component. In other embodiments, the first linear laser beam 71 can be implemented in other ways, and this embodiment does not particularly limit this. The height detection device 6 may further include a second optical component (not shown), which is at least disposed in front of the image acquisition module 65, for adjusting the light entering the image acquisition module 65, such as focusing.

[0071] Please see Figure 3 As shown, in order to detect as much information about obstacles 8 as possible within the range above the image acquisition module 65, the detection range of the image acquisition module 65 should be as high as possible. Given a fixed divergence angle α of the first laser beam 71 and a fixed vertical field of view β of the image acquisition module 65, the first light source 62 can be positioned higher than the image acquisition module 65; that is, in the Z direction, the first light source 62 can be positioned higher than the image acquisition module 65.

[0072] Figure 3 In the image acquisition module 65, the upper edge of the first laser beam 71 is located outside the vertical field of view of the image acquisition module 65. Point C is the intersection of the detection range and the height line of the self-moving device 100. Point C is the critical point for the image acquisition module 65 to detect the obstacle 8 at the height of the device body. At point C, closer to the device body 5, the image acquisition module 65 cannot detect all the height information of the obstacle 8 within the height range of the device body. Point A is the intersection of the upper edge of the first laser beam 71 and the height line of the self-moving device 100. Point A is the critical point for the first laser beam 71 to illuminate the obstacle 8 at the height of the device body. At point A, closer to the device body 5, the first laser beam 71 cannot illuminate all the positions of the obstacle 8 within the height range of the device body.

[0073] In one embodiment, on a plane perpendicular to the working surface, the highest point of illumination of the first linear laser beam 71 can be selected to be higher than the highest detection point of the image acquisition module 65. The purpose of this setting is to ensure that the area that can be detected by the image acquisition module 65 can be illuminated by the first light source 62, so as to minimize the detection blind zone caused by the first linear laser beam 71.

[0074] In one alternative embodiment, in the Y direction, point C is located away from the device body 5 relative to point A. For example... Figure 3 As shown, the area below the fuselage height line and above the upper edge of the vertical field of view of the image acquisition module 65 is the detection blind zone.

[0075] Therefore, setting the first light source 62 higher than the image acquisition module 65 in the Z direction is a means to ensure that the detection blind zone is not caused by the first laser beam 71.

[0076] In other alternative embodiments, on a plane perpendicular to the working surface, the highest detection point of the image acquisition module 65 may be higher than the highest illumination point of the first linear laser beam 71. Accordingly, a detection blind zone is formed in the area below the fuselage height line and above the upper edge of the vertical field of view of the first linear laser beam 71.

[0077] In one embodiment, such as Figure 3 As shown, beyond a preset distance h (h less than 10cm) at the front end of the main body 5, the highest point of the first laser beam 71 exceeds the height of the top surface of the main body 5. That is, when the obstacle 8 is in front of the main body 5 and the distance between it and the front end of the main body 5 is greater than or equal to h, the first laser beam 71 itself can meet the height detection requirements within the height range of the device body.

[0078] The smaller the preset distance h, the better. In some embodiments, h is less than or equal to 10 centimeters. Optionally, h is less than or equal to 8 centimeters. Further optionally, h is less than or equal to 6 centimeters.

[0079] Please see Figure 3 As shown, the first light source 62 has an optical axis MB, which is the axis of symmetry of the first linear laser beam 71. Depending on the divergence angle α of the first linear laser beam 71 and the setting height of the first light source 62, the optical axis MB can be parallel to the working surface, or it can be inclined upward or downward relative to the working surface.

[0080] For example, the optical axis MB can be parallel to the working surface or tilted upward relative to the working surface, so as to first satisfy the detection of the height information of obstacles 8 near the fuselage height line.

[0081] For example, when the divergence angle a of the first linear laser beam 71 is large, the first light source 62 is arranged high, and the detection blind area is small in itself, the optical axis can be inclined downward relative to the working surface to ensure that the first linear laser beam 71 can irradiate the working surface as much as possible. At this time, the processor can obtain the height information of the obstacle 8 at a small distance from the working surface, which can be used as obstacle crossing information to control whether the device main body 5 performs obstacle crossing action.

[0082] In one embodiment, the first linear laser beam 71 can include a visible light laser beam, that is, the first light source 62 can include a visible light laser, and correspondingly, the image acquisition module 65 includes a second camera 652, which is a visible light camera or a full-pass camera, as shown in Figure 4 According to the application scenario of the self-moving device 100, the wavelength band of the first linear laser beam 71 can be selected to be obviously distinguishable from the scene objects. For example, specifically, the first linear laser beam 71 can be a red laser beam for use in a case where there are fewer red objects in the scene; or the first linear laser beam 71 is a blue laser beam for use in a case where there are fewer blue objects in the scene; or the first linear laser beam 71 is a green laser beam for use in a case where there are fewer green objects in the scene; and the like. In addition, the first linear laser beam 71 emitted by the first light source 62 includes a visible light laser beam, which is also applicable to night detection.

[0083] In one embodiment, the first light source 62 can include an invisible light laser, and the first linear laser beam 71 can include an invisible laser beam, and correspondingly, the image acquisition module 65 includes a first camera 651, which is a visible light camera or a full-pass camera, as shown in Figure 4 Specifically, the first linear laser beam 71 can be an infrared laser beam, or even a far-infrared laser beam. In this way, the first linear laser beam 71 can be more easily distinguished from ambient light, which is conducive to the identification and processing of the processor on the image and is more suitable for daytime detection.

[0084] It should be noted that the visible light laser needs to be used in cooperation with the second camera 652, and the invisible light laser needs to be used in cooperation with the first camera 651. Therefore, when the first linear laser beam 71 is a visible light laser beam, the relationship between the first linear laser beam 71 and the image acquisition module 65 refers to the relationship between the first linear laser beam 71 and the second camera 652, and when the first linear laser beam 71 is an invisible light laser beam, the relationship between the first linear laser beam 71 and the image acquisition module 65 refers to the relationship between the first linear laser beam 71 and the first camera 651.

[0085] In one embodiment, as shown in Figure 4As shown, the image acquisition module 65 may include both a visible light camera and an invisible light camera to simultaneously acquire visible and invisible light in the environment. The first light source 62 may include both a visible light laser and an invisible light laser.

[0086] Alternatively, the first light source 62 may include both a visible light laser and an invisible light laser, and the image acquisition module 65 may include an all-around camera.

[0087] In one embodiment, such as Figure 4 As shown, the image acquisition module 65 may include both a visible light camera and an invisible light camera, or a full-pass camera, to simultaneously acquire visible and invisible light in the environment. The first light source 62 may also include a visible light laser or an invisible light laser. The purpose of this configuration is that, in the image acquisition module 65, one of the visible light camera and the invisible light camera, in addition to cooperating with the corresponding laser to detect the height of the obstacle 8, can also perform other image acquisition functions. Alternatively, the full-pass camera can be used simultaneously to cooperate with the corresponding laser to detect the height of the obstacle 8 and perform other image acquisition functions, such as environmental monitoring, acquiring environmental images in front of the self-moving device 100, and sending the environmental images to a control terminal for user use.

[0088] The first light source 62 can emit one or more first line laser beams 71. Multiple first line laser beams 71 can be used to detect the height of multiple locations on the obstacle 8 to obtain more comprehensive height information.

[0089] When the first light source 62 is used to emit multiple first line laser beams 71, the angle of each first line laser beam 71 relative to the Y direction should be such that the image of each first line laser beam 71 on the obstacle 8 is easily distinguishable and analyzed by the processor. For example, the first line laser beams 71 can be relatively parallel; or, in the X direction, at least two first line laser beams 71 can be arranged relatively divergently, for example, in the X direction, multiple first line laser beams 71 can be arranged divergently around the first light source 62.

[0090] Furthermore, the wavelength ranges of the multiple first-line laser beams 71 may be the same or not completely the same.

[0091] Please see Figure 5 As shown, on the XY plane, the image acquisition module 65 has a horizontal field of view γ. Here, the first horizontal field of view γ1 of the second camera 652 and the second horizontal field of view γ2 of the first camera 651 are shown. Each first line laser beam 71 can overlap with the horizontal field of view of the image acquisition module 65.

[0092] Please see Figure 4As shown, the first light source 62 includes two laser emitters 621, each of which is a first line laser beam 71 for emitting a first line laser beam 71 via a first optical component.

[0093] like Figure 5 As shown, the angle between the two first line laser beams 71 is θ, where θ is greater than or equal to 0°. Thus, the line segments formed by the two first line laser beams 71 will not intersect on the obstacle 8 in front.

[0094] In one embodiment, the included angle θ between the two first line laser beams 71 is greater than or equal to 10°. Optionally, the included angle θ between the two first line laser beams 71 is greater than or equal to 30°. In specific applications, the included angle θ between the two first line laser beams 71 may have other values, which are not specifically limited in this application embodiment.

[0095] In the X direction, multiple laser emitters 621 can be disposed on the same side or both sides of the image acquisition module 65. Distributing multiple laser emitters 621 on both sides of the image acquisition module 65 in the X direction facilitates a generally uniform arrangement of the first linear laser beam 71 on both sides of the image acquisition module 65. (See also...) Figure 4 As shown, multiple laser emitters 621 are arranged on the same side of the image acquisition module 65, which is beneficial for the arrangement and wiring design of the first light source 62.

[0096] In one specific embodiment, two laser emitters 621 are positioned on the same side of the image acquisition module 65, for example, Figure 4 In this configuration, both laser emitters 621 are invisible light emitters and are positioned on the same side of the first camera 651. The optical axes MB of the two laser emitters 621 are tilted towards the first camera 651 and away from the first camera 651, respectively, in the forward direction.

[0097] Please see Figure 6 to Figure 8 As shown, in one embodiment, the first light source 62 includes a laser emitter 621, which may be disposed on one side of the image acquisition module 65 in the X direction. On this side, the laser emitter 621 may be tilted towards the image acquisition module 65, such as... Figure 6 As shown; it can also be tilted 65 degrees away from the image acquisition module, such as Figure 7 As shown; it can also be parallel to the Y direction, such as... Figure 8 As shown. It is sufficient that the first linear laser beam 71 intersects with the horizontal field of view of the image acquisition module 65.

[0098] like Figure 3As shown, the distance between the C point and the height detection device 6 in the Y direction is H. The height information of the obstacle 8 with a distance greater than H from the height detection device 6 in the Y direction can be detected. In some cases, the obstacle 8 with a distance less than H from the height detection device 6 can enter the detection blind area. For example, after the self-moving device 100 is restarted, the obstacle 8 itself is located in the detection blind area, or after the self-moving device 100 turns, the obstacle 8 with a distance less than H from the height detection device 6 enters the detection blind area.

[0099] To solve this problem, in one embodiment, referring to Figure 1 and Figure 5 to Figure 8 , the self-moving device 100 further comprises at least one distance detector 9 arranged on the device body 5 and flush or close to (allowing a certain deviation) the height of the device body 5 for detecting the distance of the obstacle 8 in front along the Y direction. The distance detector 9 is connected to the processor for providing distance data to the processor. After the processor obtains the distance information, the distance information is processed and analyzed. If the distance between the obstacle 8 in front and the height detection device 6 is less than a preset distance, the device body 5 is controlled to perform obstacle avoidance actions such as turning or retreating. The said preset distance can be greater than or equal to H.

[0100] In this way, the distance detector 9 can compensate for the height information of the obstacle 8 in the detection blind area of the height detection device 6, further ensuring the height detection of the obstacle 8 within the body height range of the self-moving device 100, and further improving the obstacle avoidance function of the self-moving device 100.

[0101] Referring to Figure 3 , Figure 5 to Figure 8 , the distance detector 9 is arranged at the top edge of the device body 5, and can be arranged at the front edge of the top.

[0102] The type of the distance detector 9 is not limited and can be a laser range finder, an infrared range finder, or a depth camera, etc.

[0103] The distance detector 9 can be one or more. As shown in Figure 5 to Figure 8 , the distance detector 9 is two, and is arranged on both sides of the height detection device 6 in the X direction to detect the information of the obstacle 8 at the body height on both sides of the self-moving device 100 in the X direction, respectively. In more embodiments, the distance detector 9 can also be arranged as three, etc.

[0104] As shown in Figure 1 and Figure 2As shown, the device body 5 includes a main housing 51, and a collision sensing component 52 arranged at the front of the main housing 51. The height detection apparatus 6, the processor, the distance detector 9, etc. are arranged on the main housing 51. The collision sensing component 52 is provided with a first avoiding hole 521 and a second avoiding hole 522. The first avoiding hole 521 is arranged corresponding to the height detection apparatus 6, and the first linear laser beam 71 emitted by the first light source 62 is emitted via the first avoiding hole 521. The image acquisition module 65 acquires images via the first avoiding hole 521. The second avoiding hole 522 is arranged corresponding to the distance detector 9, and the distance detector 9 performs distance detection via the second avoiding hole 522.

[0105] In addition, in an embodiment, the height detection apparatus 6 can further include a second light source 63 for emitting a second linear laser beam 72. The image acquisition module 65 is further configured to acquire an image formed by the second linear laser beam 72 on the obstacle 8 in front, which contains projection information of the second linear laser beam 72 on the surface of the obstacle 8. According to the projection information, the processor can obtain the height information of the obstacle 8.

[0106] The plane where the second linear laser beam 72 is located is substantially parallel to the working surface, and the image formed by the second linear laser beam 72 on the obstacle 8 in front has a certain length in the X direction. The image formed by the second linear laser beam 72 on the obstacle 8 in front can further supplement the height information of the obstacle 8 at multiple positions in front of the self-moving device 100.

[0107] An angle range is allowed between the plane where the second linear laser beam 72 is located and the working surface. For example, the angle between the plane where the second linear laser beam 72 is located and the working surface is 0°-30°. Alternatively, the angle between the plane where the second linear laser beam 72 is located and the working surface is 0°-20°. Further alternatively, the angle between the plane where the second linear laser beam 72 is located and the working surface is 0°-10°.

[0108] In some embodiments, the angle between the plane where the second linear laser beam 72 is located and the working surface can be 0°, 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 12°, 14°, 16°, 18°, 20°, 22°, 25°, 27° or 30°.

[0109] In some embodiments, the second light source 63 can include at least one of a visible light source and an invisible light source. Correspondingly, at least one of the first camera 651 and / or the second camera 652 in the image acquisition module 65 is adapted to the wave band of the second linear laser beam 72 emitted by the second light source 63.

[0110] In the X direction, the position between the second light source 63 and the first light source 62 is not limited. For example, referring to Figure 5 to Figure 8As shown, the second light source 63 can be located between the two laser emitters 621, or on one side of the first light source 62 as a whole.

[0111] The type of the self-moving device 100 is not limited, and can be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, a polishing robot, a weeding robot, a snow removing robot, and other robots for transportation or work execution.

[0112] In one embodiment, the self-moving device 100 is a self-moving cleaning device, such as a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc.

[0113] Based on this, the embodiments of the present application further provide a self-moving cleaning system, comprising a base station and the self-moving device as described in the above embodiments.

[0114] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A self-moving device, characterized in that, The device comprises: a device body for moving on a working surface; a height detection device arranged on the device body, the height detection device comprising a first light source and an image acquisition module, the first light source being configured to emit a first line laser, and the image acquisition module being configured to acquire an image of the first line laser formed on an obstacle to determine a height of the obstacle.

2. The self-mobiling device of claim 1, wherein, The plane where the first line laser is located intersects the working surface.

3. The self-mobiling device of claim 2, wherein, The plane where the first line laser is located is substantially perpendicular to the working surface or is inclined relative to the working surface.

4. The self-mobiling device of claim 2, wherein, The first line laser is configured such that the highest point of the first line laser is higher than the highest detection point of the image acquisition module.

5. The self-mobiling device of claim 1, wherein, The highest point of the first line laser is higher than the top surface of the device body beyond a preset distance from the front end of the device body.

6. The self-mobiling device of claim 1, wherein, In the height direction of the device body, the first light source is farther away from the working surface relative to the image acquisition module.

7. The self-mobiling device of claim 1, wherein, The first light source comprises a plurality of laser emitters and a first optical component arranged on the light-emitting side of the laser emitters, each laser emitter emitting a beam of the first line laser via the first optical component; a plurality of beams of the first line laser are parallel to each other, or a plurality of beams of the first line laser are divergently arranged in the width direction of the device body with the first light source as the center.

8. The self-mobiling device of claim 7, wherein, The first optical component is a wave mirror or a rotating mirror.

9. The self-mobiling device of claim 1, wherein, The first light source is configured to emit a visible light laser beam, and the image acquisition module comprises a visible light camera or an all-pass camera; and / or the first light source is configured to emit an infrared light laser beam, and the image acquisition module comprises an infrared camera or an all-pass camera.

10. The self-mobility device of any one of claims 1 to 9, wherein, The device body comprises a main housing and a collision sensing component arranged on the front side of the main housing, the height detection device is arranged in the main housing, the collision sensing component is provided with a first avoiding hole, the first light source emits the first line laser outward via the first avoiding hole, and the image acquisition module acquires the image via the first avoiding hole.

11. The self-mobiling device of claim 10, wherein, Further comprising at least one distance detector arranged on the device body; in the height direction of the device body, the arrangement height of the distance detector is close to or equal to the height of the device body, and the distance detector is configured to detect the obstacle in the advancing direction of the device body.

12. The self-mobiling device of claim 11, wherein, The distance detector is arranged at the top edge of the device body.

13. The self-mobiling device of claim 11, wherein, The number of distance detectors is at least two, and the distance detectors are respectively arranged on opposite sides of the height detection device in the width direction of the device body.

14. The self-mobiling device of claim 11, wherein, The collision sensing component is provided with a second avoiding hole, and the distance detector performs distance detection via the second avoiding hole.

15. The self-mobility apparatus of any one of claims 1 to 9, wherein, The self-moving device further comprises a processor arranged on the device body and connected with the image acquisition module, the processor is configured to receive the image and acquire the height of the obstacle according to the image.

16. The self-mobility apparatus of any one of claims 1 to 9, wherein, The height detection device further comprises a second light source configured to emit a second line laser; the plane where the second line laser is located is substantially parallel to the working surface.

17. A self-moving cleaning system, characterized by The self-moving device as claimed in any one of claims 1 to 16. The base station as claimed in claim 17, wherein the self-moving device is as claimed in any one of claims 1 to 16.

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