Multi-line laser and cleaning equipment

Abstract

A multi-line laser device and cleaning device, the multi-line laser device comprising: a substrate on which N laser light sources are provided, N being a positive integer and N≧2; a collimating member configured to collimate lasers emitted from the laser light sources; and a shaping member consisting of N shaping regions configured to shape the N lasers emitted from the N laser light sources and collimated to form line lasers.

Description

Related Applications

[0001] This application claims priority to Chinese Patent Application No. 202211034834.5, filed on August 26, 2022, the entire disclosure of which is incorporated herein by reference as part of this application. [Technical Field]

[0002] FIELD OF THE DISCLOSURE The present disclosure relates to the technical field of laser probing, and more particularly to multi-line laser devices and cleaning devices. [Background technology]

[0003] With technological advances, mobile robots such as AGVs, service robots, and cleaning robots are widely used in industrial, commercial, and residential settings. Current autonomous mobile robots generally use binocular vision, 3D Time of Flight, or line laser obstacle avoidance. Line laser obstacle avoidance, with its low cost and relatively high measurement accuracy, has gradually become the preferred obstacle avoidance method for consumer mobile robots such as cleaning robots. In line laser obstacle avoidance systems, the line laser direction (line laser tilt angle) and number of line lasers in the line laser device are important factors in determining obstacle avoidance effectiveness. Summary of the Invention

[0004] Some embodiments of the present disclosure provide a multi-line laser device, the multi-line laser device comprising: a substrate having N laser light sources provided thereon, N being a positive integer and N≧2; a collimating member configured to collimate the laser emitted from the laser light source; and a shaping member consisting of N shaping regions configured to shape the N lasers that have been emitted from the N laser light sources and collimated to form a line laser.

[0005] In some embodiments, each of the N shaping regions is one of a vertical shaping region, a horizontal shaping region, and a tilted shaping region.

[0006] In some embodiments, a spot formed by the laser emitted from the laser light source passing through the collimating member and then projected onto the shaping member is located within a shaping region corresponding to the laser light source.

[0007] In some embodiments, the position and size of the spot are determined by at least one of the position of the corresponding laser light source, the light emission direction, the properties of the collimating element, and the distance between the collimating element and the shaping element. In some embodiments, the substrate and the shaping member are located on opposite sides of the collimating member; The substrate is located in the focal plane of the collimating element, and the substrate is disposed perpendicular to the optical axis of the collimating element.

[0008] In some embodiments, the center of the substrate or the central symmetric point of the two laser light sources on the substrate is located on the optical axis of the collimating member.

[0009] In some embodiments, an extinction chamber is provided between adjacent shaped regions.

[0010] In some embodiments, the multi-line laser device further comprises an extinction tube configured to house the substrate, the collimating element, and the shaping element.

[0011] In some embodiments, at least some of the laser light sources are configured to emit lasers in a time-division manner and / or to emit lasers simultaneously.

[0012] In some embodiments, the laser light sources corresponding to the parallel line lasers emit lasers simultaneously, and the laser light sources corresponding to the intersecting line lasers emit lasers in a time-division manner.

[0013] In some embodiments, the shaping region includes at least one of a Powell prism, a cylindrical mirror, and a wavefront mirror.

[0014] Some embodiments of the present disclosure provide a cleaning device, the cleaning device comprising the multi-line laser device described in the embodiments. [Brief explanation of the drawings]

[0015] The accompanying drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the accompanying drawings in the following description are merely some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these accompanying drawings without creative work. [Figure 1] 1 is a schematic diagram of an obstacle avoidance scene of a cleaning device provided by some embodiments of the present disclosure. [Figure 2] 1 is a schematic diagram of an obstacle avoidance scene of a cleaning device provided by some embodiments of the present disclosure. [Figure 3] 1 is a structural schematic diagram of a multi-line laser device provided by some embodiments of the present disclosure. [Figure 4] 1 is a structural schematic diagram of a substrate provided by some embodiments of the present disclosure. [Figure 5] 1 is a structural schematic diagram of a multi-line laser device provided by some embodiments of the present disclosure. [Figure 6] 1 is a schematic diagram of an obstacle avoidance scene of a cleaning device provided by some embodiments of the present disclosure.

[0016] DETAILED DESCRIPTION OF THE INVENTION

[0017] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in more detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments of the present disclosure, other embodiments obtained by those skilled in the art without any creative work are all included in the protection scope of the present disclosure. It should be noted that the terms "comprises," "has," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or device comprising a set of elements not only includes those elements, but also other elements explicitly listed or inherent in those products or devices. Unless further limited, an element defined with the phrase "comprises" does not exclude the presence of other identical elements in a product or device that includes said element. In the field, single-line laser obstacle avoidance devices generally have difficulty meeting obstacle avoidance requirements in complex environments and require the integration of multiple single-line lasers, which significantly increases costs and integration difficulty and is unacceptable for consumer products. Specifically, cleaning devices, such as sweeping robots and integrated sweeping and mopping robots, typically adopt a line laser obstacle avoidance method. In a line laser obstacle avoidance device, the line laser direction (line laser tilt angle) and number of line laser devices are important factors that determine the obstacle avoidance effect. FIG. 1 is a schematic diagram of an obstacle avoidance scenario for a cleaning device provided by some embodiments of the present disclosure. As shown in FIG. 1, an automatic cleaning device 200, such as a sweeping cleaning robot, automatically travels on a work surface 300, such as a floor. The automatic cleaning device 200 performs obstacle avoidance based on the use of line laser obstacle avoidance. The line laser obstacle avoidance device emits a horizontal line laser diagonally downward onto the work surface, and when the horizontal line laser is irradiated onto an obstacle, the horizontal line laser forms a turning point, which, when compared with the ground contact point of the horizontal line laser, confirms the distance to the obstacle and avoids the obstacle based on the distance information.

[0018] When the above obstacle avoidance method is adopted, only obstacles on the floor surface can be identified, and obstacles that protrude from the floor surface and are lower in height than the cleaning robot cannot be identified, which may result in a collision. In addition, when the above obstacle avoidance method is adopted, the ground contact distance of the line laser is relatively long, generally exceeding 200 mm, and at this distance, the accuracy of the triangulation distance measurement principle is relatively low, so low obstacles cannot be identified, which may result in a collision.

[0019] 2 is a schematic diagram of an obstacle avoidance scene of a cleaning device provided by some embodiments of the present disclosure. As shown in FIG. 2, an automatic cleaning device 200, such as a sweeping cleaning robot, automatically travels on a work surface 300, such as a floor. The automatic cleaning device 200 performs obstacle avoidance using vertical double-line laser obstacle avoidance. The line laser obstacle avoidance device emits two line lasers perpendicular to the floor surface. When an obstacle is present on the vertical line lasers, the light beams form a turning point, which is compared with the ground part of the line lasers to determine the distance and height of the obstacle, and the obstacle is avoided based on the distance and height information.

[0020] In the obstacle avoidance method described above, there is a horizontal dead zone, and the line laser cannot cover positions (1), (2), and (3) in the figure, so if an obstacle is present, the mobile robot cannot avoid it and will collide with it. In the vertical double line laser method, two single line laser devices need to be assembled on either side of the midline of the cleaning robot, and two single line lasers are expensive and complicated to install and commission.

[0021] In related art, in order to achieve more accurate obstacle avoidance, the number of line laser devices is increased, and obstacle avoidance using a multi-line laser is realized by combining, for example, horizontal line lasers, vertical line lasers, etc. However, adopting such an obstacle avoidance method increases the number of line laser devices, which increases costs.

[0022] The present disclosure provides a multi-line laser device, comprising: a substrate on which N laser light sources are provided, N being a positive integer and N≧2; a collimating member configured to collimate light emitted from the laser light sources; and a shaping member having N shaping regions configured to shape the N collimated lasers emitted from the N laser light sources to form a multi-line laser. The multi-line laser device is formed by adopting an integration technique, where multiple laser light sources are integrated on the same substrate, and the lasers from each laser light source are shaped into different line lasers corresponding to different regions of the same shaping member, thereby reducing the size and cost of the multi-line laser device.

[0023] Selected embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. 3 is a structural schematic diagram of a multi-line laser device provided by some embodiments of the present disclosure. As shown in FIG. 3, some embodiments of the present disclosure provide a multi-line laser device 100 for emitting multiple line lasers, which is mounted on a cleaning device 200 to perform obstacle avoidance operations. The multi-line laser device 100 includes a substrate 10, a collimating member 20, and a shaping member 30.

[0024] The substrate 10 is, for example, a ceramic substrate, and N laser light sources 11 are provided on the substrate 10, where N is a positive integer and N≧2. The laser light sources 11 are configured to emit point-like laser beams, and two laser light sources 11, i.e., a first laser light source 111 and a second laser light source 112, are exemplarily illustrated in FIG. 3 . The first laser light source 111 and the second laser light source 112 each emit a point-like laser beam. In some embodiments, as shown in FIG. 3 , the first laser light source 111 and the second laser light source 112 are located at two opposite ends of the substrate 10, respectively.

[0025] In some embodiments, the laser light source 11 includes, but is not limited to, a vertical-cavity surface-emitting laser (VCSEL) and / or an edge-emitting laser (EEL). The laser wavelength emitted from the laser light source 11 includes, but is not limited to, 808 nm, 850 nm, 905 nm, and / or 940 nm. The N laser light sources 11 are integrated and bonded to the substrate 10, and their types, outputs, and wavelengths may be the same or different. In some embodiments, the laser light source 11 may be connected to a common anode or cathode, and the other end of the laser light source 11 is connected to a light source driver circuit.

[0026] The collimating element 20 is configured to collimate the laser beam emitted from the laser light source 11 to avoid divergence of the laser beam, and the collimating element 20 may be, for example, a collimating lens or a collimating lens set. The collimating lens may be, for example, a plano-convex lens. In some embodiments, the material of the collimating lens or the collimating lens set may be PC (polycarbonate), PMMA (polymethyl methacrylate) and / or glass, and the surface thereof may be coated with a transmittance-enhancing film to improve the utilization efficiency of the laser beam.

[0027] The shaping member 30 includes N shaping regions 31 configured to shape the N collimated laser beams emitted from the N laser light sources 11 to form multi-line laser beams. FIG. 3 exemplarily illustrates two shaping regions 31, namely, a first shaping region 311 and a second shaping region 312. The first shaping region 311 and the second shaping region 312 correspond to the first laser light source 111 and the second laser light source 112, respectively. In some embodiments, as shown in FIG. 3 , the first shaping region 311 and the second shaping region 312 are located at both ends of the shaping member 30. The first shaping region 311 receives the first point-like laser beam emitted from the first laser light source 111 and shapes the first point-like laser beam into a first line laser beam. The second shaping region 312 receives the second point-like laser beam emitted from the second laser light source 112 and shapes the second point-like laser beam into a second line laser beam.

[0028] In this application, a point-like laser refers to a laser whose cross section in a direction perpendicular to the propagation direction is point-like, and a line laser whose cross section in a direction perpendicular to the propagation direction is linear. In some embodiments, each of the N shaping regions 31 is one of the vertical shaping region, horizontal shaping region, and inclined shaping region. The vertical shaping region shapes the dot laser into a vertical line laser and emits it, where the vertical line laser means that the line shape in a cross section perpendicular to the laser propagation direction is a line shape perpendicular to the floor surface. The horizontal shaping region shapes the dot laser into a horizontal line laser and emits it, where the horizontal line laser means that the line shape in a cross section perpendicular to the laser propagation direction is a line shape parallel to the floor surface. The inclined shaping region shapes the dot laser into an inclined line laser and emits it, where the inclined line laser means that the line shape in a cross section perpendicular to the laser propagation direction is a line shape inclined with respect to the floor surface. The inclined line laser includes multiple line shapes with different inclination angles, such as 30°, 45°, and 60°.

[0029] 3, the first shaping region 311 may be, for example, a vertical shaping region, and may shape the first point laser beam emitted from the first laser light source 111 and collimated by the collimating member 20 into a vertical line laser beam for emission, i.e., the first line laser beam is a vertical line laser beam. The second shaping region 312 may be, for example, a horizontal shaping region, and may shape the second point laser beam emitted from the second laser light source 112 and collimated by the collimating member 20 into a horizontal line laser beam for emission, i.e., the second line laser beam is a horizontal line laser.

[0030] FIG. 4 is a structural schematic diagram of a substrate provided by some embodiments of the present disclosure, illustrating the position of a laser light source on the substrate. For example, as shown in FIG. 4, a coordinate system is constructed on the surface of the substrate, with the midpoint of the substrate as the origin, the horizontal direction as the X-axis direction, and the vertical direction as the Y-axis direction. In this way, the installation position of the laser light source 11 on the substrate 10 can be clearly and unambiguously indicated. The coordinates of the laser light source 11 in the coordinate system can indicate the position of the laser light source 11 on the substrate 10.

[0031] In some embodiments, the substrate 10 is square, for example, as shown in FIG. 4, while in other embodiments the substrate may be other shapes such as rectangular, diamond, circular, etc.

[0032] In some embodiments, the laser light source 11 may be provided at any position on the substrate 10, and FIG. 4 shows several positions of the laser light source 11 on the substrate 10. For example, the laser light source 11 may be provided along the X-axis, along the Y-axis, or on a diagonal of the square substrate 10. The several positions of the laser light source 11 on the substrate 10 in FIG. 4 are exemplary and not exhaustive. Those skilled in the art will understand that the laser light source 11 may be provided at other positions on the substrate 10.

[0033] In some embodiments, a spot formed when a laser beam emitted from the laser light source 11 passes through the collimating member 20 and is projected onto the shaping member 30 is located within the shaping region 31 corresponding to the laser light source 11. The number of laser light sources 11 is the same as the number of shaping regions 31 of the shaping member 30, and the laser light sources 11 correspond one-to-one to the shaping regions 31 of the shaping member 30. A spot formed when a point-like laser beam generated by each laser light source 11 is irradiated onto the shaping member 30 after being collimated by the collimating member 20 is located within the shaping region 31 corresponding to the laser light source 11. The shaping region 31 can shape the received and collimated point-like laser beam into a line laser beam and emit it.

[0034] In some embodiments, the position and size of the spot are determined by at least one of the position of the corresponding laser light source 11, the light emission direction, the characteristics of the collimating member 20, and the distance between the collimating member 20 and the shaping member 30. As shown in Figures 3 and 4, in order to ensure that the point laser emitted from each laser light source 11 is substantially completely located within the shaping region 31 corresponding to the laser light source 11 and to obtain desired multiple line lasers, the position of the laser light source 11 on the substrate 10, the light emission direction, the division of the shaping region 31 on the shaping member 30, and the relative positional relationship between the substrate 10, the collimating member 20, and the shaping member 30 can be designed according to actual needs.

[0035] In some embodiments, as shown in FIG. 3 , the substrate 10 and the shaping member 30 are located on both sides of the collimating member 20, the substrate 10 is located in the focal plane of the collimating member 20, and the substrate 10 is arranged perpendicular to the optical axis of the collimating member 20. In this way, a point laser emitted from a laser light source 11 on the substrate 10 forms a collimated parallel beam after passing through the collimating member 20, thereby overcoming the problem of divergence of the point laser emitted from the laser light source 11. In some embodiments, as shown in FIG. 3 , the center of the substrate 10 is located on the optical axis of the collimating member 20. In some embodiments, the substrate 10 includes multiple laser light sources, and the central symmetric points of two of the light sources are configured to be located on the optical axis of the collimating member 20. In some embodiments, as shown in FIG. 3, the first laser light source 111 emits a first point laser beam toward the center of the collimating member 20, and the beam tilt angle of the first point laser beam is θ1=arctg h1 / f, where h1 is the distance between the midpoint of the first laser light source 111 and the substrate 10, i.e., the distance between the optical axis of the first laser light source 111 and the collimating member 20, and f is the focal length of the collimating member 20. During the process of transmitting the first point laser from the first laser light source 111 to the collimating member 20, due to the divergence angle of the first laser light source 111, the spot of the first point laser in a direction perpendicular to the transmission direction gradually increases as it moves away from the first laser light source 111, and the first point laser gradually diverges. After the first point laser passes through the collimating member 20, such as a collimating lens, it becomes a collimated parallel beam, and the size of the spot of the first point laser in a direction perpendicular to the transmission direction after collimation does not change, that is, the first point laser no longer diverges. When the collimated first point laser reaches the shaping member 30, the spot formed by being projected onto the shaping member 30 is located within the first shaping region 311 corresponding to the first laser light source 111, and the area of ​​the spot is smaller than or substantially equal to the area of ​​the first shaping region 311. The collimated first point laser is shaped by the first shaping region 311 to form, for example, a vertical line laser and is emitted.

[0036] In some embodiments, as shown in FIG. 3, the second laser light source 112 emits a second point laser toward the center of the collimating member 20, and the beam tilt angle of the second point laser is θ2=arctg h2 / f, where h2 is the distance between the midpoint of the second laser light source 112 and the substrate 10, i.e., the distance between the optical axis of the second laser light source 112 and the collimating member 20, and f is the focal length of the collimating member 20. During the process of transmitting the second point laser from the second laser light source 112 to the collimating member 20, due to the divergence angle of the second laser light source 112, the spot of the second point laser in a direction perpendicular to the transmission direction gradually increases as it moves away from the second laser light source 112, and the second point laser gradually diverges. After the second point laser passes through the collimating member 20, such as a collimating lens, it becomes a collimated parallel beam, and the size of the spot of the collimated second point laser in a direction perpendicular to the transmission direction does not change, that is, the second point laser no longer diverges. When the collimated second point laser reaches the shaping member 30, the spot formed by being projected onto the shaping member 30 falls into the second shaping region 312 corresponding to the second laser light source 112, and the spot area is smaller than or substantially equal to the area of ​​the second shaping region 312. The collimated second point laser is shaped by the second shaping region 312 to form, for example, a horizontal line laser and is emitted.

[0037] 5 is a structural schematic diagram of a multi-line laser device provided by some embodiments of the present disclosure. The multi-line laser device shown in FIG. 5 has a structure partially identical to that of the multi-line laser device shown in FIG. 3, and the same parts will not be described again. The following will specifically describe the differences between the two.

[0038] As shown in FIG. 5, three shaping regions 31 are illustrated: a first shaping region 311, a second shaping region 312, and a third shaping region 313. The first shaping region 311, the third shaping region 313, and the second shaping region 312 are arranged adjacent to each other in the longitudinal direction. The first shaping region 311 receives a first point laser beam emitted from the first laser light source 111 and shapes the first point laser beam into a first line laser beam, for example, a vertical line laser beam. The second shaping region 312 receives a second point laser beam emitted from the second laser light source 112 and shapes the second point laser beam into a second line laser beam, for example, a horizontal line laser beam. The third shaping region 313 receives a third point laser beam emitted from the third laser light source and shapes the third point laser beam into a third line laser beam, for example, an inclined line laser beam.

[0039] In some embodiments, an extinction plate 41 is provided between adjacent shaping regions 31. The extinction plate may be made of a metal or a non-metallic material. The metal may be, for example, an aluminum alloy, which is optically blackened. The non-metallic material may be, for example, PC, PPS, or PET, which is optically blackened. The surface of the extinction plate may be subjected to an extinction treatment, for example, by providing an extinction twist or coating an extinction paint. Specifically, as shown in FIG. 5 , an extinction plate 41 is provided between the first shaping region 311 and the third shaping region 313 and between the second shaping region 312 and the third shaping region 313. The extinction plate 41 is substantially parallel to the optical axis of the shaping member 30, extending, for example, from the shaping member 20 to the collimating member 20, to block, reflect, and absorb stray light generated after the collimated beam enters the shaping region 31, thereby preventing crosstalk between adjacent shaping regions 31.

[0040] In some embodiments, as shown in FIG. 5, the multi-line laser device 100 may further include an extinction tube 42 configured to accommodate the substrate 10, the collimating member 20, and the shaping member 30. The extinction tube 42 may be made of a metal or non-metal material, such as an aluminum alloy that is optically blackened, or a non-metal material such as PC, PPS, or PET that is optically blackened. The inner wall surface of the extinction tube 42 may be subjected to an extinction treatment, such as providing an extinction twist or coating with extinction paint, to absorb stray light around the collimating member 20 and stray light not removed by the extinction tube 41, thereby improving the quality of light from the multi-line laser device.

[0041] 5, the end of the quenching tube 42 closest to the shaping member 30 is open, and the line laser generated by the multi-line laser device is emitted from this open opening. The end of the quenching tube 42 closest to the substrate 10 is closed to prevent external light from entering the quenching tube 42 and adversely affecting the operation of the multi-line laser device. In other embodiments, the end of the quenching tube 42 closest to the substrate 10 may be open.

[0042] In some embodiments, at least some of the laser light sources 11 are configured to emit lasers in a time-division manner and / or simultaneously. Referring to FIGS. 3 to 5, the laser light sources 11 on the substrate 10 are controlled by a light source drive circuit, which may be an external drive circuit or an internal drive circuit integrated on the substrate 10. The light source drive circuit can control the emission of line lasers corresponding to each laser light source by controlling the emission time and sustained pulse width of each laser light source.

[0043] In some embodiments, depending on design needs, the laser source 11 may be configured to emit lasers in a time-division manner so that the emitted line lasers do not interfere with each other.

[0044] In some embodiments, depending on design needs, the laser source 11 may be configured to simultaneously emit lasers to improve detection efficiency of the line laser.

[0045] In some embodiments, depending on design needs, the laser light sources 11 may be configured such that some light sources emit lasers in a time-division manner and other light sources emit lasers simultaneously.

[0046] In some embodiments, laser light sources corresponding to parallel line lasers emit lasers simultaneously, while laser light sources corresponding to intersecting line lasers emit lasers in a time-division manner. For example, laser light sources corresponding to multiple parallel line lasers emit lasers simultaneously, laser light sources corresponding to multiple vertical line lasers emit lasers simultaneously, and laser light sources corresponding to multiple inclined line lasers with the same inclination angle emit lasers simultaneously. The laser light sources corresponding to parallel line lasers, vertical line lasers, and inclined line lasers emit lasers in a time-division manner, and if there is an interval between their laser emission times, their laser pulses do not overlap. In some embodiments, the shaping region includes at least one of a Powell prism, a cylindrical mirror, and a wavefront mirror. For example, in the case of a wavefront mirror, the wave shapes corresponding to different shaping regions 31 may be the same or different. The shaping characteristics of the shaping region 31 are related to the wave shape. For example, a shaping region having a wave shape extending along the horizontal direction can shape a point-like laser into a vertical line laser, while a shaping region having a wave shape extending along the vertical direction can shape a point-like laser into a horizontal line laser.

[0047] The present disclosure utilizes chip bonding technology and optimized optical lens design to significantly reduce the size of multi-line laser devices and reduce the difficulty of integration. By increasing the number of laser light source chips on a ceramic substrate, the multi-line laser device achieves a multi-line system without significantly increasing the cost of optical lenses and structural components.

[0048] Some embodiments of the present disclosure provide a cleaning device, the cleaning device comprising the multi-line laser device 100 described in the embodiments.

[0049] FIG. 6 is a schematic diagram of an obstacle avoidance scene of a cleaning device provided by some embodiments of the present disclosure. As shown in FIG. 6, an automatic cleaning device 200′, such as a sweeping cleaning robot, automatically travels on a work surface 300, such as a floor. The automatic cleaning device 200′ performs obstacle avoidance by combining horizontal single-line and vertical double-line laser obstacle avoidance. As shown in FIG. 6, a indicates a horizontal line laser, and b and c indicate vertical line lasers. In other embodiments, the automatic cleaning device 200′ can also perform obstacle avoidance by adding an inclined line laser. Using different line lasers to perform obstacle avoidance can eliminate blind spots in obstacle avoidance while improving obstacle avoidance accuracy.

[0050] Finally, it should be noted that the embodiments in this specification will be described step by step, each embodiment will focus on the differences from other embodiments, and the same or similar parts between the embodiments may be referred to. The systems or devices disclosed in the embodiments will be briefly described because they correspond to the methods disclosed in the embodiments, and the relevant parts may be referred to the description of the method parts. The above embodiments are used to explain the technical solutions of the present disclosure, but are not intended to limit them. The present disclosure has been described in detail with reference to the above embodiments. However, those skilled in the art can still modify the technical solutions described in each of the above embodiments or substitute some of the technical features with equivalents, and it should be understood that these modifications and substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each of the embodiments of the present disclosure.

Claims

1. a substrate on which N laser light sources are provided, N being a positive integer and N≧2; a collimating member configured to collimate the laser emitted from the laser light source; A multi-line laser device comprising: a shaping member having N shaping regions, each of the shaping regions configured to shape N collimated lasers emitted from the N laser light sources to form a line laser.

2. 2. The multi-line laser device according to claim 1, wherein each of said N shaping regions is one of a vertical shaping region, a horizontal shaping region, and an inclined shaping region.

3. 3. The multi-line laser device according to claim 1, wherein a spot formed by the laser emitted from the laser light source and projected onto the shaping member after passing through the collimating member is located within a shaping area corresponding to the laser light source.

4. 4. The multi-line laser device of claim 3, wherein the position and size of the spot are determined by at least one of the position of the laser light source corresponding to the spot, the light emission direction, the characteristics of the collimating member, and the distance between the collimating member and the shaping member.

5. 3. The multi-line laser device of claim 1, wherein the substrate and the shaping member are located on both sides of the collimating member, the substrate is located within the focal plane of the collimating member, and the substrate is arranged perpendicular to the optical axis of the collimating member.

6. 6. The multi-line laser device according to claim 5, wherein the center of the substrate or a central symmetric point of the two laser light sources on the substrate is located on the optical axis of the collimating member.

7. 3. The multi-line laser device according to claim 1, wherein an extinction chamber is provided between adjacent shaping regions.

8. The multi-line laser device of claim 1 or 2, further comprising a light extinction tube configured to house the substrate, the collimating member, and the shaping member.

9. 3. The multi-line laser device according to claim 1, wherein at least some of the laser light sources are configured to emit lasers in a time-division manner and / or to emit lasers simultaneously.

10. 10. The multi-line laser device according to claim 9, wherein the laser light sources corresponding to the parallel line lasers simultaneously emit laser light, and the laser light sources corresponding to the intersecting line lasers emit laser light in a time-division manner.

11. 3. The multi-line laser device according to claim 1, wherein the shaping region includes at least one of a Powell prism, a cylindrical mirror, and a wavefront mirror.

12. A cleaning device comprising the multi-line laser device according to any one of claims 1 to 11.

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